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

Abstract

A system for manufacturing a stacked object that stacks weld beads based on a stacking plan, wherein the system for manufacturing a stacked object comprises: a welding torch mounted on a robot arm; a first measuring unit as a shape sensor mounted on the welding torch and directly measuring the base shape of the base portion of the stacked weld beads in a non-contact manner; a second measuring unit that measures at least one of the current, voltage, and filler material supply rate during the stacking of the weld beads and estimates the base shape based on historical changes in the at least one; and a control unit that selects the measurement results of at least one of the first measuring unit and the second measuring unit and corrects the control of at least one of the robot arm, the current, the voltage, and the filler material supply rate.

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 determination method capable of determining the weld quality of a welded product formed using lap welding and non-through welding. This method is a welding quality determination method that determines the weld quality of a welded product formed by irradiating a laser beam onto a first workpiece while the first and second workpieces are overlapped, thereby joining the first and second workpieces. The weld portion formed by laser welding the first and second workpieces together by laser irradiation is a portion of the first and second workpieces that solidify after melting during laser welding. The weld portion is formed by welding the second workpiece to a surface opposite the first workpiece during laser welding, where the molten region of the second workpiece does not reach the second workpiece. The weld quality of the weld is determined based on the height of the weld bead formed on the laser-irradiated surface of the first workpiece in the weld portion.

[0003] Patent Document 2 discloses a system and method for providing position feedback for additive manufacturing. One or both of the output current, output voltage, output power, output circuit impedance, and wire feed speed are sampled during the additive manufacturing process while generating the current layer. Multiple instantaneous contact tip to workpiece distances (CTWDs) are determined based on at least one or both of the output current, output voltage, output power, output circuit impedance, and wire feed speed. An average CTWD is determined based on the multiple instantaneous CTWDs. A correction factor used to compensate for any errors in the height of the current layer is generated based on at least the average CTWD.

[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. 2019-107698 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] To produce laminated objects with high precision, it is necessary to control the width and height of each weld bead. Consequently, feedback control methods for the shape of weld beads using laser sensor information or current and voltage information have been proposed. Patent Document 1 uses a laser sensor to measure weld bead height for feedback control. Patent Document 2 monitors output current, wire feed speed, and other parameters to provide feedback control of the distance (height information) between the welding nozzle and the workpiece.

[0010] However, depending on the laminated shaped object, there is a possibility that a portion where it is difficult to measure the weld bead with the laser sensor may occur, and in this area, it is difficult to perform feedback control using the laser sensor.

[0011] The present invention relates to a technique for obtaining an appropriate weld bead shape when manufacturing a laminated shaped article in which a plurality of weld beads formed by melting and solidifying a filler material using an arc are superimposed on a base material.

[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 first measuring unit, which is mounted on the welding torch and directly measures the base shape of the base portion of the stacked weld beads in a non-contact manner; a second measuring unit, which measures at least one of the current, voltage and filler material supply speed when stacking the weld beads and estimates the base shape based on historical changes of the at least one; and a control unit, which selects the measurement results of at least one of the first measuring unit and the second measuring unit and corrects the control of at least one of the robot arm, the current, the voltage and the filler material supply speed.

[0014] Alternatively, the control unit may compare the measurement results of the first measuring unit and the measurement results of the second measuring unit with predetermined threshold values, and when a deviation value relative to the threshold value exceeds a predetermined value, switch the selection of the measurement results to correct the control.

[0015] The control unit may compare the moving distance of the welding torch, the position measured by the first measuring unit, and the position measured by the second measuring unit with the position on the stacking plan to switch selection of the measurement result.

[0016] The first measuring unit may be a laser sensor, and laser light from the laser sensor may be irradiated forward or backward relative to a scanning direction of the welding torch.

[0017] The comparison with the threshold value may be performed based on a value obtained by averaging the measurement results over a predetermined period of time.

[0018] When the mounting direction of the laser sensor as viewed from the welding torch is different from the scanning direction of the welding torch, the measurement result of the second measuring unit may be selected.

[0019] Furthermore, the present invention is a method for manufacturing a stacked object, which stacks weld beads based on a stacking plan, wherein the method for manufacturing the stacked object includes the following steps: using a first measuring unit installed on a welding torch provided on a robot arm to directly measure the base shape of the base portion of the stacked weld beads in a non-contact manner; using a second measuring unit to measure at least one of the current, voltage, and filler material supply speed when stacking the weld beads and inferring the base shape based on historical changes of the at least one; and selecting the measurement results of at least one of the first measuring unit and the second measuring unit, and correcting the control of at least one of the robot arm, the current, the voltage, and the filler material supply speed.

[0020] Furthermore, the present invention is a storage medium that records a manufacturing program for a stacked object, wherein the manufacturing program for a stacked object causes a computer to execute steps of a manufacturing method for a stacked object, wherein the steps of the manufacturing method for a stacked object are used to execute a manufacturing method for a stacked object that stacks weld beads based on a stacking plan, wherein the manufacturing program for a stacked object causes a computer to execute the following steps: using a first measuring unit installed on a welding torch provided on a robot arm, directly measuring the base shape of a base portion of a stacked weld bead in a non-contact manner; using a second measuring unit, measuring at least one of the current, voltage, and filler material supply speed when stacking the weld bead and estimating the base shape based on historical changes of the at least one; and selecting the measurement results of at least one of the first measuring unit and the second measuring unit, and correcting the control of at least one of the robot arm, the current, the voltage, and the filler material supply speed.

[0021] Effects of the Invention

[0022] According to the present invention, an appropriate result can be selected from among the measurement results of the shape of the base portion measured by the first measuring unit or the second measuring unit, and a laminated molded object can be manufactured with high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 2 This is a schematic side view illustrating a shape sensor.

[0025] Figure 31 is a schematic cross-sectional view of a stacked structure showing an example of the stacked structure.

[0026] Figure 4 This is a conceptual diagram showing the state of forming a weld bead using a welding torch and a laser sensor. Figure 4 (A) shows a state where a weld bead is formed when the laser light from the laser sensor is not blocked by the frame of the laminated object. Figure 4 (B) shows a state where a weld bead is formed when the laser light is blocked by the frame of the laminated object.

[0027] Figure 5 This is a conceptual diagram showing a state in which the first measuring unit and the second measuring unit are switched when forming a weld bead using a welding torch and a laser sensor.

[0028] Figure 6 This is a chart showing various measurement information used for switching between the first and second measurement units. Figure 6 (A) is a graph of the height of the deposited weld bead measured by the first measuring unit. Figure 6 (B) is a graph showing any one of the values ​​of current, voltage, and filler material supply speed during the stacking of weld beads measured by the second measuring unit.

[0029] Figure 7 An example of rear irradiation using the shape sensor constituting the first measuring unit will be described.

[0030] Figure 8 This is a conceptual diagram showing the relationship between the installation direction of the laser sensor and the scanning direction of the welding torch. Figure 8 (A) shows the case where the installation direction of the laser sensor as viewed from the welding torch is the same as the scanning direction of the welding torch. Figure 8 (B) shows a case where the installation direction of the laser sensor viewed from the welding torch is different from the scanning direction of the welding torch. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0032] 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 .

[0033] The stacking molding apparatus 11 includes a welding robot 19 having a welding torch 17 mounted on its front end, and a filler material supply unit 21 for supplying filler material (welding wire) M to the welding torch 17. A shape sensor 23 is mounted on the front end of the welding robot 19 and forms a first measuring unit together with the welding torch 17.

[0034] 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.

[0035] The welding torch 17 has a shielded nozzle (not shown) through 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.

[0036] For example, in the case of a consumable electrode type, a contact tip is placed inside the shielding tip, and filler material M, which supplies a melting current, is held in 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 delivery mechanism (not shown) mounted on 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 laminated object W is formed from this weld bead B.

[0037] like Figure 2 As shown, a shape sensor 23 is provided in parallel with the welding torch 17 and moves along with the welding torch 17. This shape sensor 23 measures the shape of the portion that serves as the base when forming the weld bead B. For example, a laser sensor that acquires height data from reflected light from an irradiated laser beam is used as this shape sensor 23. A camera for three-dimensional shape measurement may also be used as the shape sensor 23.

[0038] 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 second measurement unit 32, and a control unit 41 connected thereto. The controller 13 is composed of a computer device including a CPU, memory, and storage device.

[0039] The CAD / CAM unit 31 inputs or creates shape data (CAD data, etc.) of the laminated object W to be produced.

[0040] 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.

[0041] 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.

[0042] 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 .

[0043] The second measuring unit 32 obtains the current and voltage during the formation of the weld bead B from the power supply unit 15, and the filler material supply rate, i.e., the speed at which the filler material (welding wire) M is supplied to the welding torch 17, from the filler material supply unit 21. Therefore, based on the historical changes in these values, the second measuring unit 32 can estimate and measure the shape of the base portion (base shape) that serves as the base during the formation of the weld bead B. While the shape sensor 23 constituting the first measuring unit directly measures the base shape in a non-contact manner using a medium such as laser light, the second measuring unit 32 indirectly measures the base shape using numerical values ​​such as the current, voltage, and filler material supply rate during the formation of the weld bead B.

[0044] The control unit 41 executes the manufacturing program stored in the storage unit 35 to drive the welding robot 19 and the power supply 15. 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.

[0045] 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.

[0046] Any commercially available welding wire can be used as the filler material M. For example, wires specified in JIS Z 3312 solid wire for MAG welding and MIG welding for mild steel, high-tensile steel, and low-temperature steel, and JIS Z 3313 flux-cored wire for arc welding for mild steel, high-tensile steel, and low-temperature steel can be used.

[0047] Next, an example of a laminated object formed by the production method of this embodiment will be described.

[0048] Figure 3 1 is a schematic cross-sectional view of a stacked object W showing an example of the stacked object W. FIG.

[0049] like Figure 3As 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.

[0050] Next, the case of forming the laminated object W will be described.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] To accurately produce a stacked object W using the stacked object manufacturing system 100, it is necessary to control the width and height of each weld bead. It is desirable to perform feedback control related to the shape of the weld bead using laser sensor information or current and voltage information. For example, a laser sensor can be used to measure the weld bead height and perform feedback control.

[0055] However, depending on the shape of the laminated shaped object, there may be a portion where it is difficult to measure the weld bead with the laser sensor. In this area, feedback control using the laser sensor is difficult.

[0056] Figure 4 FIG. 1 shows a state in which the welding torch 17 is moving in the moving direction D toward the frame portion 53 constituting the wall portion rising from the base plate 51 when forming the weld bead B2 on the base plate 51. Figure 4As shown in (A), until the welding torch 17 approaches the frame portion 53 and is separated by a predetermined distance, the laser light L emitted from the shape sensor 23, which is a laser sensor attached to the welding torch 17, reaches the base plate 51. Therefore, the shape sensor 23 constituting the first measuring unit can estimate the shape (base shape) of the surface of the base plate 51 in a non-contact manner, that is, can estimate the height information z of the base plate 51. a , and the estimated distance d from the welding torch 17 to the base plate 51 can be obtained e .

[0057] In this state, it is also possible to measure values ​​such as the current, voltage, or filler material supply rate during the stacking of weld beads. Therefore, the second measuring unit 32 can estimate the weld bead shape based on the historical changes in these values ​​and obtain an estimated value d of the distance from the welding torch 17 to the base plate 51. e .

[0058] exist Figure 4 In the state (A), the distance estimated value d obtained from the shape sensor 23 as the first measuring unit e Or the distance estimated value d obtained from the second measuring unit 32. Any value can be used. e The stacking height can be adjusted by modifying the deposition conditions according to the change of the height information z a Too high or far from estimated value d e If it is too short, in order to suppress the stacking height, the robot arm control is corrected, the welding speed is increased, the filler material feed speed is reduced, the current or voltage is reduced, or both the current and voltage are reduced.

[0059] on the other hand, Figure 4 (B) shows a state where the welding torch 17 is within a predetermined distance from the frame 53. In this state, the laser light L emitted by the shape sensor 23 is blocked by the frame 53 functioning as a wall and does not reach the base plate 51. Therefore, the shape sensor 23 cannot obtain the height information z of the base plate 51. a , estimated distance d to the base plate 51 e , it is impossible to grasp the base shape and it is impossible to adjust the height as mentioned above.

[0060] Figure 4 The position where the measurement by the shape sensor 23 is blocked as shown in (B) can be understood based on the stacking plan (pass information, trajectory plan), the laser beam, and the distance from the base plate 51 directly below the welding torch 17. Therefore, by switching the monitoring height information to the distance estimated value d obtained by the second measuring unit 32 based on this position, the position can be determined. eThe stacking height can be monitored and controlled even with the frame 53. Specifically, the control unit 41 selects the measurement results of either the first measuring unit or the second measuring unit and corrects at least one of the following: control of the welding robot 19's arm, control of the welding speed, control of the filler material feed speed, and control of the current and voltage.

[0061] It should be noted that the above description describes an example in which the distance from the first or second measuring unit to the base plate 51 is determined. In this example, the surface shape of the base plate 51 serves as the base shape. On the other hand, if, for example, a deposited weld bead B2 is formed on the base plate 51, the first or second measuring unit determines the distance to the deposited weld bead B2. In other words, the surface shape of the deposited weld bead B2 serves as the base shape. The base forming the deposited weld bead can be formed of various components depending on the situation, but this embodiment can be used with any component. This applies to the following description as well.

[0062] Figure 5 The following figure shows the situation in which the selection of measurement results by the control unit 41 occurs. The control unit 41 compares the travel distance of the welding torch 17, the position measured by the shape sensor 23 as the first measuring unit, and the position measured by the second measuring unit 32 with the position on the stacking plan (coordinates x, y on the plane and height coordinate z), and switches the selection of the measurement results. The control unit 41 determines position (1) as the position measured by the shape sensor 23 and position (2) as the position measured by the second measuring unit 32.

[0063] According to this embodiment, at measurement locations where there are obstructions to laser light L, such as frame portion 53, information from the second measuring unit 32, such as the current, voltage, or filler material feed rate during the stacked weld bead, can be acquired and supplemented with information on the base shape. Furthermore, if the current, voltage, or filler material feed rate is temporarily disturbed due to surface irregularities, surface slag, or interference, height information can be acquired through non-contact measurement by the shape sensor 23, serving as the first measuring unit. This allows for the acquisition of appropriate information on the base portion of the shaped weld bead, enabling the high-precision manufacture of stacked shaped objects.

[0064] In addition, the control unit 41 can accurately grasp the switching positions of the first measuring unit and the second measuring unit before shaping by comparing the moving distance of the welding torch 17, the measured position using the shape sensor 23 as the first measuring unit, and the measured position using the second measuring unit with the position on the stacking plan.

[0065] It should be noted that even if the cascade plan is not used, the control unit 41 can compare the measurement results of the first measuring unit and the measurement results of the second measuring unit with the specified threshold values ​​respectively. When the deviation value relative to the threshold value exceeds the specified value, the selection of the measurement result is switched to correct the various aforementioned controls such as the robot arm. Figure 6 is a graph showing changes in measurement results. Figure 6 (A) is the measurement result of the shape sensor 23 as the first measuring unit, and is the height information obtained from the reflection intensity of the irradiated laser light L. Figure 6 (B) is the measurement result measured by the second measuring unit 32, and is any one of the current, voltage and filler material supply speed when the weld bead is laminated. Figure 6 In (A), only at position P, the deviation of the height from the threshold value greatly exceeds the specified value. On the other hand, at the same position P, Figure 6 As shown in (B), values ​​such as the current, voltage, or filler material feed rate during the stacking of weld beads do not change dramatically. Therefore, even without referring to the stacking plan, the control unit 41 can estimate that at position P, laser light L from the shape sensor 23, serving as the first measuring unit, did not reach the base portion but was reflected by an object such as the frame 53. In this case, the control unit 41 determines that position P is the measurement position to be used by the second measuring unit 32 and selects the measurement result of the second measuring unit 32.

[0066] According to this embodiment, the reasons why the first and second measuring units obtain abnormal values ​​are different. Therefore, even if an abnormality is found when determining using a threshold, the other can be switched. The threshold in this switching determination can be adjusted by taking into account the accuracy and durability of each measuring unit.

[0067] The control unit 41 may compare the above threshold value with a value obtained by averaging the measurement results of the first and second measuring units over a predetermined period of time. Averaging suppresses the influence of noise and offset values, thereby enabling stable measurement results.

[0068] An example of the first measuring unit is the shape sensor 23 , and the laser light L of the shape sensor 23 is irradiated forward or backward with respect to the scanning direction (traveling direction) of the welding torch 17 . Figure 4 、 Figure 5 On the other hand, if the shape sensor 23 is installed on the opposite side of the welding torch 17 in these figures, it becomes Figure 7 Rear illumination as shown.

[0069] The shape sensor 23 can accurately measure the shape of the deposited weld bead B. With frontal illumination, the surface irregularities of the base deposited weld bead B can be monitored, while with rear illumination, the height of the deposited weld bead B immediately after lamination can be confirmed. It should be noted that the height directly below the welding torch 17 is monitored while monitoring the current, voltage, and filler material feed rate.

[0070] It should be noted that when the shape sensor 23 is fixed to the welding torch 17, it is not necessarily possible to measure the shape of the track of the stacking pass using the shape sensor 23. Figure 8 When the extension direction of the laser L is perpendicular to the scanning direction of the welding torch 17 as in (A), the height of the base portion in the track of the stacked pass can be measured. Figure 8 If the extended direction of laser light L is not perpendicular to the scanning direction of welding torch 17, as in (B), the height of the base portion of the track in the stacking pass cannot be adequately measured. Shape sensor 23 is fixed to welding torch 17 and cannot be moved around it, so it is impossible to irradiate laser light L at the base portion where the weld bead is to be formed. Therefore, in such cases, it is desirable to monitor the height using values ​​such as the current, voltage, or filler material supply rate during the stacking weld bead, as measured by second measuring unit 32.

[0071] That is, in Figure 8 When the mounting direction of the shape sensor 23 as viewed from the welding torch 17 is the same as the scanning direction of the welding torch 17 as in the case of (A), the control unit 41 can use either the measurement result of the shape sensor 23 as the first measuring unit or the measurement result of the second measuring unit 32. Figure 8 If the mounting direction of the shape sensor 23 as viewed from the welding torch 17 differs from the scanning direction of the welding torch 17, as in case (B), the control unit 41 desirably selects the measurement result of the second measuring unit 32. Furthermore, since such a situation can be pre-determined based on the stacking plan, the control unit 41 can pre-set the switching between the first and second measuring units based on the stacking plan.

[0072] exist Figure 8 In the case of (B), the shape sensor 23 cannot substantially measure the height of the base portion where the weld bead B is to be formed, and therefore the current, voltage, and filler material supply speed measured by the second measuring unit 32 can be used to supplement the height.

[0073] In this embodiment, the frame 53 is used as an example of an object that blocks the laser light from the shape sensor 23. However, such an object that blocks the laser light is not limited to the frame 53. If the shape sensor 23 cannot measure the base shape due to some object blocking the laser light, the control unit 41 can use the measurement results of the second measuring unit 32.

[0074] 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.

[0075] It should be noted that the present application is based on Japanese patent application (Japanese Patent Application No. 2020-123861) filed on July 20, 2020, the contents of which are incorporated herein by reference.

[0076] Description of Reference Numerals

[0077] 17 welding torch

[0078] 23 shape sensor (first measuring unit)

[0079] 32 Second measuring unit

[0080] 41 Control Department

[0081] 53 frame

[0082] 55 Interior Design Department

[0083] B, B1, B2 deposited welds

[0084] BL deposited weld layer

[0085] M filling material

[0086] W stacked shape.

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 first measuring unit mounted on the welding torch and configured to directly measure the base shape of the base portion of the laminated weld bead in a non-contact manner; a second measuring unit that measures at least one of current, voltage, and filler material supply speed when laminating the weld bead and estimates the base shape based on a historical change of the at least one; as well as a control unit that selects at least one of the measurement results of the first measuring unit and the second measuring unit and corrects control of at least one of the robot arm, the current, the voltage, and the filling material supply speed; The control unit compares the measurement results of the first measuring unit and the measurement results of the second measuring unit with predetermined threshold values, and when a deviation value from the threshold value exceeds a predetermined value, switches selection of the measurement results to correct the control.

2. The system for manufacturing a laminated object according to claim 1, wherein: The control unit compares the moving distance of the welding torch, the position measured by the first measuring unit, and the position measured by the second measuring unit with the position on the stacking plan to switch the selection of the measurement results.

3. The system for manufacturing a laminated structure according to claim 1 or 2, wherein: The first measuring unit is a laser sensor, and laser light from the laser sensor is irradiated forward or backward relative to a scanning direction of the welding torch.

4. The system for manufacturing a laminated object according to claim 1, wherein: The comparison with the threshold value is performed based on a value obtained by averaging the measurement results over a predetermined time period.

5. The system for manufacturing a laminated object according to claim 3, wherein: When the mounting direction of the laser sensor viewed from the welding torch is different from the scanning direction of the welding torch, the measurement result of the second measuring unit is selected.

6. 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: Using a first measuring unit attached to a welding torch supported by a robot arm, the base shape of the base portion of the stacked weld bead is directly measured in a non-contact manner; using a second measuring unit to measure at least one of current, voltage, and filler material supply speed when laminating the weld bead and to estimate the base shape based on a historical change of the at least one; as well as selecting at least one of the measurement results of the first measuring unit and the second measuring unit, and correcting the control of at least one of the robot arm, the current, the voltage, and the filling material supply speed, The measurement results of the first measuring unit and the measurement results of the second measuring unit are compared with predetermined threshold values, and when a deviation value from the threshold value exceeds a predetermined value, selection of the measurement results is switched to correct the control.

7. A storage medium recording a manufacturing program for a laminated object, the manufacturing program for the laminated object causing a computer to execute steps of a manufacturing method for the laminated object, the steps of the manufacturing method for the laminated object being used to execute the manufacturing method for the laminated object by laminating deposited weld beads based on a lamination plan, wherein: The manufacturing program of the stacked object is used to make a computer execute the following steps: Using a first measuring unit mounted on a welding torch provided on a robot arm, the base shape of the base portion of the stacked weld bead is directly measured in a non-contact manner; using a second measuring unit to measure at least one of current, voltage, and filler material supply speed when laminating the weld bead and to estimate the base shape based on a historical change of the at least one; as well as selecting at least one of the measurement results of the first measuring unit and the second measuring unit, and correcting the control of at least one of the robot arm, the current, the voltage, and the filling material supply speed, The measurement results of the first measuring unit and the measurement results of the second measuring unit are compared with predetermined threshold values, and when a deviation value from the threshold value exceeds a predetermined value, selection of the measurement results is switched to correct the control.

Images