Knife management system

Abstract

To provide a cutting tool management system capable of correctly managing cutting tool information even if an actual storage position of a cutting tool is different from its original correct storage position.SOLUTION: A cutting tool management system MS manages information on a cutting tool BL, and comprises: a read part MS1 which reads an identifier ID for identifying the cutting tool BL given the identifier ID; and a management part MS2 which associatively manages, for each cutting tool BL, information on the cutting tool BL, including at least one of a use state of the cutting tool BL and a result of inspection on a cutting edge BL1 of the cutting tool BL, and cutting tool identification information indicated by an identifier ID read by the read part MS1.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present invention relates to a tool management system.

Background Art

[0002] Conventionally, a cutting system has been proposed that includes a cutting device for cutting an object to be cut such as a metal plate, and a tool replacement system for replacing the tool of the cutting device (see, for example, Patent Document 1).

[0003] The tool replacement system described in Patent Document 1 includes a handling robot that handles the tool of the cutting device and a storage shelf that stores the tool. When replacing the tool of the cutting device, the handling robot removes the tool from the cutting device and returns it to the storage shelf, and takes out the tool stored in the storage shelf and attaches it to the cutting device.

[0004] By the way, in this type of cutting system, the storage position of the tool in the storage shelf is set in advance for each tool and stored in the storage unit. Also, tool information such as the usage frequency of the tool and the inspection result of the tool is managed in association with the storage position of the tool.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, if blade information, such as the frequency of use and inspection results, is managed in association with the blade's storage location, the following problems may arise. For example, if, for some reason, the act of returning blades to the storage shelf is performed manually, the following problems may occur. Specifically, for example, if the blade replacement system malfunctions or experiences other problems, the blades to be replaced are manually returned to the storage shelf by an employee. If the employee returns the blade to the wrong storage location during this return process, the blade information of the returned blade will be associated with a storage location different from the pre-set storage location. As a result, the cutting system will be unable to properly manage the blade information.

[0007] In view of the above problems, the present invention aims to provide a knife management system that can correctly manage knife information even if the actual storage location of the knife differs from the intended correct storage location. [Means for solving the problem]

[0008] The blade management system of the present invention is a blade management system for managing information on blades, comprising: a reading unit that reads an identifier of a blade to which an identifier for identifying the blade has been attached; and a management unit that manages, for each blade, information on the blade including at least one of the usage status of the blade and the inspection result of the blade edge of the blade, and blade identification information indicated by the identifier read by the reading unit, in association with each blade.

[0009] Preferably, the reading unit is provided on a handling robot having the function of handling the blade, and the reading unit is configured to read the identifier while the handling robot is handling the blade.

[0010] Furthermore, it is preferable that the identifier is a two-dimensional code.

[0011] Furthermore, the usage conditions preferably include at least one of the following: frequency of use of the blade, duration of use of the blade, cutting length of the blade, material of the object to be cut, and thickness of the object to be cut.

[0012] Furthermore, it is preferable that the inspection results include the presence and / or degree of at least one of wear, chipping, and deformation of the cutting edge.

[0013] Furthermore, the control unit is configured to be communicatively connected to the cutting edge inspection device and to acquire the inspection results from the cutting edge inspection device, the cutting edge inspection device is a device for inspecting the cutting edge extending along the outer circumference of a substantially circular cutting tool, the cutting edge having, 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 substantially linearly, a second side located on the axial end face of the cutting edge, intersecting the first side and expected to extend substantially linearly, and a tip located at the intersection of the first side and the second side, the cutting edge inspection device comprising a support base for supporting the cutting tool, a detection unit for detecting 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 for rotating the cutting edge relative to the detection unit in order 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 for determining the state of the cutting edge from the cross-sectional profile of the cutting edge. Preferably, the detection unit comprises a light-emitting unit that emits slit-shaped light extending in a direction substantially perpendicular to the circumferential direction of the cutting edge along a line passing substantially through the center of the angle between the assumed straight line of the first edge and the assumed straight line of the second edge, and a light-receiving unit that receives reflected light from the cutting edge, and the control unit extracts from the cross-sectional profile detected by the detection unit a cross-sectional profile of a first region located at a predetermined distance from the tip of the cutting edge and a cross-sectional profile of a second region closer to the tip of the cutting edge than the first region, obtains an approximate straight line by linearly approximating the cross-sectional profile of the first region, estimates the ideal cross-sectional profile of the second region by extending the approximate straight line, calculates a feature quantity that shows the difference between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region, and obtains at least one of the feature quantity and the determination result based on the feature quantity as the inspection result. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a knife management system that can correctly manage knife information even if the actual storage location of the knife differs from the intended correct storage location. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic perspective view showing the configuration of a cutting system in which a cutting tool management system according to one embodiment of the present invention is used. [Figure 2A] Figure 1 schematically shows the state in which the cutting edge inspection device and blade replacement system of the cutting system shown in Figure 1 have had the cutting tool and intermediate member removed from the temporary assembly shaft device of the blade replacement system by the handling robot of the blade replacement system. [Figure 2B] This figure schematically shows the state after the handling robot has attached the cutting tool and intermediate components to the cutting edge inspection device, following the change from the state shown in Figure 2A. [Figure 2C] This figure schematically shows the state after the intermediate member has been removed from the cutting edge inspection device by a handling robot, following the change from the state shown in Figure 2B. [Figure 2D] This figure schematically shows the state after the cutting tool has been removed from the cutting edge inspection device by the handling robot, following the change from the state shown in Figure 2C. [Figure 3] This is a perspective view showing a cutting edge inspection device according to one embodiment of the present invention. [Figure 4] Figure 3 is a front view showing the cutting edge inspection device. [Figure 5] Figure 3 is a side view showing the cutting edge inspection device. [Figure 6A] Figure 1 is a schematic side view showing the cutting edge inspection device and cutting edge replacement system of the cutting system, with the cutting tool and intermediate member being held by the handling robot of the cutting edge replacement system. [Figure 6B] This is a schematic side view showing the state after the handling robot has attached the cutting tool and intermediate components to the support base of the cutting edge inspection device, a change from the state shown in Figure 6A. [Figure 6C]A side view schematically showing a state in which a cutting tool is gripped by a support base, changing from the state shown in FIG. 6B. [Figure 6D] A side view schematically showing a state in which an intermediate member is removed from a support base by a handling robot, changing from the state shown in FIG. 6C. [Figure 7A] A side view schematically showing a state in which light is irradiated from a light projecting unit of a cutting edge inspection device shown in FIG. 3 onto a cutting edge, and the reflected light from the cutting edge is received by a light receiving unit of the cutting edge inspection device. [Figure 7B] A view taken in the direction of arrow A in FIG. 7A. [Figure 8] A block diagram showing the configuration of the cutting edge inspection device shown in FIG. 3. [Figure 9] A diagram showing a cross-sectional profile of a cutting edge, as an example of an inspection logic for a cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. [Figure 10] A diagram showing a cross-sectional profile of a cutting edge, as an example of an inspection logic for a cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. [Figure 11] A diagram showing a cross-sectional profile of a cutting edge, as an example of an inspection logic for a cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. [Figure 12] A diagram showing a cross-sectional profile of a cutting edge, as an example of an inspection logic for a cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. [Figure 13] A diagram showing a cross-sectional profile of a cutting edge, as an example of an inspection logic for a cutting edge inspection performed in a control unit of a cutting edge inspection device according to an embodiment of the present invention. [Figure 14] A perspective view showing a modified example of the cutting edge inspection device. [Figure 15] A side view of the cutting edge inspection device shown in FIG. 14. [Figure 16] A block diagram showing the configuration of a cutting tool management system according to an embodiment of the present invention. [Figure 17]This diagram schematically shows an example of the arrangement of the reading unit in a cutting tool management system according to one embodiment of the present invention, where the reading unit is installed on a handling robot, and is a side view seen from the fingertip side of the handling robot. [Figure 18] This diagram schematically shows an example of the arrangement of a reading unit used in a cutting tool management system according to one embodiment of the present invention, where the reading unit is installed on a handling robot, and is a plan view showing the upper fingers of the handling robot omitted. [Modes for carrying out the invention]

[0016] The following describes a blade management system according to one embodiment of the present invention with reference to the drawings. Note that the embodiments shown below are merely examples, and the blade management system of the present invention is not limited to these embodiments.

[0017] The blade management system MS according to this embodiment is a system for managing information on blades BL used to cut objects such as metal plates. The blade management system MS is used, for example, as shown in Figure 1, as a device for managing information on blades BL in a cutting system CS that cuts objects W such as metal plates with blades BL. In this specification, "blade information" refers to information such as the usage status of blades BL and the inspection results of the blade tip of blades BL. "Blade information" may further include the storage position of blades BL in the storage shelf where blades BL are stored. However, the blade management system MS is not limited to use in the cutting system CS and can be used for other purposes, such as for shipping inspection in a blade manufacturing plant. The following describes an example in which the blade management system MS is used in the cutting system CS.

[0018] The cutting system CS is a system for cutting an object W. The object W to be cut by the cutting system CS is not particularly limited as long as it can be cut by a roughly circular blade BL, but for example, it is 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, which is the object to be cut W, by slitting it, that is, dividing it in the width direction of the strip (cutting along the length direction). In the following explanation, we will describe the case where the object to be cut W is a strip-shaped metal plate (hereinafter also referred to as strip plate W).

[0019] In the example shown in Figure 1, the cutting system CS comprises a cutting device CD for slitting the strip W, a blade replacement system ES for replacing the cutting tool BL, a cutting tool inspection device 1 for inspecting the cutting edge of the cutting tool BL, and a cutting tool management system MS (see Figure 16) for managing information about the cutting tool BL.

[0020] As shown in Figure 1, the cutting device CD comprises a cutting section 101 that cuts the strip W along the longitudinal direction of the strip W, a feeding roll 102 that winds the strip W into a roll and feeds the strip W toward the cutting section 101, a winding 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 transport section 104 that transports the strip W and the cut strip W1. The cutting device CD is configured such that the transport section 104 feeds the strip W from the feeding roll 102 and transports it to the cutting section 101, the transport section 104 transports the cut strip W1 after it has been cut by the cutting section 101 to the winding roll 103, and the winding roll 103 winds up the cut strip W1.

[0021] As shown in Figure 1, the cutting section 101 is configured to cut the strip W by applying a shear force to the strip W in the vertical direction using a blade BL positioned vertically above the strip W and a blade (not shown) positioned vertically below the strip W. More specifically, the cutting section 101 comprises an upper cutting member 101a equipped with an upper blade BL and positioned vertically above the strip W, and a lower cutting member (not shown) equipped with a lower blade BL and positioned vertically below the strip W.

[0022] As shown in Figures 1 and 2A to 2D, the upper cutting member 101a comprises a rotating shaft 101b extending in a direction perpendicular to the conveying direction of the strip W and along a substantially horizontal direction, a substantially cylindrical sleeve 101c detachably attached to the rotating shaft 101b so as to surround the rotating shaft 101b, and one or more blades BL detachably mounted on the outer circumference of the sleeve 101c. The upper cutting member 101a further comprises an intermediate member ME that defines 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 the same configuration as the upper cutting member 101a.

[0023] As shown in Figure 3, the cutting tool BL is formed in a substantially circular shape centered on axis X. The cutting tool BL has a cutting edge BL1 that extends along the outer circumference of the cutting tool BL. The cutting edge BL1 is the part that contacts the strip W when the cutting tool BL cuts the strip W. By contacting the strip W, the cutting edge BL1 receives frictional force and pressing force from the strip W. The cutting edge BL1 may gradually wear down due to friction and undergo plastic deformation due to pressing force. 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 a part of the cutting edge BL1 presses against the strip W to cut the strip W, and a part of the cutting edge BL1 may move toward the opposite side of the part that is pressing against the strip W. As will be described in detail below, the cutting edge inspection device 1 of this embodiment can inspect the presence and extent of defects such as wear and deformation of the cutting edge BL1 that has been deformed by wear and plastic deformation in this manner.

[0024] As shown in Figures 7A and 7B, the cutting edge BL1 of the cutting tool BL has, in a cross section 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 substantially in a straight line, a second side BL5 located on the end face BL4 in the axial direction D1 (the direction in which the axis X extends) of the cutting edge BL1, intersecting with the first side BL3 and expected to extend substantially in a straight line, and a tip BL6 located at the intersection of the first side BL3 and the second side BL5.

[0025] In this specification, "expected to extend in a substantially straight line" means that in an ideal state, such as before use of the cutting tool BL, it extends in a substantially straight line, but due to wear and / or plastic deformation, it may be deformed into a shape that deviates from the ideal state. In other words, if the first side BL3 and the second side BL5 extend in a substantially straight line in an ideal state, then in a state after use, they may deviate from the substantially straight state, for example, they may be curved.

[0026] In this embodiment, the cutting tool BL, as shown in Figures 7A and 7B, has two cutting edges BL1, BL1 at both ends in the axial direction D1. Specifically, it has a cutting edge BL1 formed between the outer circumferential surface BL2 of the cutting tool BL and one end face BL4 in the axial direction D1, and a cutting edge BL1 formed between the outer circumferential surface BL2 of the cutting tool BL and the other end face BL4 in the axial direction D1. In the illustrated example, one cutting edge BL1 and the other cutting edge BL2 have the same cross-sectional profile. By having two cutting edges BL1, BL1 on both sides of the axial direction D1, the lifespan of the cutting tool BL is extended because even if one deteriorates, the other can still be used. The cutting edge inspection device 1 of this embodiment has a configuration suitable for inspecting the two cutting edges BL1, BL1 provided on both sides of the axial direction D1, as will be described in detail below. However, the number of cutting edges BL1 on the cutting tool BL is not limited to two; it may be one or three or more.

[0027] The cutting edge BL1 is defined as a cross-section along the axial direction D1 of the cutting edge BL1 where the first side BL3 and the second side BL5 intersect, 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 such 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 only 90°, but also in a range slightly deviating from 90°, for example, in the range of 80° to 100°.

[0028] In this embodiment, the cutting tool BL has a through hole BL7 that penetrates the cutting tool BL in the axial direction D1, as shown in Figure 3. More specifically, the cutting tool BL is formed in a substantially cylindrical shape that extends along the axial direction D1. As shown in Figures 2A to 2D, the cutting tool BL can be supported by the sleeve 101c by inserting the sleeve 101c through the through hole BL7. Furthermore, as will be described later, the inner circumferential surface BL8 (see Figure 4) facing the through hole BL7 can be gripped by the support base 2 of the cutting edge inspection device 1 (described later) and gripped by the handling robot 202 of the blade replacement system ES (described later). However, the cutting tool BL only needs to have a cutting edge BL1 that extends along the outer circumference, and does not need to have a through hole BL7.

[0029] The intermediate member ME, which is mounted on the sleeve 101c along with the cutting blade BL, is a member for defining the position of the cutting blade BL in the axial direction D1 of the sleeve 101c, as shown in Figures 2A to 2D. In particular, when multiple cutting blades BL are mounted on the sleeve 101c, the intermediate member ME is positioned between the multiple cutting blades BL to define the distance between the multiple cutting blades BL in the axial direction D1. This defines the width of the cut strip W1 produced by cutting in the cutting device CD. An elastic material 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.

[0030] In this embodiment, the intermediate member ME is formed in a cylindrical shape with a through hole that penetrates in the axial direction D1, similar to the cutting tool BL. As shown in Figures 2A to 2D, the intermediate member ME can be supported by the sleeve 101c by inserting the sleeve 101c through the through hole. Furthermore, as will be described later, the inner circumferential surface facing the through hole can be gripped by the support base 2 of the cutting edge inspection device 1 (described later) and by the handling robot 202 of the cutting edge replacement system ES (described later).

[0031] As shown in Figure 1, the blade replacement system ES comprises a temporary assembly shaft device 201 to which the sleeve 101c is detachably mounted, a handling robot 202 for gripping and transporting the blade BL and intermediate member ML, and a storage shelf 203 for storing the blade BL and intermediate member ML.

[0032] As shown in Figure 1, the temporary assembly shaft device 201 transports the sleeve 101c, on which the cutting blade BL and intermediate member ME are mounted, between the cutting device CD and the handling robot 202. The temporary assembly shaft device 201 comprises a temporary assembly shaft 201a on which the sleeve 101c is mounted, and a trolley 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 (position of the dashed line in Figure 1) so that the temporary assembly shaft 201a and the rotation axis 101b of the cutting device CD are coaxial, and transfers the sleeve 101c with the cutting blade BL and intermediate member ME mounted between the cutting device CD and the cutting device CD. The temporary assembly shaft device 201 also moves within the driving range of the handling robot 202 (position of the solid line in Figure 1) in order to transfer the cutting blade BL and intermediate member ME to the handling robot 202. Figures 2A to 2D show the sleeve 101c, with the cutting tool BL and intermediate member ME attached, mounted on the temporary assembly shaft 201a.

[0033] As shown in Figures 2A to 2D, the handling robot 202 grasps the cutting tool BL and the intermediate member ME and transports them, for example, between the sleeve 101c mounted on the temporary assembly shaft device 201 and the cutting edge inspection device 1. As shown in Figures 2A to 2D, 17 and 18, the handling robot 202 comprises a base portion 202a, an arm portion 202b having multiple joints and fixed to the base portion 202a so as to be rotatable, and a robot hand RH attached to the tip of the arm portion 202b for grasping the cutting tool BL and the intermediate member ME. The robot hand RH has multiple fingers 202c formed thereon for grasping the cutting tool BL and the intermediate member ME. Figures 17 and 18 show details of the robot hand RH. As shown in Figure 17, the robot hand RH has two finger frames RH1 and RH2. The upper finger frame RH1 has two fingers 202c, and the lower finger frame RH2 has one finger 202c. In Figure 18, for convenience, the upper finger frame RH1 is not shown, the cutting tool BL is shown with a dashed line, and the identifier ID is shown with a dashed line. The handling robot 202 grasps the cutting tool BL and the intermediate member ME with multiple fingers 202c (three fingers 202c in the example shown in Figures 17 and 18), and transports the cutting tool BL and the intermediate member ME by the movement of the arm 202b.

[0034] The handling robot 202 is equipped with three fingers 202c, as shown in Figure 4. Each finger 202c is positioned to extend substantially horizontally from the tip of the arm portion 202b, as shown in Figures 2A to 2D. As shown in Figure 4, each finger 202c is positioned, when viewed from the tip side of each finger 202c, at positions corresponding to the two vertices flanking 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 and transferring the cutting tool BL and intermediate member ME between the cutting edge inspection device 1 and the device, the three fingers 202c are positioned so as not to interfere with the upper support portion 21 and the lower support portion 22 of the cutting edge inspection device 1, as shown in Figure 3. Specifically, for example, the two upper fingers 202c are positioned such that the upper support portion 21 is located horizontally between the two upper fingers 202c and the upper support portion 21 is spaced apart from the two upper fingers 202c. Similarly, the lower finger 202c is positioned such that the lower finger 202c is located horizontally between the two lower support portions 22 and the lower finger 202c is spaced apart from the two lower support portions 22. The three fingers 202c are positioned within the through-hole BL7 of the cutting tool BL and the through-hole of the intermediate member ME, and the two upper fingers 202c and the lower finger 202c move in a direction that separates them from each other, pressing against the inner circumferential surfaces facing the through-holes of the cutting tool BL and the intermediate member ME, thereby gripping the cutting tool BL and the intermediate member ME.

[0035] The handling robot 202, for example, takes out the cutting tool 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 cutting tool BL and intermediate member ME to the cutting edge inspection device 1 (see Figure 2B), takes out the intermediate member ME from the cutting tool BL and intermediate member ME attached to the cutting edge inspection device 1 (see Figure 2C), stores the intermediate member ME in the storage shelf 203 (see Figure 1), takes out the cutting tool BL attached to the cutting edge inspection device 1 (see Figure 2D), and stores the cutting tool BL in the storage shelf 203 (see Figure 1).

[0036] As shown in Figures 3 to 5, the blade tip inspection device 1 is a device for inspecting the blade tip BL1 that extends along the outer circumference of a roughly circular blade BL. The blade tip inspection device 1 is used, for example, in a cutting system CS that cuts an object W such as a metal plate with a blade BL, as shown in Figure 1, to inspect the blade tip BL1 of the blade BL. However, the use of the blade tip inspection device 1 is not limited to the cutting system CS, and it can also be used for other purposes, such as for shipping inspection in a blade manufacturing plant.

[0037] As shown in Figures 3 to 5, the blade tip inspection device 1 comprises a support base 2, a detection unit 3, a rotation mechanism 4, and a control unit 5.

[0038] The support base 2 supports the cutting tool BL. The configuration of the support base 2 is not particularly limited as long as it can support the cutting tool BL, but 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 circumferential surface BL81 facing the through hole BL7 of the cutting tool BL, which is positioned so that the axial direction D1 of the cutting tool BL is oriented in a substantially horizontal direction, and a lower support portion 22 that supports the lower inner circumferential surface BL82 facing the through hole BL7 of the cutting tool BL, which is positioned so that the axial direction D1 of the cutting tool BL is oriented in a substantially horizontal direction. In this configuration, the upper support portion 21 has a length L1 that is longer than the axial direction D1 of the upper inner circumferential surface BL81. The lower support portion 22 has a length L2 that is approximately the same as the axial direction D1 of the lower inner circumferential surface BL82. By adopting this configuration, the blade BL and the intermediate member ME can be supported by the upper support portion 21 alone, and the blade BL 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, so as will be described later, the intermediate member ME can be easily removed from the support base 2 while the blade BL remains supported on the support base 2.

[0039] In this specification, "upper" in "upper support portion 21" means that the upper support portion 21 is positioned above the lower support portion 22 when the cutting tool BL and intermediate member M are transferred between the cutting edge inspection device 1 and the handling robot 202, and does not mean that the upper support portion 21 is always positioned above the lower support portion 22. Similarly, "lower" in "lower support portion 22" means that the lower support portion 22 is positioned below the upper support portion 21 when the cutting tool BL and intermediate member M are transferred between the cutting edge inspection device 1 and the handling robot 202, and does not mean that the lower support portion 22 is always positioned below the upper support portion 21. Therefore, when the upper support portion 21 and the lower support portion 22 rotate under the rotational driving force of the rotation mechanism 4, the positional relationship between the upper support portion 21 and the lower support portion 22 may be reversed in the vertical direction.

[0040] In this embodiment, the support base 2 is equipped with a spacing adjustment mechanism 25 (see Figure 8) for adjusting the distance between the upper support portion 21 and the lower support portion 22. The upper support portion 21 and the lower support portion 22 are configured to be movable between a gripping position in which the cutting tool BL is gripped and a release position in which the gripping of the cutting tool BL is released, by the spacing adjustment mechanism 25. The spacing adjustment mechanism 25 is configured to adjust the distance between the upper support portion 21 and the lower support portion 22 using power from a drive source such as a cylinder device or a motor. Specifically, for example, the spacing adjustment mechanism 25 is configured to move the upper support portion 21 and the lower support portion 22 in a direction that moves them relatively closer together and further apart along the vertical direction. As the upper support portion 21 and the lower support portion 22 move toward relative proximity, 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 can be supported by only the upper support portion 21 of the upper support portion 21 and the lower support portion 22. Alternatively, as the upper support portion 21 and the lower support portion 22 move toward relative distance, the upper support portion 21 and the lower support portion 22 are positioned in the gripping position, and both the upper support portion 21 and the lower support portion 22 press the inner circumferential surface BL8 of the blade BL in opposite directions. As a result, only the blade BL can be fixed and supported by the upper support portion 21 and the lower support portion 22.

[0041] 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 portion 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 end in the longitudinal direction of the upper support portion 21 and is provided to protrude substantially horizontally from the upper base member 23. The lower support portion 22 is fixed to the lower base member 24 at one end in the longitudinal direction of the lower support portion 22 and is provided to protrude substantially horizontally from the lower base member 24. 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 spacing adjustment mechanism 25.

[0042] The number of upper support parts 21 and lower support parts 22 is not particularly limited as long as they can reliably support the blade BL. For example, in the examples shown in Figures 3 to 5, there is one upper support part 21 and two lower support parts 22. The positions of the upper support parts 21 and lower support parts 22 are not particularly limited as long as they can reliably support the blade BL. For example, in the examples shown in Figures 3 and 4, when viewed from a direction along the length direction (axial direction D1) of the upper support part 21, one of the two lower support parts 22 is located diagonally below one upper support part 21, and the other of the two lower support parts 22 is located diagonally below the upper support part 21 on the opposite side from the other lower support part 22. The two lower support parts 22 are positioned at the two vertices that straddle the base of an isosceles triangle, and the one upper support part 21 is positioned at the position corresponding to the remaining vertex of the isosceles triangle.

[0043] The length L1 of the upper support portion 21 is not particularly limited, but it is preferable that it is the length of the axial D1 of the upper inner circumferential surface BL81 of the cutting tool BL plus the length of the axial D1 of the inner circumferential surface of the intermediate member ME facing the through hole, or greater than that length. In this case, the length L1 of the upper support portion 21 may be the length of the axial D1 of the upper inner circumferential surface BL81 plus the length of the inner circumferential surface of one intermediate member ME, or greater than that length, or it may be the length of the axial D1 of the upper inner circumferential surface BL81 plus the lengths of the inner circumferential surfaces of multiple intermediate members ME, or greater than that length.

[0044] The upper support portion 21 only needs to be configured to support the upper inner circumferential surface BL81 of the blade BL, and its shape is not particularly limited. In this embodiment, as shown in Figures 3 and 4, the upper support portion 21 is formed such that the cross section along the direction perpendicular to the longitudinal direction of the upper support portion 21 follows the upper inner circumferential surface BL81 of the blade BL. In the example shown in Figure 3, the upper support portion 21 is formed such that the cross section along the direction perpendicular to the longitudinal direction of the upper support portion 21 is arc-shaped. By forming the upper support portion 21 to follow the upper inner circumferential surface BL81 of the blade BL, the contact area with the upper inner circumferential surface BL81 is increased, the frictional force generated between them increases, and the blade BL can be supported more reliably.

[0045] Preferably, the upper support portion 21 is inclined diagonally upward with respect to the horizontal direction from one end to the other end in the longitudinal direction of the upper support portion 21. Specifically, for example, it is preferable that the upper surface of the upper support portion 21 that contacts the upper inner circumferential surface BL81 of the blade BL is inclined diagonally upward with respect to the horizontal direction from one end to the other end in the longitudinal direction of the upper support portion 21. By having such a configuration, the following effects can be achieved. As will be described later, 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 along the longitudinal direction of the upper support portion 21 from the other end to the one end. As a result, the blade BL moves to a position where the lower inner circumferential surface BL82 of the blade BL faces the lower support portion 22. Therefore, the blade BL can be positioned more reliably at a location where the upper support portion 21 and the lower support portion 22 are facing each other, and thus the blade BL can be supported more reliably by the upper support portion 21 and the lower support portion 22.

[0046] Referring to Figures 6A to 6D, the transfer operation of the cutting tool BL and intermediate member ME between the handling robot 202 and the cutting edge inspection device 1 will be described. Figures 6A to 6D are schematic side views showing the operation of the cutting edge inspection device 1 and the handling robot 202 shown in Figure 1. However, the following operation is just 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.

[0047] In the example shown in Figure 6A, the three fingers 202c of the handling robot 202 are supporting the cutting tool BL and the intermediate member ME (two intermediate members ME in the illustrated example) in order from the tip side of the fingers 202c (right side in Figure 6A). Also in the example shown in Figure 6A, the upper support part 21 and the lower support part 22 of the cutting edge inspection device 1 are positioned in the grip release position, and the distance between the upper support part 21 and the lower support part 22 is smaller than the distance when the upper support part 21 and the lower support part 22 can support the cutting tool BL (hereinafter also referred to as the support distance DS, see Figures 6C and 6D). In this state, the arm part 202b of the handling robot 202 is operated so that the three fingers 202c approach the support base 2 of the cutting edge inspection device 1 along the axial direction D1 (see Figure 6A).

[0048] Next, as shown in Figure 6B, the tip of the upper finger 202c contacts the upper base member 23. Also, the tip of the lower finger 202c contacts the lower base member 24. As a result, the blade BL contacts 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 between the blade BL and the lower support member 22 is suppressed. Note that in Figure 6B, the tip of the upper finger 202c contacts the upper base member 23 and the tip of the lower finger 202c contacts the lower base member 24, but the invention is not limited to this example. For example, the tip of the upper finger 202c may approach the upper base member 23 to the extent that there is a predetermined clearance between the tip of the upper finger 202c and the upper base member 23, while the tip of the lower finger 202c may approach the lower base member 24 to the extent that there is a predetermined clearance between the tip of the lower finger 202c and the lower base member 24 (a clearance smaller than the length L2 of the axial direction D1 of the lower support portion 22).

[0049] Next, as shown in Figure 6C, the lower finger 202c rises. This rise causes the lower finger 202c to move away from the lower inner surface BL82 of the cutting tool BL and the inner surface of the intermediate member ME. In other words, the lower finger 202c no longer supports the lower inner surface BL82 of the cutting tool BL and the inner surface of the intermediate member ME. In this state, the upper finger 202c and the upper support portion 21 support the upper inner surface BL81 of the cutting tool BL and the inner surface of the intermediate member ME. Next, the lower support portion 22 of the cutting edge inspection device 1 descends. This descent causes the lower support portion 22 to come into contact with the lower inner surface BL82 of the cutting tool BL. In other words, the lower support portion 22 now supports the lower inner surface BL82 of the cutting tool BL. In this state, the lower support portion 22 supports only the lower inner circumferential surface BL82 of the blade BL, and does not support the inner circumferential 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 point where there is a predetermined clearance (a clearance smaller than the length L2 of the axial D1 of the lower support portion 22) between the tips of the upper and lower fingers 202c and the lower base member 24 to transfer the blade BL, the blade BL will be spaced apart from the upper base member 23 and the lower base member 24 in the axial direction D1. However, as described above, because the upper support portion 21 is inclined, the blade BL slides on the upper support portion 21 toward the upper base member 23, so the blade BL comes into contact with the upper base member 23 and the lower base member 24. Therefore, with the blade BL in contact with the upper base member 23 and the lower base member 24, the lower support portion 22 supports the lower inner circumferential surface BL82 of the blade BL.

[0050] Next, the three fingers 202c move a predetermined distance (slightly longer than the length L2 of the lower support portion 22) away from the support base 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 member ME. In other words, the lower finger 202c supports the inner circumferential surface of the intermediate member ME. In this state, the three fingers 202c move away from the cutting edge inspection device 1, as shown in Figure 6D. After that, the three fingers 202c, while supporting the intermediate member ME, move to the storage shelf 203, and the intermediate member ME is returned to the storage shelf 203. The cutting edge BL remaining on the support base 2 is inspected by the cutting edge inspection device 1, as will be described later.

[0051] 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 along a direction substantially perpendicular to the circumferential direction D3 of the cutting edge BL1 (see Figures 9 to 13). The detection unit 3 comprises a light-emitting unit 31 that irradiates the cutting edge BL1 with a 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 from the slit-shaped light SH1 irradiated by the light-emitting unit 31, which 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).

[0052] As shown in Figures 7A and 7B, the light-emitting unit 31 projects a slit-shaped beam of light SH1 extending in a direction approximately perpendicular to the circumferential direction D3 of the cutting edge BL1, along a straight line SL1 that passes approximately through the center of the angle θ formed by the assumed straight line of the first side BL3 and the assumed straight line of the second side BL5 of the cutting edge BL1. As a result, the slit-shaped beam of light SH1 is projected onto the cutting edge BL1 symmetrically with respect to the tip BL6 of the cutting edge BL1 in a direction approximately 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 with respect to the tip BL6 of the cutting edge BL1. Therefore, the condition of the cutting edge BL1 can be inspected thoroughly and accurately.

[0053] In this specification, "expected straight line" refers to a straight line based on the concept of "expected to extend in a substantially straight line" as described above. That is, in an ideal state such as the state of the blade BL before use, it extends in a substantially straight line, but in a case where it may have deformed into a shape that deviates from the ideal state due to wear and / or plastic deformation, it refers to the straight line of the ideal state. In other words, if the first side BL3 and the second side BL5 are expected to extend in a substantially straight line in an ideal state, in the state after use they may deviate from the substantially straight state, for example, they may be curved. If they deviate from the substantially straight state in the state after use, the ideal straight line can be determined using some method, such as linear approximation of the detected shape.

[0054] Furthermore, in this specification, the angle referred to as "approximately the center of angle θ" means not only θ / 2, but also an angle within ±10% of θ / 2. In this embodiment, the first side BL3 and the second side BL5 are approximately orthogonal to each other, in which case the angle referred to as "approximately the center of angle θ" means approximately 45°, or for example, an angle within the range of 40° to 50°.

[0055] Preferably, the light SH1 emitted by the light-emitting unit 31 is irradiated onto the cutting edge BL1 such that the approximate center of the light SH1 is located on the straight line SL1, as shown in Figure 7A. This allows the slit-shaped light SH1 to irradiate the cutting edge BL1 more accurately and symmetrically with respect to 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 longer side of the cross-section of the light SH1 irradiated onto the cutting edge BL1 is not particularly limited and can be appropriately set according to the size of the part of the cutting edge BL1 where wear or chipping is expected to occur. The light SH1 is not particularly limited as long as it is a slit-shaped light, for example, a 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, and for example, a known laser light commonly used in light sectioning can be used.

[0056] The light-receiving unit 32 receives reflected light SH2 reflected by the cutting edge BL1. The light-receiving unit 32 receives the reflected light SH2, forms an image, and acquires the cross-sectional shape of the cutting edge BL1 as profile data. The arrangement of the light-receiving unit 32 is not particularly limited as long as it can receive the reflected light SH2. Preferably, the light-receiving unit 32 is arranged so as to receive the reflected light SH2 from a direction inclined with respect to the direction of propagation of the light SH1 emitted by the light-emitting unit 31 in the circumferential direction D3 of the cutting edge BL1 (for example, a direction of approximately 45°), and 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 reflected light SH2 from the cutting edge BL1 symmetrically with respect to the tip BL6 of the cutting edge BL1 in a direction approximately perpendicular to the circumferential direction D3 of the cutting edge BL1, and to obtain a more accurate cross-sectional profile of the cutting edge BL1. The light-receiving unit 32 only needs to be able to receive reflected light SH2 reflected from the blade tip BL1, and can be configured, for example, with a known image sensor CMOS used in general light sectioning methods.

[0057] The rotation mechanism 4 rotates the cutting edge BL1 relative to the detection unit 3 around axis X in order to change the position of the cross-sectional profile of the cutting edge BL1 along the circumferential direction of the cutting edge BL1. By rotating the cutting edge BL1 relative to the detection unit 3 using the rotation mechanism 4 and continuously acquiring the cross-sectional profile of the cutting edge BL1 along the circumferential direction D3, the condition of the cutting edge BL1 along the circumferential direction D3 can be inspected. The rotation angle for rotating the cutting edge BL1 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 an angle of 360° or more. By setting such a rotation angle, inspection can be performed over the entire circumference of the cutting edge BL1. The interval at which the cross-sectional profile is acquired in the circumferential direction D3 of the cutting edge BL1 is not particularly limited and can be set appropriately according to the size of the part of the cutting edge BL1 where wear or chipping is expected to occur.

[0058] In this embodiment, the rotation mechanism 4 is configured to rotate the cutting edge BL1 relative to the detection unit 3 by rotating the cutting tool BL around axis X. Specifically, as shown in Figures 4 and 5, the rotation mechanism 4 includes a rotating body 41 provided on a support base 2 that supports the cutting tool BL, and a drive unit (not shown) such as a motor that rotates the rotating body 41. An upper support part 21 and a lower support part 22 are attached to the rotating body 41 via an upper base member 23 and a lower base member 24 of the support base 2. The rotation mechanism 4 rotates the upper support part 21 and the lower support part 22 by rotating the rotating body 41 with the drive unit, thereby rotating the cutting edge BL1 of the cutting tool BL supported by the upper support part 21 and the lower support part 22. The rotation mechanism only needs to be able to rotate the cutting edge BL1 relative to the detection unit 3. For example, it may be provided on a handling robot 202 (see Figures 2A to 2D) and configured to rotate the cutting tool BL using the handling robot 202, or it may be configured to rotate the detection unit 3 around the cutting edge BL1.

[0059] The control unit 5 determines the state 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 Figure 8, the control unit 5 is connected to the detection unit 3 in a communicative manner, controls the detection operation of the detection unit 3, and is configured to directly acquire the cross-sectional profile of the cutting edge BL1 from the detection unit 3. However, in order to determine the state 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, it may be configured to indirectly acquire the cross-sectional profile of the cutting edge BL1 via a storage unit that stores the cross-sectional profile of the cutting edge BL1, or it may be configured to acquire it from another control device that controls the detection operation of the detection unit 3. The control unit 5 can be configured using, for example, a known central processing unit (CPU) that is generally installed in a computer.

[0060] The control unit 5 extracts, for example, the cross-sectional profile PR1 of the first region AR1, which is located at a predetermined distance from the tip BL6 of the cutting edge BL1, and the cross-sectional profile PR2 of the second region AR2, which is closer to the tip BL6 of the cutting edge BL1 than the first region AR1, from the cross-sectional profile detected by the detection unit 3. Furthermore, the control unit 5 obtains an approximate straight line SL2 by linearly approximating the cross-sectional profile PR1 of the first region AR1, and estimates the ideal cross-sectional profile IPR of the second region AR2 by extending the approximate straight line SL2. Furthermore, the control unit 5 is configured to calculate a feature quantity FA that shows 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 quantity FA with a predetermined threshold, and if the calculated feature quantity FA exceeds the predetermined threshold, it can determine that a defect such as wear, chipping, or deformation has occurred in the cutting edge BL1 from which the cross-sectional profile was detected. In other words, the control unit 5 is configured to obtain at least one of the feature quantity FA and the determination result based on the feature quantity FA as an inspection result, and can calculate and / or determine the presence and / or degree of at least one of the defects such as wear, chipping, and deformation in the cutting edge BL1. Therefore, the cutting edge inspection device 1 can inspect the condition of the cutting edge BL1 with a simple configuration and high accuracy.

[0061] Furthermore, the first region AR1, which is set at a predetermined distance from the tip BL6 of the cutting edge BL1, can be set as a region where wear or plastic deformation is unlikely to occur at the cutting edge BL1 during use of the cutting tool 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 in which 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 in the first region AR1 and the cross-sectional profile PR1 of the first region AR1 falls within a predetermined range. Linear approximation can be performed using the least squares method or other known mathematical methods.

[0062] The control unit 5 may be configured to determine whether the cross-sectional profile PR2 of the second region AR2 is located inside the axial direction D1 and radial direction D2 of the cutting edge BL1 compared to the ideal cross-sectional profile IPR of the second region AR2. If the control unit 5 determines, for example, that the cross-sectional profile PR2 is inside the ideal cross-sectional profile IPR (see Figure 9, etc.), it can determine that wear or chipping has occurred on the cutting edge BL1. Also, if the control unit 5 determines, for example, that the cross-sectional profile PR2 is outside the ideal cross-sectional profile IPR (see Figure 11), it can determine that the cutting edge BL1 has undergone plastic deformation.

[0063] Here, feature quantity FA is a quantity that represents 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, as described above. Feature quantity FA can be calculated by various inspection logics, as shown in Figures 9 to 13. In the following, for example, as illustrated in Figure 9, the line obtained by extending the approximate line SL2 will also be referred to as the "generator line GL". The intersection point of the generator line GL on the first side BL3 and the generator line GL on the second side BL5 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 aforementioned line SL1. However, the tip BL6 may be located slightly off from the line SL1.

[0064] In the inspection logic shown in Figure 9, the feature quantity FA is the area S1 of the region (hatched area) enclosed by the portion of the cross-sectional profile PR2 of the second region AR2 that is located inside the axial direction D1 and radial direction D2 of the cutting edge BL1 compared to the ideal cross-sectional profile IPR of the second region AR2, and the ideal cross-sectional profile IPR2 of the second region AR2. The comparison between the cross-sectional profile PR2 of the second region AR2 and the ideal cross-sectional profile IPR of the second region AR2 is performed with both displayed in the same coordinate system. The area S1 can be obtained by performing an integration operation within the region enclosed by the cross-sectional profile PR2 and the ideal cross-sectional profile IPR, based on the coordinates of each point in 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 in the ideal cross-sectional profile IPR, when the cross-sectional profile PR2 and the ideal cross-sectional profile IPR are displayed in the same coordinate system. By calculating this area as a feature quantity FA, ​​it is possible to determine with high accuracy the presence and / or degree of at least one defect among wear, chipping, and deformation of the cutting edge BL1.

[0065] In the inspection logic shown in Figure 10, the feature quantity FA is the interval 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 interval CL is, for example, the interval between the intersection point of the line SL1 and the cross-sectional profile PR2 and the intersection point VE. By calculating the interval CL as the feature quantity FA, ​​the degree of defects such as wear, chipping, and deformation of the cutting edge BL1 can be grasped with high accuracy. In particular, as shown in Figure 11, if there is a portion of the cross-sectional profile PR2 of the second region AR2 that is located outside the axial direction D1 or radial direction D2 of the cutting edge BL1 compared to the ideal cross-sectional profile IPR of the second region AR2, the interval CL tends to increase as a part of the cutting edge BL1 moves outside the ideal cross-sectional profile IPR, making it easy to detect such abnormalities in the cutting edge BL1.

[0066] In the inspection logic shown in Figure 12, the feature quantity FA is a value that indicates the relationship between the inclinations α1 and α2 of the cross-sectional profile PR2 in the second region AR2 at a predetermined position and the inclination β of the ideal cross-sectional profile IPR in the second region AR2. In this embodiment, the "predetermined position" is a position within the third region AR3 that is within the second region AR2 and has a predetermined width, and is greater than zero in distance from the straight line SL1. The predetermined position and predetermined width can be set arbitrarily as long as the above conditions are met. The "value indicating the relationship with the inclination β of the ideal cross-sectional profile IPR" is not particularly limited, but for example, α1 / β and α2 / β, assuming that the inclinations of the tangents TL1 and TL2 drawn on the cross-sectional profile PR2 within the third region AR3 are inclinations α1 and α2. By showing the relationship between the inclinations α1 and α2 of the cross-sectional profile PR2 and the inclination β of the ideal cross-sectional profile IPR, for example, the roundness of the cutting edge BL1 can be evaluated.

[0067] In the inspection logic shown in Figure 13, the feature quantity FA is the area S2 of the region (hatched region) enclosed by the portion of the cross-sectional profile PR2 of the second region AR2 that is located outside the axial direction D1 or radial direction D2 of the cutting edge BL1 compared to the ideal cross-sectional profile IPR of the second region AR2, and the ideal cross-sectional profile IPR of the second region AR2. With this configuration, it is possible to determine the degree to which the cross-sectional profile PR2 is deformed outside the ideal cross-sectional profile IPR. Therefore, the degree of plastic deformation of the cutting edge BL1 can be easily determined.

[0068] In this embodiment, the control unit 5 is connected to the rotating mechanism 4 in a communicative manner, as shown in the block diagram of Figure 8, and is configured to control the rotational operation of the rotating mechanism 4. The control unit 5 controls the rotating mechanism 4 and the detection unit 3 to rotate the cutting edge BL1 of the cutting tool BL relative to the detection unit 3, and acquires a cross-sectional profile of the cutting edge BL1 along the circumferential direction D3 (see Figure 7B) of the cutting edge BL1. By acquiring a cross-sectional profile of the cutting edge BL1 along the circumferential direction D3 of the cutting edge BL1, the control unit 5 can calculate the change in the feature quantity FA along the circumferential direction D3 of the cutting edge BL1. As a result, the control unit 5 can determine where and to what extent defects such as wear, chipping, and deformation are occurring along the circumferential direction D3 of the cutting edge BL1. This determination is not particularly limited and may be performed by determining whether the feature quantity FA exceeds a predetermined threshold at each position in the circumferential direction D3 of the cutting edge BL1, or by determining whether the feature quantity FA exceeds a predetermined threshold over a predetermined length range along the circumferential direction D3 of the cutting edge BL1.

[0069] The control unit 5 may be connected to the operation input unit 7 and the output unit 8 in a communicative manner, as shown in the block diagram of Figure 8. The operation input unit 7 receives operation input from the user and transmits the content of the user's operation input to the control unit 5. By including the operation input unit 7, the blade tip inspection device 1 can perform the above operations of the control unit 5 in response to user input and can also modify the above operations of the control unit 5. The operation input unit 7 can be implemented by known input means such as a keyboard or mouse. The output unit 8 is configured to output at least one of the following results as an inspection result: the detection result from the detection unit 3, and the calculation result and judgment result from the control unit 5. The blade tip inspection device 1 can notify the user of the above inspection result through the output unit 8. The output unit 8 can be implemented by known data output means such as a display, printer, or speaker. Furthermore, the control unit 5 is configured to communicate with the blade management system MS. The control unit 5 can notify the blade management system MS of the above inspection result.

[0070] The blade tip inspection device 1 only needs to be able to inspect the blade tip BL1 of the blade BL, and its location is not particularly limited. In this embodiment, the blade tip inspection device 1 is installed in the blade replacement system ES, as shown in Figures 1 and 2A to 2D, and more specifically, it is installed within the area of ​​the blade replacement system ES. This allows the blade tip inspection to be performed during the blade replacement process, eliminating the need to provide a separate blade tip inspection process. In particular, in this embodiment, the blade tip inspection device 1 is installed adjacent to the handling robot 202 of the blade replacement system ES, and more specifically, it is installed on the base portion 202a of the handling robot 202. This allows the blade tip inspection to be performed while the blade BL is being transported by the handling robot 202 (for example, while being transported to the storage shelf 203), which reduces the time required for transporting the blade BL compared to when the blade BL is stored in the storage shelf 203 and then taken out again for blade tip inspection. However, the blade tip inspection may be performed while the blade BL is being transported, or it may be performed after the blade BL has been taken out of storage rack 203 once it has been stored.

[0071] The above demonstrates that the cutting edge inspection device 1 of this embodiment can inspect the cutting edge BL1 located on one side of the axial direction D1 of the cutting tool BL. The cutting edge inspection device 1 of this embodiment can further inspect the cutting edge BL1 located on the other side of the axial direction D1 of the cutting tool BL. As shown in Figures 3 to 5, the cutting edge inspection device 1 includes a moving mechanism 6 that moves the detection unit 3 relative to the cutting edge BL1 of the cutting tool BL between a first inspection position (position of the solid line in Figure 5) for inspecting the cutting edge BL1 located on one side of the axial direction D1 of the cutting tool BL, and a second inspection position (position of the dashed line in Figure 5) for inspecting the cutting edge BL1 located on the other side of the axial direction D1 of the cutting tool BL. The moving 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 in the axial direction D1 of the cutting tool BL. At both the first and second inspection positions, the detection unit 3 can be positioned with respect 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.

[0072] The movement mechanism 6 only needs to be able to move the detection unit 3 relative to the cutting edge BL1 of the cutting tool BL between the first inspection position and the second inspection position, and the direction of movement is not particularly limited. In this embodiment, the movement mechanism 6 is configured to allow the detection unit 3 to rotate relative to the cutting edge BL1 of the cutting tool BL, around a rotation axis X1 parallel to the radial direction D2 of the cutting tool BL. Specifically, as shown in Figures 3 to 5, the movement mechanism 6 includes a base 61 fixed to a support base 2, an arm portion 62 to which the detection unit 3 is fixed and which is attached to the base 61 so as to be rotatable around the rotation axis X1, and a rotation drive portion 63 fixed to the base 61 and which rotates the arm portion 62. The detection unit 3 is configured to pivot around the rotation axis X1 by being fixed to the arm portion 62 which rotates around the rotation axis X1, offset from the rotation axis X1 in a direction perpendicular to the rotation axis X1. Furthermore, by positioning the rotation axis X1 to be approximately in line with the center line of the cutting tool BL along the radial direction D2 of the cutting tool BL, the detection unit 3 is positioned opposite each other in the axial direction D1 of the cutting tool BL, sandwiching the cutting tool BL, before and after rotating approximately 180° around the rotation axis X1. As a result, at both the first and second inspection positions, the detection unit 3 can be positioned with respect to the cutting edge BL1 of the cutting tool BL in substantially the same position as described above, thereby enabling substantially the same inspection as described above. However, the moving mechanism 6 may be configured to move the cutting edge BL1 of the cutting tool BL relative to the detection unit 3.

[0073] As shown in the block diagram of Figure 8, the moving mechanism 6 is communicatively connected to the control unit 5 and its operation is controlled by the control unit 5. For example, after the inspection of the cutting edge BL1 located on one side of the axial direction D1 of the cutting tool BL is completed, the control unit 5 controls the moving mechanism 6 to move the detection unit 3 relative to it from the first inspection position (position of the solid line in Figure 5) to the second inspection position (position of the dashed line in Figure 5), thereby enabling continuous inspection of the cutting edge BL1 located on the other side of the axial direction D1 of the cutting tool BL. Therefore, the cutting edge inspection device 1 can quickly inspect a cutting tool BL having two cutting edges BL1, BL1.

[0074] In the above embodiment, the blade BL is mounted on the blade tip inspection device 1 such that its axial direction D1 is approximately horizontal, but the embodiment is not limited to this. For example, as shown in Figures 14 and 15, the blade BL may be mounted on the blade tip inspection device 1 such that its axial direction D1 is approximately vertical. In this case, the support base 2 is configured to support the blade BL so that its axial direction D1 is approximately vertical.

[0075] Next, the blade management system MS will be described. The blade management system MS manages blade BLs by managing information about them. As shown in Figure 16, the blade management system MS comprises a reading unit MS1 that reads an identifier ID attached to a blade BL, and a management unit MS2 that manages information about blade BLs in association with the blade identification information indicated by the identifier ID. The blade management system MS only needs to have at least the reading unit MS1 and the management unit MS2, and is not particularly limited, but it may further include a storage unit MS3, an operation input unit MS4, and an output unit MS5 that are communicatively connected to the management unit MS2. In the following, an example of applying the blade management system MS to the management of blade BLs as described above will be given, but it can also be applied to the management of other blades that require management in addition to the management of blade BLs as described above.

[0076] Blade BLs (Blade Blocks) managed by the blade management system MS are assigned an identifier ID that indicates blade identification information for identifying the blade BL. The identifier ID is not particularly limited as long as it can be attached to the blade BL, but for example, one-dimensional codes such as barcodes that can be read by optical readers such as code readers, or two-dimensional codes such as QR codes (registered trademarks) are used. From the viewpoint of read success rate, two-dimensional codes are preferably used as identifier IDs. In addition to identifiers that can be read by optical readers, the identifier ID may also be a tag such as an RFID tag that can be read by an electromagnetic reader such as an RFID reader.

[0077] The blade identification information indicated by the identifier ID is not particularly limited as long as it is information for identifying the blade BL, but in this embodiment, it is various information about the blade BL, such as the user's name, material (e.g., steel type), initial outer diameter, initial inner diameter, initial blade thickness, manufacturing date, group number, and serial number. The group number and serial number are identification numbers assigned to each blade BL. The group number can be represented, for example, by any letter from A to Z. The serial number can be represented, for example, by a multi-digit number. By combining the group number and serial number, a unique identification number is constructed. The identifier ID can be composed of a graphic pattern that indicates the blade identification information. However, the identifier ID may also be composed of a graphic pattern that indicates other text data or binary data associated with the blade identification information.

[0078] The identifier ID should be attached to the cutting tool BL in a position that can be read by the reading unit MS1, and the position where it is attached is not particularly limited. Preferably, the identifier ID is attached to a position that does not come into contact with the object to be cut W when the cutting tool BL is used, for example, a position other than the cutting edge BL1 or the outer peripheral surface BL2. In this embodiment, as shown in Figure 3, the identifier ID is provided on one or both end faces BL4 of the cutting tool BL in the axial direction D1 (the direction in which the axis X extends). The number of identifier IDs attached to the cutting tool BL is not particularly limited as long as they are provided in a position that can be read by the reading unit MS1, and there may be one or more. For example, multiple identifier IDs may be attached to the end face BL4 of the cutting tool BL along the circumferential direction, thereby shortening the time for alignment, as described later, or eliminating the alignment process.

[0079] The method for assigning an identifier ID to a cutting tool BL is not particularly limited; for example, marking by irradiating with laser light can be employed. The identifier ID marked by laser light can be read by an optical reader. As for the method of marking with laser light, any of the following methods can be employed: black printing (oxidation printing), white printing (scraping printing), engraving printing, and surface layer peeling.

[0080] Black printing is achieved by shifting the focus of the laser beam from the surface of the blade BL when irradiating it, thereby transferring only heat to the blade BL. By applying heat without cutting, an oxide film is formed on the surface of the blade BL. This oxide film appears black, allowing for black printing.

[0081] White printing is achieved by focusing a laser beam onto the blade BL, finely shaving the surface of the blade BL, and creating fine irregularities on its surface. By creating these fine irregularities on the surface of the blade BL, diffuse reflection of light occurs, allowing for printing that appears white due to this diffuse reflection.

[0082] Engraving is performed by focusing a laser beam onto the cutting tool BL, aligning the laser beam with the surface of the cutting tool BL, and then removing material from its surface. Increasing the number of laser beam flashes allows for greater material removal, resulting in deeper engraving.

[0083] Surface layer delamination is performed by removing the coating or plating from the surface of the blade BL using laser light irradiation. By removing the coating or plating, the underlying material becomes visible, allowing the printed markings to stand out.

[0084] Of these four methods, engraving offers particularly good durability and visibility of the printed markings. Therefore, engraving can be suitably used for marking cutting tools BL.

[0085] The reading unit MS1 reads the identifier ID of the blade BL, which is assigned an identifier ID for identifying the blade BL. As shown in Figure 16, the reading unit MS1 is connected to the management unit MS2 in a communicative manner, and is configured to send the read identifier ID to the management unit MS2. Communication between the reading unit MS1 and the management unit MS2 is performed, for example, via a known USB cable, network cable, or internet connection. The reading unit MS1 only needs to be able to read the identifier ID, and at least needs to have a configuration that corresponds to the type of identifier ID. For example, if the identifier ID is a one-dimensional code, the reading unit MS1 is configured to be able to optically read the one-dimensional code, and if the identifier ID is a two-dimensional code, it is configured to be able to optically read the two-dimensional code. Also, if the identifier ID is a tag such as an RFID tag, the reading unit MS1 is configured to be able to electromagnetically read the tag.

[0086] The reading unit MS1 is not particularly limited in its location as long as it can read the identifier ID. In this embodiment, as shown in Figures 17 and 18, the reading unit MS1 is provided on a handling robot 202 that has the function of handling the cutting tool BL. In the example shown in Figures 17 and 18, the reading unit MS1 is provided on the robot hand RH of the handling robot 202 for gripping the cutting tool BL (in the illustrated example, the lower finger frame RH2). More specifically, the reading unit MS1 is provided at a position facing the surface of the cutting tool BL to which the identifier ID is attached (in this embodiment, the end face BL4) when the robot hand RH of the handling robot 202 grips the cutting tool BL, or when the cutting tool BL is transferred between other devices such as the cutting tool inspection device 1, the temporary assembly shaft device 201, and the storage rack 203 (see also Figures 6A to 6D). Since the reading unit MS1 is installed on the handling robot 202 (specifically on its robot hand RH), the reading unit MS1 can be automatically moved to the position of the blade BL that has an identifier ID attached, thus automating the process of reading the identifier ID.

[0087] In particular, in this embodiment, the reading unit MS1 is positioned so as to be able to read the identifier ID attached to the blade BL when the handling robot 202 handles the blade BL. Therefore, the reading unit MS1 is configured to read the identifier ID while the handling robot 202 is handling the blade BL. In this specification, "while handling" includes not only the period during which the handling robot 202 is gripping the blade BL, but also periods when the handling robot 202 is not gripping the blade BL, such as when the blade BL is being transferred to other devices such as the blade inspection device 1, the temporary assembly shaft device 201, or the storage rack 203, but the reading unit MS1 provided on the handling robot 202 is located at a distance sufficient to read the identifier ID attached to the blade BL. The reading unit MS1 is configured to read the identifier ID while the handling robot 202 is handling the cutting tool BL. This allows the identifier ID to be read during the handling of the cutting tool BL, eliminating the need for a separate step to read the identifier ID, thus shortening the overall work process.

[0088] In this embodiment, the reading unit MS1 is provided on the handling robot 202, but it is not limited to this embodiment and may be provided on the blade tip inspection device 1. The reading unit MS1 is provided at a position facing the surface of the blade tip BL to which the identifier ID is attached (in this embodiment, the end face BL4) when the support base 2 of the blade tip inspection device 1 supports the blade tip BL, or when the blade tip BL is handed over to the handling robot 202. By providing the reading unit MS1 on the blade tip inspection device 1, the identifier ID of the blade tip BL can be confirmed each time the blade tip BL1 of the blade tip BL is inspected, so that the blade identification information indicated by the identifier ID and the inspection result of the blade tip BL1 can be associated more reliably.

[0089] The reading unit MS1 may have the capability to read only a portion of the end face BL4 of the cutting tool BL when the identifier ID is attached to the end face BL4 of the cutting tool BL (narrow-range reading capability), or it may have the capability to read the entire area of ​​the end face BL4 of the cutting tool BL (having a wide-angle and wide-range measurement area) (wide-range reading capability). If the reading unit MS1 has narrow-range reading capability, in order for the identifier ID to be read by the reading unit MS1, the identifier ID and the reading unit MS1 must be positioned such that the circumferential position of the identifier ID on the end face BL4 of the cutting tool BL and the reading unit MS1 face each other. For this purpose, the cutting tool management device MS may be equipped with a rotation mechanism for relatively rotating the reading unit MS1 and the cutting tool BL around axis X relative to each other. The rotation mechanism can be implemented, for example, by the rotation mechanism 4 in the cutting edge inspection device 1, but it can also be implemented by providing a mechanism to rotate the cutting tool BL in the handling robot 202, the temporary assembly shaft device 201, and the storage shelf 203, or by providing a mechanism to rotate the reading unit MS1 in the handling robot 202 or the cutting edge inspection device 1. If the reading unit MS1 has wide-range reading performance, the identifier ID can be read by the reading unit MS1 by positioning the reading unit MS1 at a position opposite to the end face BL4 of the cutting tool BL, regardless of the circumferential position of the identifier ID on the end face BL4 of the cutting tool BL. If the reading unit MS1 has wide-range reading performance, the reading unit MS1 can quickly read the identifier ID without relatively rotating the cutting tool BL and the reading unit MS1.

[0090] The timing at which the reading unit MS1 reads the identifier ID attached to the cutting tool BL is not particularly limited. The reading unit MS1 can read the identifier ID when, for example, the cutting tool BL is being transferred between the temporary assembly shaft device 201 and the handling robot 202, when the handling robot 202 is gripping and transporting the cutting tool BL, when the cutting tool BL is being transferred between the handling robot 202 and the cutting edge inspection device 1, when the cutting edge inspection device 1 is supporting the cutting tool BL, when the cutting tool BL is being transferred between the handling robot 202 and the storage shelf 203, and when the cutting tool BL is being stored in the storage shelf 203.

[0091] The management unit MS2 manages information about the blade BL, including at least one of the usage status of the blade BL and the inspection result of the blade tip BL1 of the blade BL, and associates this information with the blade identification information indicated by the identifier ID read by the reading unit MS1, for each blade BL. As shown in Figure 16, the management unit MS2 is connected to the reading unit MS1 for communication and is configured to receive the identifier ID read by the reading unit MS1 from the reading unit MS1. The management unit MS2 is further connected to the storage unit MS3 for communication and is configured to store the information about the blade BL and the blade identification information in the storage unit MS3, associating them for each blade BL. By managing the information about the blade BL in association with the blade identification information, the blade information can be managed correctly even if the actual storage location of the blade differs from the correct storage location. Furthermore, by managing the usage status of the blade BL and / or the inspection result of the blade tip BL1 in association with the blade identification information, the replacement and / or maintenance of the blade BL can be carried out at the appropriate time.

[0092] In this specification, “usage status of the blade BL” means information regarding the usage history of the blade BL, including the composition of the object W to be cut by the blade BL. The usage status of the blade BL includes, for example, at least one of the following: frequency of use of the blade BL, duration of use of the blade BL, cutting length of the blade BL, material of the object W to be cut, and thickness of the object W to be cut. The usage status of the blade BL may be input to the management unit MS2, for example, from an operation input unit MS4 (see Figure 16) which is communicably connected to the management unit MS2, or from a usage status detection device 9 which is communicably connected to the management unit MS2. The frequency of use of the blade BL, the duration of use of the blade BL, and the cutting length of the blade BL may be detected by the usage status detection device 9 and input from the usage status detection device 9 to the management unit MS2. However, the frequency of use of the blade BL, the duration of use of the blade BL, and the cutting length of the blade BL may be detected by another device and input from the operation input unit MS4 to the management unit MS2. Furthermore, the material of the object to be cut W and the thickness of the object to be cut W can be input to the management unit MS2 from the operation input unit MS4 as pre-obtained information. The usage frequency of the blade BL is the usage time (or number of uses) of the blade BL within a predetermined period, the usage time of the blade BL is the time the blade BL was used, and the cutting length of the blade BL is the length of the object to be cut W cut by the blade BL. The thickness of the object to be cut W is the average thickness of the object to be cut W before cutting, and the material of the object to be cut W is the composition of the object to be cut W, etc. The usage status detection device 9 is provided, for example, in the cutting device CD described above, and can detect the usage time of the blade BL, for example, by the operating time of the cutting device CD.

[0093] In this specification, "inspection results of the cutting edge BL1 of the cutting tool BL" means information regarding the inspection results for defects in the cutting edge BL1. The inspection results of the cutting edge BL1 of the cutting tool BL include, for example, the presence and / or degree of at least one of wear, chipping, and deformation of the cutting edge BL1. In this embodiment, the inspection of the cutting edge BL1 is performed automatically by a cutting edge inspection device 1 which is communicatively connected to a control unit MS2. Accordingly, the control unit MS2 is configured to acquire the inspection results of the cutting edge BL1 from the cutting edge inspection device 1. Since the inspection of the cutting edge BL1 is performed automatically by the cutting edge inspection device 1 and the inspection results of the cutting edge BL1 are acquired from the cutting edge inspection device 1, it becomes possible to quantitatively manage the cutting tools. However, the inspection results of the cutting edge BL1 may be performed by another inspection device and input to the control unit MS2 from the operation input unit MS4.

[0094] In this specification, "managing by association" includes the function of associating information of the blade BL with blade identification information for each blade BL, and storing each associated piece of information as corresponding information in the storage unit MS3.

[0095] In this embodiment, the management unit MS2 is configured to receive direct input of blade identification information from the reading unit MS1, the usage status of the blade BL from the operation input unit MS4 or the usage status detection unit 9, and the inspection results of the blade tip BL1 from the blade tip inspection device 1. However, it may also be configured to receive indirect input via, for example, the storage unit MS3. The management unit MS2 can be configured using, for example, a well-known central processing unit (CPU) commonly installed in computers.

[0096] In this embodiment, the blade management system MS, as shown in the block diagram of Figure 16, comprises a storage unit MS3, an operation input unit MS4, and an output unit MS5, all of which are communicatively connected to the management unit MS2. The storage unit MS3 stores blade BL information and blade identification information, associating them with each blade BL. The storage unit MS3 can be implemented using known storage means such as a hard disk. The operation input unit MS4 receives operation input from the user and transmits the content of the user's operation input to the management unit MS2. By including the operation input unit MS4, the blade management system MS can respond to user input by transmitting blade BL information and other data to the management unit MS2, executing the above operations of the management unit MS2, and modifying the above operations of the management unit MS2. The operation input unit MS4 can be implemented using known input means such as a keyboard or mouse. The output unit MS5 is configured to output blade BL information, blade identification information, and correspondence information, which associates blade BL information and blade identification information with each blade BL. The blade management system MS can notify the user of the above correspondence information through the output unit MS5. The output unit MS5 can be implemented using known data output means such as a display, printer, or speaker. The output unit MS5 may also be configured to transmit the above information to another computer.

[0097] As explained above, the blade management system MS manages blade information (blade information) which includes at least one of the usage status of the blade BL and the inspection result of the blade tip BL1 of the blade BL, and blade identification information indicated by the identifier ID read by the reading unit MS1, by associating them for each blade BL. Therefore, for example, even if the temporary assembly shaft device 201 malfunctions during blade replacement and a worker is forced to manually return the blade BL to the storage shelf 203, and a human error occurs such as returning it to a position different from the designated position on the storage shelf 203, resulting in the actual storage position of the blade BL on the storage shelf 203 being different from the correct storage position, the blade information of each blade BL can be correctly managed, and the blade BLs can be managed correctly.

[0098] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. The above embodiments mainly describe an invention having the following configuration.

[0099] (1) A knife management system for managing information on knives, A reading unit that reads the identifier of a blade that has been given an identifier for identifying the blade, A management unit manages information about the blade, including at least one of the usage status of the blade and the inspection results of the blade edge, and blade identification information indicated by the identifier read by the reading unit, in association with each blade. A knife management system equipped with a blade management system.

[0100] (2) The reading unit is provided on a handling robot that has the function of handling the blade, The cutting tool management system according to (1), wherein the reading unit is configured to read the identifier while the handling robot is handling the cutting tool.

[0101] (3) The blade management system described in (1) or (2), wherein the identifier is a two-dimensional code.

[0102] (4) A blade management system according to any one of (1) to (3), wherein the usage status includes at least one of the following: frequency of use of the blade, time of use of the blade, cutting length of the blade, material of the object to be cut, and thickness of the object to be cut.

[0103] (5) The blade management system according to any one of (1) to (4), wherein the inspection results include the presence and / or degree of at least one of wear, chipping, and deformation of the blade edge.

[0104] (6) The control unit is configured to be communicatively connected to the cutting edge inspection device and to acquire the inspection results from the cutting edge inspection device. The aforementioned blade edge inspection device is a device for inspecting the blade edge that extends along the outer circumference of a substantially circular cutting tool, The cutting edge has, in a cross-section along a direction substantially perpendicular to the circumferential direction of the cutting edge, a first side that is expected to be located on the radial outer surface of the cutting edge and extend substantially in a straight line, a second side that is located on the axial end face of the cutting edge, intersects with the first side and extends substantially in a straight line, and a tip located at the intersection of the first side and the second side. The aforementioned cutting edge inspection device, A support base for supporting the aforementioned blade, A detection unit for detecting 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 for rotating the cutting edge relative to the detection unit in order to change the position of the cross-sectional profile of the cutting edge along the circumferential direction of the cutting edge, The system includes a control unit that determines the state of the cutting edge from the cross-sectional profile of the cutting edge, The aforementioned detection unit is A light projector that projects a slit-shaped beam of light extending in a direction substantially perpendicular to the circumferential direction of the cutting edge along a line passing substantially through the center of the angle formed by the assumed straight line of the first edge and the assumed straight line of the second edge onto the cutting edge, It comprises a light-receiving unit that receives reflected light from the cutting edge, The control unit, From the cross-sectional profile detected by the detection unit, a cross-sectional profile of a first region located at a predetermined distance from the tip of the cutting edge and a cross-sectional profile of a second region located closer to the tip of the cutting edge than the first region are extracted. An approximate straight line is obtained by linearly approximating the cross-sectional profile of the first region, and the ideal cross-sectional profile of the second region is estimated by extending the approximate straight line. The system is configured to calculate a feature quantity that shows the difference between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region, and to obtain at least one of the feature quantity and the determination result based on the feature quantity as the inspection result. A knife management system as described in any one of (1) to (5). [Explanation of symbols]

[0105] 1. Cutting edge inspection device 2 Support stand 21 Upper support part 22 Lower support part 23 Upper base member 24 Lower base member 25 Spacing adjustment mechanism 3 detection units 31. Lighting unit 32 Light receiving section 4 Rotation mechanism 41. Solids of revolution 5. Control Unit 6 Moving mechanism 61 Base 62 Arm section 63 Rotary drive unit 7. Operation Input Section 8 Output section 9. Usage Status Detection Unit 101 Cutting section 101a Upper cutting member 101b Rotation axis 101c sleeve 102 Feed Roll 103 Reel Roll 104 Conveying section 201 Temporary Assembly Shaft Device 201a Temporary assembly shaft 201b Trolley 202 Handling Robots 202a Base 202b Arm section 202c Finger 203 Storage shelf AR1 1st area AR2 2nd area BL blades BL1 cutting edge BL2 outer surface BL3 First side BL4 end face BL5 Second side BL6 tip BL7 through hole BL8 Inner surface BL81 Upper inner surface BL82 Lower inner surface CD cutting device CL interval CS Cutting System D1 Axial direction D2 radial direction D3 Circumferential direction DS support spacing ES Blade Replacement System GL busbar ID identifier IPR (Intermediate Probability) Second Region Ideal Cross-Sectional Profile L1 Length of the upper support section Length of the lower support section L2 MS Knife Management System MS1 Reader MS2 Management Department MS3 storage MS4 Operation Input Unit MS5 Output Section PR1 Cross-sectional profile of the first region PR2 Cross-sectional profile of the second region RH Robot Hand RH1, RH2 Finger Frames S1, S2 area SH1 Slit-shaped light SH2 reflected light SL1 is a straight line passing approximately through the center of angle θ. SL2 Approximate straight line TL1, TL2 tangent VE intersection W: Object to be cut (strip) W1 Strip after cutting X-axis X1 Rotation axis α1, α2: Inclination of the cross-sectional profile of the second region β The inclination of the ideal cross-sectional profile of the second region. θ angle

Claims

1. A knife management system for managing information about knives, A reading unit that reads the identifier of a blade that has been given an identifier for identifying the blade, A management unit manages information about the blade, including at least one of the usage status of the blade and the inspection results of the blade edge, and blade identification information indicated by the identifier read by the reading unit, in association with each blade. Equipped with, The aforementioned blade is formed in a roughly circular shape with an axis at its center, The identifier is provided on one or both end faces in the axial direction of the cutting tool. The reading unit is provided in a handling robot that has the function of handling the blade, The reading unit is configured to read the identifier while the handling robot is handling the cutting tool. The control unit is configured to communicate with a cutting edge inspection device configured to inspect the cutting edge extending along the outer circumference of the cutting tool, and to acquire the inspection results from the cutting edge inspection device. The blade tip inspection device includes a rotating mechanism configured to rotate the blade for inspection of the blade tip, The rotation mechanism is configured to rotate the blade so that the circumferential position of the identifier on the end face of the blade is positioned to correspond to the reading unit. The blade tip inspection device and the handling robot are configured to allow the transfer of the blade between them. The corresponding position is the position where, when the cutting tool is transferred from the cutting edge inspection device to the handling robot, the circumferential position of the identifier on the end face of the cutting tool faces the reading unit. Knife management system.

2. A knife management system for managing information about knives, A reading unit that reads the identifier of a blade that has been given an identifier for identifying the blade, A management unit manages information about the blade, including at least one of the usage status of the blade and the inspection results of the blade edge, and blade identification information indicated by the identifier read by the reading unit, in association with each blade. Equipped with, The control unit is configured to be communicatively connected to the cutting edge inspection device and to acquire the inspection results from the cutting edge inspection device. The aforementioned blade edge inspection device is a device for inspecting the blade edge that extends along the outer circumference of a substantially circular cutting tool, The cutting edge has, in a cross-section along a direction substantially perpendicular to the circumferential direction of the cutting edge, a first side that is expected to be located on the radial outer surface of the cutting edge and extend substantially in a straight line, a second side that is located on the axial end face of the cutting edge, intersects with the first side and extends substantially in a straight line, and a tip located at the intersection of the first side and the second side. The aforementioned cutting edge inspection device, A support base for supporting the aforementioned blade, A detection unit for detecting 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 for rotating the cutting edge relative to the detection unit in order to change the position of the cross-sectional profile of the cutting edge along the circumferential direction of the cutting edge, The system includes a control unit that determines the state of the cutting edge from the cross-sectional profile of the cutting edge, The aforementioned detection unit is A light projector that projects a slit-shaped beam of light extending in a direction substantially perpendicular to the circumferential direction of the cutting edge along a line passing substantially through the center of the angle formed by the assumed straight line of the first edge and the assumed straight line of the second edge onto the cutting edge, It comprises a light-receiving unit that receives reflected light from the cutting edge, The control unit, From the cross-sectional profile detected by the detection unit, a cross-sectional profile of a first region located at a predetermined distance from the tip of the cutting edge and a cross-sectional profile of a second region located closer to the tip of the cutting edge than the first region are extracted. An approximate straight line is obtained by linearly approximating the cross-sectional profile of the first region, and the ideal cross-sectional profile of the second region is estimated by extending the approximate straight line. A cutting tool management system configured to calculate a feature quantity that shows the difference between the cross-sectional profile of the second region and the ideal cross-sectional profile of the second region, and to obtain at least one of the feature quantity and the determination result based on the feature quantity as the inspection result.

3. The reading unit is provided in a handling robot that has the function of handling the blade, The cutting tool management system according to claim 2, wherein the reading unit is configured to read the identifier while the handling robot is handling the cutting tool.

4. The blade management system according to claim 1 or 2, wherein the identifier is a two-dimensional code.

5. The blade management system according to claim 1 or 2, wherein the usage conditions include at least one of the following: frequency of use of the blade, duration of use of the blade, cutting length of the blade, material of the object to be cut, and thickness of the object to be cut.

6. The blade management system according to claim 1 or 2, wherein the inspection results include the presence and / or degree of at least one of wear, chipping, and deformation of the blade edge.

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