Manufacturing system of laminated object, manufacturing method of laminated object, and storage medium

Abstract

A system for manufacturing a stacked shaped object comprises: a welding torch mounted on a robotic arm; a measuring unit that measures the shape of a stacked weld bead in a non-contact manner using a shape sensor mounted on the welding torch and outputs measurement information of at least one of a representative height of the weld bead and a cross-sectional area of ​​the weld bead; a switching unit that switches the measurement information output by the measuring unit based on at least one of the shape and position information of the weld bead contained in a stacking plan; and a correction unit that corrects the conditions of the stacked weld bead based on the measurement information and the stacking plan.

Description

Technical Field

[0001] The present invention relates to a manufacturing system for a laminated object for laminating deposited weld beads based on a lamination plan, a manufacturing method for a laminated object, and a storage medium for recording a manufacturing program for the laminated object. Background Art

[0002] Patent Document 1 discloses a welding quality assessment method capable of evaluating the weld quality of welds produced using lap welding and non-through welding. This method assesses the weld quality of a welded product formed by joining the first and second welded parts together by irradiating the first welded part with a laser beam while the two parts are superimposed. Specifically, the height of the deposited weld bead formed on the laser-irradiated surface of the first welded part in the welded portion is determined, and the weld quality of the welded product is assessed based on the determined height.

[0003] Patent Document 2 discloses a method for manufacturing a stacked object that can appropriately manage the height of each layer's weld bead during stacking, thereby improving the quality of the object and preventing interference between the weld bead and the stacking device. In this method, a welding robot forms and stacks each layer of weld bead so that the height of each layer falls within a tolerance range relative to the planned height, thereby forming the stacked object. If the height of a weld bead is lower than the value obtained by subtracting the tolerance from the planned height, the welding robot forms another weld bead overlapping the molten weld bead. If the height of a weld bead is higher than the value obtained by adding the tolerance to the planned height, a cutting robot removes the weld bead.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-79502

[0007] Patent Document 2: Japanese Patent Application Publication No. 2018-149570 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] As described in Patent Documents 1 and 2, in order to produce a molded object with high precision, it is necessary to control the width or height of each weld bead. It is desirable to use information obtained by measuring the shape of an existing weld bead to perform feedback control on the shape of a newly formed weld bead.

[0010] For example, when shaping the frame that forms the outer contour of a laminated object, laser sensors or other devices can be used to measure the positional information of multiple points along the deposited weld bead. This information can be used to determine the required weld height and other information. However, some laminated objects may also involve a shaping step that forms an internal molding portion inside the frame. In these cases, the frame becomes an obstacle when measuring the positional information of the internal molding portion, making it difficult to measure and resulting in significant variation in the obtained positional information. Consequently, it is difficult to accurately determine the required weld depth based on this information.

[0011] Therefore, an object of the present invention is to provide a system for manufacturing a laminated object, a method for manufacturing a laminated object, and a program for manufacturing a laminated object that can always manufacture a laminated object having a desired shape with high precision regardless of the shape of the laminated object.

[0012] Solutions to Problems

[0013] The present invention is a manufacturing system for a stacked object, which stacks weld beads based on a stacking plan, wherein the manufacturing system for the stacked object comprises: a welding torch, which is arranged on a robot arm; a measuring unit, which is mounted on the welding torch and measures the shape of the stacked weld beads in a non-contact manner and outputs measurement information of at least one of a representative height of the weld beads and a cross-sectional area of ​​the weld beads; a switching unit, which switches the measurement information output by the measuring unit based on at least one of the shape and position information of the weld beads possessed by the stacking plan; and a correction unit, which corrects the conditions of the stacked weld beads based on the measurement information and the stacking plan.

[0014] The switching unit may output measurement information of a representative height of the weld bead from the measuring unit when a width of a weld bead corresponding to a weld bead serving as a base among the shapes of the weld beads included in the layup plan is smaller than a preset first threshold value.

[0015] The switching unit may output measurement information of a cross-sectional area of ​​the weld bead from the measuring unit when a width of a weld bead serving as a base in the weld bead shape included in the layup plan is equal to or greater than a predetermined first threshold value.

[0016] The switching unit may output measurement information of a representative height of the weld bead from the measuring unit when a cross-sectional area of ​​a weld bead serving as a base in the shape of the weld bead included in the layup plan is smaller than a preset second threshold value.

[0017] The switching unit may output measurement information of the cross-sectional area of ​​the weld bead from the measuring unit when a cross-sectional area of ​​a weld bead serving as a base in the weld bead shape included in the layup plan is equal to or larger than a preset second threshold value.

[0018] Alternatively, when the switching unit switches the measurement information output from the measuring unit to the representative height of the deposited weld bead, the correction unit compares the representative height with the corresponding representative height on the stacking plan, and adjusts at least one of the supply amount of filler material or the welding speed for forming the deposited weld bead and the heat input amount or the oscillation condition of the deposited weld bead in a manner that reduces the difference between the representative height and the corresponding representative height on the stacking plan.

[0019] When the switching unit switches the measurement information output from the measuring unit to the cross-sectional area of ​​the deposited weld bead, the correction unit compares the cross-sectional area with the corresponding cross-sectional area on the stacking plan, and adjusts at least one of the supply amount or welding speed of the filler material used to form the deposited weld bead and the heat input amount or the oscillation condition of the deposited weld bead in a manner that reduces the difference between the cross-sectional area and the corresponding cross-sectional area on the stacking plan.

[0020] Furthermore, the present invention is a method for manufacturing a stacked shaped object, which stacks deposited weld beads based on a stacking plan, wherein the method for manufacturing the stacked shaped object includes the following steps: using a measuring unit installed on a welding torch provided on a robot arm to measure the shape of the stacked deposited weld beads in a non-contact manner, and outputting measurement information of at least one of a representative height of the deposited weld beads and a cross-sectional area of ​​the deposited weld beads; switching the measurement information output by the measuring unit based on at least one of the shape and position information of the deposited weld beads possessed by the stacking plan; and correcting the conditions of the stacked deposited weld beads based on the measurement information and the stacking plan.

[0021] Furthermore, the present invention is a storage medium that records a manufacturing program for a stacked object, wherein the manufacturing program for the stacked object is used to execute a manufacturing method for a stacked object by stacking deposited weld beads based on a stacking plan, wherein the manufacturing program for the stacked object causes a computer to execute the following steps: using a measuring unit installed on a welding torch provided on a robot arm, measuring the shape of the stacked deposited weld beads in a non-contact manner, and outputting measurement information of at least one of a representative height of the deposited weld beads and a cross-sectional area of ​​the deposited weld beads; switching the measurement information output by the measuring unit based on at least one of the shape and position information of the deposited weld beads possessed by the stacking plan; and correcting the conditions of the stacked deposited weld beads based on the measurement information and the stacking plan.

[0022] Effects of the Invention

[0023] According to the present invention, a stacked object having a desired shape can be manufactured with high precision at all times, regardless of the shape of the stacked object. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a manufacturing system for manufacturing a laminated structure using a manufacturing method according to an embodiment of the present invention.

[0025] Figure 2 This is a schematic side view illustrating a shape sensor.

[0026] Figure 3 1 is a schematic cross-sectional view of a stacked structure showing an example of the stacked structure.

[0027] Figure 4 This is a diagram conceptually showing the operation of the shape sensor when stacking stacked objects. Figure 4 (A) is a conceptual diagram of the frame. Figure 4 (B) is a conceptual diagram of the internal molding part.

[0028] Figure 5 This is a conceptual diagram illustrating the concept of calculating the weld cross-sectional area in the molding of the internal molding portion.

[0029] Figure 6 is a diagram showing various forms of the frame portion, Figure 6 (A) is a cross-sectional view showing a typical frame portion, Figure 6 (B) is a cross-sectional view showing an inclined frame portion, Figure 6 (C) is a cross-sectional view showing a horizontally extending frame portion. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0031] Figure 1 The system 100 for manufacturing a laminated object of the present invention includes a laminated molding device 11 , a controller 13 for comprehensively controlling the laminated molding device 11 , and a power supply 15 .

[0032] The stacking molding device 11 includes a welding robot 19 with a welding torch 17 mounted on its front shaft, and a filler material supply unit 21 that supplies filler material (welding wire) M to the welding torch 17. A shape sensor 23 is mounted on the front shaft of the welding robot 19, along with the welding torch 17. The output from the shape sensor 23 is transmitted to a measuring unit (not shown), which outputs a signal corresponding to the output from the shape sensor 23 to the controller 13. The measuring unit generates and outputs measurement information, such as the representative height or cross-sectional area of ​​the deposited weld bead, which will be described in detail later. The measuring unit can be located either on the shape sensor 23 side or on the controller 13 side.

[0033] The welding robot 19 is a multi-joint robot, and a welding torch 17 attached to a distal shaft of a robot arm continuously supports a filler material M. The position and posture of the welding torch 17 can be arbitrarily set three-dimensionally within the range of the robot arm's freedom.

[0034] The welding torch 17 has a shield nozzle (not shown) from which shielding gas is supplied. The arc welding method may be a consumable electrode method such as covered arc welding or carbon dioxide gas arc welding, or a non-consumable electrode method such as TIG welding or plasma arc welding, and the method is appropriately selected depending on the laminated object to be produced.

[0035] For example, in the case of a consumable electrode type, a contact tip is disposed within the shielded nozzle, and filler material M, which supplies a melting current, is held by the contact tip. While holding the filler material M, the welding torch 17 generates an arc from the tip of the filler material M under a shielding gas atmosphere. The filler material M is fed from the filler material supply unit 21 to the welding torch 17 via a not-shown extraction mechanism attached to a robotic arm or the like. As the continuously fed filler material M melts and solidifies while the welding torch 17 is moved, a linear weld bead B, representing the molten and solidified filler material M, is formed on the base plate 51, and a layered object W is formed from this weld bead B.

[0036] like Figure 2 As shown, shape sensor 23 is provided in parallel with welding torch 17 and moves along with it. This shape sensor 23 is a non-contact sensor that measures the shape of the portion that serves as the base when forming weld bead B. For example, a laser sensor that acquires height data from reflected light from an irradiated laser beam is used as shape sensor 23. It should be noted that shape sensor 23 is not limited to a laser sensor; other sensors, such as cameras for three-dimensional shape measurement, may also be used.

[0037] The controller 13 includes a CAD / CAM unit 31, a trajectory calculation unit 33, a storage unit 35, a deviation calculation unit 37, a correction unit 39, a switching unit 32, and a control unit 41 connecting them. The controller 13 is composed of a computer device including a CPU, a memory, a storage device, and the like.

[0038] The CAD / CAM unit 31 inputs or creates shape data (CAD data, etc.) of the laminated object W to be produced.

[0039] The trajectory calculation unit 33 decomposes the shape model of the three-dimensional shape data into a plurality of weld bead layers corresponding to the heights of the weld bead B. Furthermore, a stacking plan is created that determines the trajectory of the welding torch 17 for forming the weld bead B and the heating conditions for forming the weld bead B (including welding conditions for obtaining the weld bead width, weld bead stacking height, etc.) for each layer of the decomposed shape model.

[0040] The deviation calculation unit 37 compares the stacking plan generated by the trajectory calculation unit 33 with the actual values ​​measured by the shape sensor 23. It also calculates the deviation between the shape of the base portion when forming the weld bead B based on the stacking plan and the shape based on the actual values.

[0041] The correction unit 39 corrects the welding conditions based on the stacking plan when forming the weld bead B, based on the deviation amount calculated by the deviation amount calculation unit 37 .

[0042] The switching unit 32 switches the measurement information output by the shape sensor 23 based on at least one of the shape and position information of the weld bead included in the layup plan. This switching is performed between the representative height of the weld bead B2 and the cross-sectional area of ​​the weld bead B2. The shape sensor 23 directly measures the shape (base shape) of the base portion, which serves as the base when the weld bead B is formed, in a non-contact manner using a medium such as laser.

[0043] The control unit 41 executes the manufacturing program stored in the storage unit 35 to drive the welding robot 19, the power supply unit 15, etc. Specifically, the welding robot 19 moves the welding torch 17 according to the command from the controller 13, melts the filler material M with the arc, and forms a weld bead B on the base plate 51.

[0044] It should be noted that the base plate 51 is made of a metal plate such as a steel plate, and is generally larger than the bottom surface (bottommost surface) of the stacked object W. The base plate 51 is not limited to a plate shape, and may be a base in other shapes such as a block or a rod.

[0045] Any commercially available welding wire can be used as the filler material M. For example, wires specified in JIS Z3312 solid wires for MAG welding and MIG welding for mild steel, high-tensile steel, and low-temperature steel, and JIS Z3313 flux-cored wires for arc welding for mild steel, high-tensile steel, and low-temperature steel can be used.

[0046] Next, an example of a laminated object formed by the production method of this embodiment will be described.

[0047] Figure 3 1 is a schematic cross-sectional view of a stacked object W showing an example of the stacked object W. FIG.

[0048] like Figure 3 As shown, the stacked shaped object W includes a frame portion 53 formed by laminating deposited weld beads B1 on a base plate 51. Furthermore, the stacked shaped object W includes an internal shaped portion 55 formed by deposited weld beads B2 within the frame portion 53. The internal shaped portion 55 is formed by laminating deposited weld bead layers BL composed of deposited weld beads B2.

[0049] Next, the case of forming the laminated object W will be described.

[0050] The welding robot 19 drives the welding torch 17 of the stacking molding device 11 while moving the filler material M. Then, a deposited weld bead B1 composed of the melted filler material M is supplied and stacked on the base plate 51, thereby molding a frame portion 53 having a generally rectangular shape in plan view, which is formed by the deposited weld bead B1 stacked on the base plate 51.

[0051] A weld bead B2 is formed inside the frame 53. This weld bead B2 is formed along the width of the frame 53. This creates a weld bead layer BL composed of multiple weld beads B2 formed in parallel within the frame 53. This weld bead layer BL is then stacked inside the frame 53 to form the internal molded portion 55.

[0052] According to this manufacturing method, after the frame portion 53 is formed, the internally formed portion 55 is formed inside the frame portion 53 . Therefore, the internally formed portion 55 can be efficiently formed using the weld bead B2 having a large cross-sectional area.

[0053] To produce laminated shaped objects with high precision, it is necessary to control the width and height of each weld bead. A feedback control method for the shape of the weld bead using output information from a laser sensor has been proposed. For example, in the shaping of the frame 53 of a laminated shaped object, information such as the required weld height can be obtained based on positional information extracted from multiple points. However, in the shaping of the internal shaped portion 55, the positional information from multiple points exhibits significant variation, making it difficult to determine the required weld depth based on this information.

[0054] For example, in Figure 4 When the frame 53 of the stacked object W is stacked as shown in FIG. (A), the shape sensor 23 obtains a shape measurement profile. The base height can be determined from the coordinates corresponding to the central point P1, and the width of the weld bead B1 can be measured from the coordinates of the left and right points P1 and P2. Furthermore, the representative height of the weld bead B1, equivalent to one layer, can be measured from the coordinates of the central point P1 and the left and right points P2 and P3. The representative height of the weld bead B1 can be expressed, for example, as the height between the height of point P1 and the average height of points P2 and P3. Here, both the width and representative height of the weld bead represent the shape of the weld bead in a cross section perpendicular to its longitudinal direction.

[0055] The control unit 41 of the stacked object manufacturing system 100 assigns attributes based on the bead width or deposited cross-sectional area of ​​the deposited weld bead B1 at each location on the stacking plan. This allows automatic identification of whether each pass during molding conforms to the stacking of the frame 53. Prioritizing shape accuracy in molding the frame 53, if there is a deviation from the stacking plan, the height of the deposited weld bead is adjusted while maintaining the bead width within a specified range.

[0056] On the other hand, Figure 4 In the design of the internal molding portion 55 shown in (B), it is inherently difficult to extract a representative value for the height of the portion filled within the frame portion 53 when viewed from above. Furthermore, in some cases, the perimeter of the internal molding portion 55 is covered with the frame portion 53 to improve molding efficiency (fill the molding area as quickly as possible), without requiring the same internal shape accuracy as the frame portion 53. Therefore, when filling the internal molding portion 55, it is sufficient to determine the cross-sectional area required for filling.

[0057] So, get Figure 4 The shape contour corresponding to the weld bead cross section of the already-deposited weld bead (the weld bead indicated by the hatching) shown in (B) is compared with the stacking plan to determine the target position Pa of the next weld bead B2. Furthermore, it is desirable to calculate the fillable cross-sectional shape formed by the next weld bead, using this target position Pa as a base point, and monitor the difference (shortfall) from the planned cross-sectional shape on the stacking plan. When calculating the fillable cross-sectional shape, for example, an arc of a predetermined size, which simulates a portion of the weld bead cross-sectional shape, is used, and the area enclosed by the arc overlapping the shape contour is determined.

[0058] To identify when the internal molding portion 55 should be formed, the control unit 41 assigns predetermined attributes to the weld bead width, weld cross-sectional area, and swinging motion of the deposited weld bead B2 at each location on the layup plan. This automatically identifies whether each pass during the buildup is suitable for the internal molding portion 55. For example, if there is swinging motion, it can be determined that the internal molding portion 55 is being formed, while if there is no swinging motion, it can be determined that the frame portion 53 is being formed.

[0059] That is, in forming the internal forming portion 55 , priority is given to suppressing non-welding defects and filling amount rather than shape accuracy, so when there is a deviation from the stacking plan, the amount of welded cross-sectional area is adjusted.

[0060] Figure 5 The concept of calculating the differential cross-sectional area S corresponding to the difference between the aforementioned fillable cross-sectional shape and the planned cross-sectional shape in the shaping of the internal shaping portion 55 is shown.

[0061] The difference cross-sectional area (underfilled area) S in this example can be obtained as a region corresponding to the difference (underfilled portion) between the shape of the planned cross section (e.g., rectangular shape) on the stacking plan surrounded by the set width and planned height and the measured shape contour.

[0062] Specifically, in Figure 5 In the figure, the area surrounded by the thick curve La is equivalent to the shape of the fillable cross-section, and the rectangular part surrounded by the thick dotted lines (the line Lb representing the planned height and the lines Lc at both ends representing the set width) is the shape of the planned cross-section of a divided interval, and the cross-sectional area of ​​the divided interval becomes the planned cross-sectional area A.

[0063] The area indicated by dotted hatching corresponds to the differential cross-sectional area S. Specifically, the planned height of the fill relative to the base plate 51 is the upper edge of the differential cross-sectional area, and the upper surface of the already deposited weld bead B2 is the lower edge of the differential cross-sectional area. Furthermore, the boundary line of the other weld bead adjacent to the position where the next weld bead is formed is one side of the differential cross-sectional area, and the boundary line indicating the set width of the next weld bead is the other side of the differential cross-sectional area. The differential cross-sectional area S is calculated in this manner. It should be noted that the set width shown here is arbitrarily set according to the stacking plan, and the differential cross-sectional area S is calculated for each weld bead pass.

[0064] As described above, the measuring unit measures the shape of the stacked weld bead B2 in a non-contact manner using the shape sensor 23, and outputs measurement information of at least one of the representative height of the weld bead B2 and the cross-sectional area of ​​the fillable cross-sectional shape (cross-sectional area of ​​the weld bead). The representative height can be, for example, Figure 4The fillable cross-sectional area can be measured by the method shown in (A) Figure 4 The measurement is performed using the method shown in (B). The switching unit 32 switches and outputs either the representative height of the weld bead B2 or the cross-sectional area of ​​the weld bead B2 from the measurement information output by the shape sensor 23, based on at least one of the shape and position information of the weld bead included in the layup plan. The correction unit 39 corrects the conditions of the stacked weld bead B2 based on the measurement information and the layup plan. Thus, by appropriately correcting the conditions of the stacked weld bead according to the shape of the shaped portion, the correction unit 39 can perform correction control appropriate to the location.

[0065] Desirably, the switching unit 32 causes the shape sensor 23 to output measurement information of the representative height of the deposited weld bead when the width of the base deposited weld bead in the shape of the deposited weld bead in the stacking plan is less than a preset first threshold. When the width of the base deposited weld bead is less than the first threshold, it can be inferred that the deposited weld bead is used to form the frame portion 53. By switching the measurement information output by the shape sensor 23 to the representative height, the switch unit 32 can further stack the deposited weld bead B1 using the representative height of the base deposited weld bead, which is particularly important in stacking the frame portion 53. Consequently, even if the base deposited weld bead has an excess or deficiency in its height, the frame portion 53 can be accurately formed.

[0066] On the other hand, it is desirable that the switching unit 32 outputs measurement information of the cross-sectional area of ​​the weld bead from the shape sensor 23 when the width of the weld bead serving as the base in the weld bead shape included in the layup plan is greater than or equal to a predetermined first threshold value. When the width of the weld bead serving as the base is greater than or equal to the first threshold value, it can be inferred that the weld bead is used to form the internal shape portion 55. By switching the measurement information output by the shape sensor 23 to the cross-sectional area, the switch unit 32 can further stack the weld bead B2 using the cross-sectional area of ​​the weld bead serving as the base, which is particularly important in the lamination of the internal shape portion 55. Therefore, even if the volume of the weld bead serving as the base is excessive or insufficient, the required deposit volume can be accurately identified for filling the internal shape portion 55. In other words, even if the aforementioned difference in cross-sectional area S occurs, the deposit volume can be increased to fill the difference in cross-sectional area S.

[0067] Furthermore, it is desirable that the switching unit 32 outputs measurement information of the representative height of the weld bead from the shape sensor 23 when the cross-sectional area of ​​the weld bead serving as the base in the weld bead shape included in the stacking plan is less than a preset second threshold value. When the width of the weld bead serving as the base is less than the second threshold value, it can be inferred that the weld bead is used to form the frame portion 53. By switching the measurement information output by the shape sensor 23 to the representative height, the weld bead B1 can be further stacked using the representative height of the weld bead serving as the base, which is particularly important in stacking the frame portion 53. Consequently, even if the weld height of the weld bead serving as the base is excessive or insufficient, the frame portion 53 can be accurately formed.

[0068] On the other hand, it is desirable that the switching unit 32 outputs measurement information regarding the cross-sectional area of ​​the deposited bead from the shape sensor 23 when the cross-sectional area of ​​the base deposited bead in the shape of the deposited bead in the layup plan is greater than or equal to a preset second threshold value. When the cross-sectional area of ​​the base deposited bead is greater than or equal to the second threshold value, it can be inferred that the deposited bead is used to form the internal molding portion 55. By switching the measurement information output by the shape sensor 23 to the cross-sectional area of ​​the deposited bead, the switch unit 32 can further stack the deposited bead B2 using the cross-sectional area of ​​the base deposited bead, which is particularly important in stacking the internal molding portion 55. Therefore, even if the volume of the base deposited bead is excessive or insufficient, the required deposit amount can be accurately identified for filling the internal molding portion 55.

[0069] It should be noted that, when the switching unit 32 switches the measurement information output from the shape sensor 23 to the representative height, the correction unit 39 desirably compares the representative height with the corresponding representative height on the stacking plan and adjusts at least one of the filler material supply amount or welding speed used to form the deposited weld bead B1, the heat input amount of the deposited weld bead B1, or the swing condition to reduce the difference. This allows for flexible response to excess or deficiency in the deposited height, and in particular, allows for precise correction of deviations in the height of the frame portion 53 from the stacking plan during stacking.

[0070] Furthermore, when the switching unit 32 switches the measurement information output from the shape sensor 23 to the cross-sectional area, the correction unit 39 compares the cross-sectional area with the cross-sectional area on the corresponding stacking plan and adjusts at least one of the filler material supply rate or welding speed used to form the deposited bead B2, the heat input rate of the deposited bead B2, or the oscillation conditions to reduce the difference. This allows for flexible response to excess or insufficient deposit volume, and in particular, allows for precise correction of any deviation from the stacking plan in the internal shaping unit 55.

[0071] Figure 6 (A) to (C) show various forms of the frame portion 53. Figure 6 (A) shows a typical frame portion 53 extending vertically from the base plate 51, Figure 6 (B) shows the inclined frame portion 53 (including the overhang) extending obliquely from the base plate 51, Figure 6 (C) shows a frame portion 53 that extends in a bent manner from another frame portion 54 and forms, for example, the top of a flow path. It is desirable that, in each frame portion 53, the shape sensor 23 measures the representative height of the weld bead B1 by taking into account the inclination θ of the weld bead B1 in the stacking direction. Figure 6 In (A), the inclination θ = 90°, Figure 6 In (B), 0°<θ<90°, Figure 6 In (C), the inclination θ = 0°. Figure 6 In the case of (C), the frame 53 is stacked with the weld bead B1 in the horizontal direction in parallel with the base plate 51. Therefore, in this case, the horizontal direction becomes the height direction described above, and the representative height also becomes the representative height measured along the horizontal direction.

[0072] It should be noted that the present invention is not limited to the above-mentioned embodiments, but can be appropriately modified, improved, etc. In addition, the material, shape, size, value, form, quantity, configuration position, etc. of each component in the above-mentioned embodiments are arbitrary as long as they can achieve the present invention and are not limited.

[0073] This application is based on Japanese patent application (Japanese Patent Application No. 2020-138615) filed on August 19, 2020, the contents of which are incorporated herein by reference.

[0074] Description of Reference Numerals

[0075] 17 Welding Torch

[0076] 23 Shape sensor (measuring unit)

[0077] 32 Switching Unit

[0078] 41 Control Department

[0079] 53 frame

[0080] 55 Interior Design Department

[0081] B, B1, B2 deposited welds

[0082] BL deposited weld layer

[0083] M Filling material

[0084] W stacked shapes.

Claims

1. A system for manufacturing a laminated object, which laminates weld beads based on a laminate plan, wherein: The manufacturing system of the stacked shaped object comprises: a welding torch, which is mounted on the robotic arm; a measuring unit that measures the shape of the stacked weld beads in a non-contact manner using a shape sensor attached to the welding torch so as to be movable together with the welding torch, and outputs measurement information of at least one of a representative height of the weld beads and a cross-sectional area of ​​the weld beads; a switching unit configured to switch the measurement information output by the measuring unit based on at least one of the shape and position information of the deposited weld bead included in the stacking plan; as well as A correction unit corrects conditions of the stacking weld bead based on the measurement information and the stacking plan.

2. The system for manufacturing a laminated object according to claim 1, wherein: The switching unit causes the measuring unit to output measurement information of a representative height of the weld bead when a width of the weld bead corresponding to the base weld bead among the shapes of the weld beads included in the layup plan is smaller than a preset first threshold.

3. The system for manufacturing a laminated structure according to claim 1 or 2, wherein: The switching unit outputs measurement information of a cross-sectional area of ​​the weld bead from the measuring unit when a width of a weld bead serving as a base in the weld bead shape included in the layup plan is equal to or greater than a preset first threshold value.

4. The system for manufacturing a laminated object according to claim 1, wherein: The switching unit causes the measuring unit to output measurement information of a representative height of the weld bead when a cross-sectional area of ​​a weld bead serving as a base in the weld bead shape included in the layup plan is smaller than a preset second threshold value.

5. The system for manufacturing a laminated structure according to claim 1 or 4, wherein: The switching unit outputs measurement information of the cross-sectional area of ​​the weld bead from the measuring unit when the cross-sectional area of ​​the weld bead serving as the base in the weld bead shape included in the layup plan is equal to or larger than a preset second threshold value.

6. The system for manufacturing a laminated structure according to any one of claims 1, 2, and 4, wherein: When the switching unit switches the measurement information output from the measuring unit to the representative height of the deposited weld bead, the correction unit compares the representative height with a corresponding representative height on the stacking plan, and adjusts at least one of a supply amount of a filler material or a welding speed for forming the deposited weld bead, a heat input amount of the deposited weld bead, or an oscillation condition in a manner that reduces a difference between the representative height and the corresponding representative height on the stacking plan.

7. The system for manufacturing a laminated object according to claim 1, wherein: When the switching unit switches the measurement information output from the measuring unit to the cross-sectional area of ​​the deposited weld bead, the correction unit compares the cross-sectional area with the corresponding cross-sectional area on the stacking plan, and adjusts at least one of the supply amount or welding speed of the filler material used to form the deposited weld bead and the heat input amount or the oscillation condition of the deposited weld bead in a manner that reduces the difference between the cross-sectional area and the corresponding cross-sectional area on the stacking plan.

8. The system for manufacturing a laminated object according to claim 3, wherein: When the switching unit switches the measurement information output from the measuring unit to the cross-sectional area of ​​the deposited weld bead, the correction unit compares the cross-sectional area with the corresponding cross-sectional area on the stacking plan, and adjusts at least one of the supply amount or welding speed of the filler material used to form the deposited weld bead and the heat input amount or the oscillation condition of the deposited weld bead in a manner that reduces the difference between the cross-sectional area and the corresponding cross-sectional area on the stacking plan.

9. The system for manufacturing a laminated object according to claim 5, wherein: When the switching unit switches the measurement information output from the measuring unit to the cross-sectional area of ​​the deposited weld bead, the correction unit compares the cross-sectional area with the corresponding cross-sectional area on the stacking plan, and adjusts at least one of the supply amount or welding speed of the filler material used to form the deposited weld bead and the heat input amount or the oscillation condition of the deposited weld bead in a manner that reduces the difference between the cross-sectional area and the corresponding cross-sectional area on the stacking plan.

10. A method for manufacturing a laminated object, comprising laminating deposited weld beads based on a lamination plan, wherein: The manufacturing method of the stacked shaped object includes the following steps: The shape of the stacked weld beads is measured in a non-contact manner using a measuring unit having a shape sensor mounted on a welding torch provided on a robot arm and movable together with the welding torch, and measurement information of at least one of a representative height of the weld beads and a cross-sectional area of ​​the weld beads is output; switching the measurement information output by the measuring unit based on at least one of the shape and position information of the deposited weld bead included in the stacking plan; as well as Conditions of the stacking weld bead are corrected based on the measurement information and the stacking plan.

11. A storage medium recording a manufacturing program for a laminated object, the manufacturing program for the laminated object being used to execute a manufacturing method for a laminated object in which weld deposits are stacked based on a stacking plan, wherein: The manufacturing program of the stacked object causes the computer to execute the following steps: The shape of the stacked weld beads is measured in a non-contact manner using a measuring unit having a shape sensor mounted on a welding torch provided on a robot arm and movable together with the welding torch, and measurement information of at least one of a representative height of the weld beads and a cross-sectional area of ​​the weld beads is output; switching the measurement information output by the measuring unit based on at least one of the shape and position information of the deposited weld bead included in the stacking plan; as well as Conditions of the stacking weld bead are corrected based on the measurement information and the stacking plan.

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