Layered object manufacturing method, layered object manufacturing apparatus, and layered object manufacturing system

Abstract

The layering molding method of the present application, in order to perform layering molding with high precision, has: a temperature measuring step of measuring the temperature of a processed object (sc) or a molding material (pm) and outputting the temperature as temperature data (td); a control step of correcting a basic command (bcv) based on a basic processing program (bpr) including the basic command (bcv) and processing conditions (pc) and the temperature data, and determining a corrected command (ccv) including a material supply command (md), a heat source supply part command (hc), a drive command (dc), and a gas supply command (gc); a molding material supply step of supplying a molding material to a processing position of a molding object based on the material supply command; a heat source supply step of supplying a heat source (hs) that melts the molding material supplied to the processing position to the processing position based on the heat source supply part command; a drive step of changing the relative position of the processing position and the molding object based on the drive command; and a gas supply step of supplying a protective gas (g) that suppresses the reaction of the molding material at the processing position to the processing position based on the gas supply command.

Description

Technical Field

[0001] This invention relates to a layering shaping method, a layering shaping apparatus, and a layering shaping system that melts and stacks shaping materials. Background Technology

[0002] As a technique for forming shapes, one known technique is additive manufacturing (AM), which involves heating the shaping material to melt it, then solidifying the molten material to bond the shape to a base material or similar material. Within additive manufacturing, there is a method called Direct Energy Deposition (DED), in which shaping material is supplied to the shaping area, and a directional energy beam, such as a laser, electron beam, or plasma arc, is used to melt the supplied material.

[0003] Patent Document 1 discloses an auxiliary manufacturing learning model generation apparatus that generates a learning model. This learning model uses machine learning, with the state of the object and manufacturing conditions related to the object being irradiated by a light beam or after irradiation as learning data, to determine manufacturing conditions or to estimate the state of the object. The auxiliary manufacturing learning model generation apparatus described in Patent Document 1 is applied to a method of manufacturing an object by irradiating a layered metal powder with a light beam and heating the metal powder. Furthermore, the purpose of the auxiliary manufacturing learning model generation apparatus described in Patent Document 1 is to provide an auxiliary manufacturing learning model generation apparatus that can easily determine the manufacturing conditions of the object and easily estimate the state of the object.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-15944 Summary of the Invention

[0005] According to the auxiliary manufacturing learning model generation device described in Patent Document 1, processing conditions are selected using a state estimation model based on machine learning. Therefore, since the heat input to the forming material and the heat storage of the forming parts change depending on the shape of each layer constituting the forming object and the forming conditions, interference occurs to the forming material or the forming parts. Examples of interference include rapid vaporization of the forming material or the forming parts due to fire or overheating, and deformation of the forming material or the forming parts due to overheating. Furthermore, there is a problem that the forming accuracy of the stacked forming object decreases due to interference and temperature deviations in the forming parts.

[0006] The layered forming method of the present invention includes: a temperature measurement step, which measures the temperature of the object being processed or the forming material and outputs it as temperature data; a control step, which corrects the basic instructions based on the basic processing procedure and temperature data, including basic instructions and processing conditions, and determines the corrected instructions, including material supply instructions, heat source supply instructions, drive instructions, and gas supply instructions; a forming material supply step, which supplies forming material to the processing position of the object surface of the forming object based on the material supply instructions; a heat source supply step, which supplies a heat source that melts the forming material supplied to the processing position to the processing position based on the heat source supply instructions; a drive step, which changes the relative position of the processing position and the forming object based on the drive instructions; and a gas supply step, which supplies a protective gas that inhibits the reaction of the forming material at the processing position to the processing position based on the gas supply instructions.

[0007] The laminated forming apparatus of the present invention comprises: a temperature measuring unit that measures the temperature of the object being processed or the forming material and outputs it as temperature data; a control unit that corrects the basic instructions based on a basic processing procedure including basic instructions and processing conditions and the temperature data, and determines corrected instructions including a material supply instruction, a heat source supply instruction, a drive instruction, and a gas supply instruction; a forming material supply unit that supplies forming material to the processing position of the object surface of the forming object based on the material supply instruction; a heat source supply unit that supplies a heat source that melts the forming material supplied to the processing position to the processing position based on the heat source supply instruction; a drive unit that changes the relative position between the processing position and the forming object based on the drive instruction; and a gas supply unit that supplies a protective gas that inhibits the reaction of the forming material at the processing position to the processing position based on the gas supply instruction.

[0008] The effects of the invention

[0009] According to the present invention, high-precision layered forming can be performed. Attached Figure Description

[0010] Figure 1 This is a diagram illustrating an example of the structure of the layered forming system according to Embodiment 1 of the present invention.

[0011] Figure 2 This is a diagram illustrating an example of the peripheral structure of the processing head according to Embodiment 1 of the present invention.

[0012] Figure 3 This is a diagram illustrating an example of the rotating mechanism according to Embodiment 1 of the present invention.

[0013] Figure 4 This is a block diagram illustrating the structure of the control unit according to Embodiment 1 of the present invention.

[0014] Figure 5 This is a block diagram illustrating an example of the structure of the program generation unit according to Embodiment 1 of the present invention.

[0015] Figure 6 This is a diagram illustrating an example of a hardware structure for implementing the functions of the control unit involved in Embodiment 1 of the present invention using a processing circuit and a storage device.

[0016] Figure 7 This is a diagram illustrating an example of a hardware structure for implementing the functions of the control unit involved in Embodiment 1 of the present invention using a dedicated processing circuit.

[0017] Figure 8 This is a diagram illustrating an example of a shape created by the layering forming system according to Embodiment 1 of the present invention.

[0018] Figure 9 This is a diagram illustrating an example of the temperature distribution of a shape in a layered shaping process performed using the layered shaping system according to Embodiment 1 of the present invention.

[0019] Figure 10 This is a diagram illustrating an example of the structure of the layered forming system according to Embodiment 2 of the present invention.

[0020] Figure 11 This is a diagram illustrating an example of the structure of the control unit according to Embodiment 2 of the present invention.

[0021] Figure 12 This is a diagram illustrating an example of the temperature distribution of the workpiece when the layering process is interrupted according to Embodiment 3 of the present invention, and the layering process is resumed by heating the part where the process is resumed.

[0022] Figure 13 This is a diagram illustrating the heat flow in the base plate and the shape in Embodiment 3 of the present invention.

[0023] Figure 14 This is a diagram illustrating an example of the structure of the layered forming system according to Embodiment 4 of the present invention.

[0024] Figure 15 This is a block diagram illustrating the structure of the control unit according to Embodiment 4 of the present invention.

[0025] Figure 16 This is a diagram illustrating an example of the structure of the layered forming system according to Embodiment 5 of the present invention.

[0026] Figure 17 This is a block diagram illustrating the structure of the control unit according to Embodiment 5 of the present invention.

[0027] Figure 18 This is a flowchart illustrating an example of the operation of the layered shaping system according to Embodiment 5 of the present invention. Detailed Implementation

[0028] The embodiments will now be described in detail with reference to the accompanying drawings. Furthermore, the embodiments described below are illustrative, and the scope of the present invention is not limited to the embodiments described below.

[0029] Implementation Method 1

[0030] Figure 1 This is a diagram illustrating the structure of the layered shaping system involved in this embodiment. Figure 2 This is a diagram showing the peripheral structure of the processing head involved in this embodiment. Figure 1 and Figure 2 The axes of the shown 3-axis orthogonal coordinate system are aligned. The stacked forming system 1000 includes a stacked forming device 100 and a machining program generation device 200. The stacked forming device 100 is an additional manufacturing device in the DED (Dual Engagement Manufacturing) method. The machining program generation device 200 generates a basic machining program bpr. The stacked forming device 100 performs additional processing by heating the forming material pm to melt it using a heat source hs, and then attaching the molten forming material pm to a base material bm, etc.

[0031] The lamination forming apparatus 100 includes a control unit 1 for controlling the lamination forming apparatus 100, a heat source supply unit 2 for supplying heat source hs, a heat source path 3 for guiding heat source hs from heat source supply unit 2 to processing head 6, and a gas supply unit 4 for supplying protective gas g. The lamination forming apparatus 100 includes a piping 5 that connects the gas supply unit 4 and the processing head 6 and through which the protective gas g passes. In addition, the lamination forming apparatus 100 includes a processing head 6 that supplies heat source hs and protective gas g toward processing position p.

[0032] Furthermore, the layered shaping apparatus 100 includes a processing head drive unit 71 for moving the processing head 6, a shaping material supply unit 8 for supplying shaping material pm toward the processing position p, a temperature measuring unit 9 for measuring the temperature, a worktable 10 for fixing the base material bm, a worktable rotation mechanism 72 for rotating the worktable 10, and a dust collector 12 for sucking in smoke, dust, etc. Figure 1 The shaping material pm is explained as a linear metal.

[0033] In this embodiment Figure 1In the structural example shown, a worktable 10 is fixed above a worktable rotation mechanism 72. A base material bm is fixed above the worktable 10. During the layering and shaping process, weld beads are added to the base material bm, which serves as the substrate. Here, a weld bead is defined as the shaping material pm, which is molten by a heat source hs and then applied to a solidified object such as the workpiece OP. The shaped object sc is formed by one or more weld beads.

[0034] Furthermore, weld beads can include beaded weld beads, line weld beads, etc. Here, hemispherical weld beads are called beaded weld beads, and rod-shaped or linear weld beads are called line weld beads. Moreover, the process of forming beaded weld beads is called point forming, and the process of forming line weld beads is called line forming. The position of the formed object sc with weld beads added by the layer forming system 1000 at each time is called the processing position p. In addition, the layer forming system 1000 can perform layer forming by point forming only, layer forming by line forming only, or layer forming by a combination of point forming and line forming.

[0035] exist Figure 1 , Figure 2 The substrate material bm illustrated is plate-shaped, but its shape is not limited to plate. The shape formed from the substrate material bm through layering is called the shape sc. Furthermore, the substrate material bm and the shape sc together are called the workpiece OP. The surface of the workpiece OP with additional weld beads is called the workpiece surface ts. The layering forming apparatus 100 supplies heat source hs to melt the forming material pm. In parallel with this, the drive unit 7 changes the relative position between the processing position p and the shape sc based on the drive command dc. The drive unit 7 has a processing head drive unit 71 and a table rotation mechanism 72. The processing position p is changed by the rotation of the table 10 by the table rotation mechanism 72 and the movement of the processing head 6 by the processing head drive unit 71. As a result, weld beads are added to the workpiece surface ts, and the shape sc is layered and formed.

[0036] Heat source supply unit 2 supplies heat source hs based on instruction lc from heat source supply unit 2. Figure 2 The heat source supply port 14 outputs a heat source hs, which heats the material being processed to melt it, toward the workpiece OP. The heat source hs only needs to be able to heat the shaping material PM. Examples of heat sources hs include laser beams, electron beams, and electric arc discharges. The heat source supply unit 2 and the processing head 6 are connected by a heat source path 3. The heat source hs generated by the heat source supply unit 2 is supplied to the heat source supply port 14 via the heat source path 3.

[0037] The gas supply unit 4 supplies protective gas g to the processing position p based on the gas supply command glc. Here, the protective gas g is a gas used to suppress the reaction of the shaping material pm. For example, it can be a gas blown out to suppress the chemical reaction between oxygen, nitrogen, or hydrogen present in the air and the shaping material pm. Examples of protective gas g include inert gases such as helium, neon, and argon. In addition, nitrogen can be used to suppress the reaction with oxygen, i.e., combustion. The gas supply unit 4 and the processing head 6 are connected by a pipe 5. The gas supply unit 4 supplies protective gas g from the gas nozzle 13 toward the workpiece OP based on the gas supply command glc. By spraying the protective gas g toward the processing position p of the workpiece surface ts, oxidation of the shaping material sc can be suppressed, chemical reactions with hydrogen, nitrogen, etc. contained in the air can be suppressed, and the weld bead can be cooled. In addition, for example, when forming bead weld beads, the nozzle tip can be brought closer to the weld bead to improve the cooling rate and oxidation prevention effect. Alternatively, the heat source supply port 14, wire supply nozzle 80, and gas nozzle 13 can be integrally fixed with the processing head 6, and the positional relationship between the heat source supply port 14, wire supply nozzle 80, and gas nozzle 13 can be fixed. With the structure described above, changes in the processing condition pc caused by changes in their positional relationship can be suppressed, achieving stable processing. Furthermore, the piping 5 can be connected to the heat source supply port 14, and the heat source hs and protective gas g can be output together from the heat source supply port 14. If the structure is as described above, the gas nozzle 13 and the heat source supply port 14 are integrated, thus... Figure 1 Compared to the previous structure, this reduces the manufacturing cost of the gas nozzle 13 and the heat source supply port 14.

[0038] The shaping material supply unit 8 supplies shaping material pm to the processing position p. Figure 1 In this example, the shaping material supply unit 8 supplies a thread as the shaping material PM. The shaping material is not limited to a thread. Examples of the form of the shaping material PM include thread, powder, and liquid. Furthermore, examples of the material of the shaping material PM include metal and resin. Figure 1 In this example, the spool drive 82 rotates the wire spool 81 based on the material supply command md determined by the control unit 1, thereby drawing out the wire as shaping material pm from the wire spool 81. The shaping material pm drawn from the wire spool 81 is supplied to the processing position p through the wire supply nozzle 80. In the following description, the speed at which the shaping material pm moves from the wire spool 81 toward the irradiation position is sometimes referred to as the wire supply volume velocity.

[0039] exist Figure 2 In the example, heat source hs is supplied from heat source supply port 14 of processing head 6 in the z-axis direction.

[0040] In addition, Figure 2 In this example, the outlet of the wire supply nozzle 80 is located separately from the heat source supply port 14 in the xy plane. Furthermore, the shaping material pm passes through the wire supply nozzle 80, thereby causing the shaping material pm to travel non-parallel to the heat source hs. The control unit 1 can control the traveling direction of the shaping material pm, the processing position p of the additional shaping material pm, etc., by changing the angle between the hole through which the wire is supplied from the wire supply nozzle 80 and the supply direction of the heat source.

[0041] Furthermore, the wire supply nozzle 80 and the heat source supply port 14 can be coaxially arranged. For example, the wire supply nozzle 80, the gas nozzle 13, and the heat source supply port 14 can be shaped like the side of a frustum of a cone. Moreover, the wire supply nozzle 80 can be arranged as the center, with the gas nozzle 13 and the heat source supply port 14 arranged around it. Alternatively, multiple wire supply nozzles 80 can be arranged around the heat source supply port 14, with the laser scanning direction and the direction of supplying the shaping material PM set to be constant. Additionally, multiple release ports for the shaping material PM can be provided, supplying multiple different shaping materials PM from each release port.

[0042] Furthermore, powdered metal can be ejected from the nozzle as a shaping material (pm) towards the heating position. When using powdered metal as the shaping material (pm), methods such as using a negative pressure protective gas (g) or pressurizing and ejecting the powdered metal from a powder delivery pipe during shaping timing can be employed. The nozzle ejecting the powdered metal can be configured such that the direction and position of the ejected powdered metal are related to the direction of... Figure 2 The linear shaping material pm supplied at the processing position p shown in the example is roughly the same. Furthermore, the protective gas g is supplied under negative pressure, for example, by configuring the outlet of the protective gas to surround the injection port of the powder nozzle. Moreover, the protective gas jet can be configured to travel in a manner that surrounds the powder ejected from the injection port of the powder nozzle, roughly parallel to the powder.

[0043] exist Figure 2The middle figure shows a cross-section of the gas nozzle 13 and the heat source supply port 14. Both the gas nozzle 13 and the heat source supply port 14 are shaped like the side of a truncated cone. When the gas nozzle 13 is shaped as a first truncated cone and the heat source supply port 14 is shaped as a second truncated cone, the diameters of the upper and lower bases of the second truncated cone are smaller than the diameters of the upper and lower bases of the first truncated cone. Furthermore, the first and second truncated cones are rotationally symmetrical about a rotational axis. As described above, the gas nozzle 13 and the heat source supply port 14 can be shaped as rotationally symmetrical about a rotational axis. Additionally, the heat source hs and the protective gas g can be supplied to a single axis toward the machining position p. Furthermore, the protective gas g can be ejected in such a way that it surrounds the position where the heat source hs touches the machining position p. Moreover, an angle adjustment mechanism for the machining head 6 can be provided. For example, the machining head 6 can be fixed to a rotary table that rotates about a direction parallel to the x-axis. When using a rotary table, the machining head 6 can adjust the tilt angles of the A and B axes in the 5-axis drive, thus preventing the object sc from tilting. When the object sc is a large, heavy object, tilting it increases the inertia of the stacked shaping device 100, sometimes making high-precision, high-speed movement difficult. By incorporating a rotary mechanism in the machining head 6, the angle of the object sc can be changed without requiring adjustment, enabling higher precision and higher-speed machining.

[0044] The machining head drive unit 71 moves the machining head 6 based on the drive command dc. Figure 1 The machining head drive unit 71 moves the machining head 6 in mutually perpendicular directions: the x-axis, y-axis, and z-axis. The machining head drive unit 71 can be an actuation mechanism capable of translational motion in three axes. For example, the machining head drive unit 71 can have a servo motor that moves the machining head 6 in the x-axis, y-axis, and z-axis directions. The stacking shaping apparatus 100 changes the relative position of the machining position p and the shaped object sc through the machining head drive unit 71 and the table rotation mechanism 72, thereby changing the irradiation position of the heat source hs in the object surface ts.

[0045] The worktable rotation mechanism 72 rotates the worktable 10 based on the drive command dc. Figure 3 This diagram illustrates an example of the table rotation mechanism according to this embodiment. The table 10 is mounted on the rotating component 16a of the table rotation mechanism 72. Based on the drive command dc determined by the control unit 1, the table rotation mechanism 72 rotates the rotating component 16a, the table 10, and the workpiece OP around the first axis or the second axis. Here, the second axis is perpendicular to the first axis.

[0046] If the worktable 10 rotates, the relative angle and position of the workpiece OP and the machining head change. For example, the worktable rotation mechanism 72 may have the function of... Figure 3 The rotating component 16a rotates using the c-axis and a-axis as rotation axes. The worktable 10 can be fixed to the rotating component 16a. Furthermore, the worktable rotation mechanism 72 can rotate the rotating component 16a and the worktable 10 based on the drive command dc.

[0047] For example, the table rotation mechanism 72 can be configured to independently execute the rotation of two rotating components 16a, one in the rotation direction rc with the c-axis as the rotation axis and the other in the rotation direction ra with the a-axis as the rotation axis. The orientation of the a-axis and c-axis can be arbitrarily obtained. For example, the a-axis can be set to be parallel to the x-axis and the c-axis to be parallel to the z-axis. In addition, the table rotation mechanism 72 can, for example, have servo motors that execute the two rotations in the rotation directions ra and rc. By using the table rotation mechanism 72, it is possible to perform layered shaping of complex shapes, such as conical shapes.

[0048] This embodiment Figure 1 , Figure 2 In the example, the temperature measuring unit 9 is a temperature measuring device that measures the temperature of the processing position p, the processing object OP, the shaping material PM, etc., and outputs it as temperature data td.

[0049] The stacking forming apparatus 100 includes a dust collector 12 that collects dust generated from the processing position p by drawing in the atmosphere surrounding the processing position p. This removes or reduces airborne particles, fumes, etc., present around the processing position p during stacking forming. Airborne particles, fumes, etc., can also be drawn in together with a protective gas g. The drawn-in airborne particles, fumes, and protective gas g can be recycled to a recovery box. In cases where the forming material pm is a highly oxidizing or highly reactive substance, a recovery box filled with an inert gas can be used to prevent fires, explosions, etc. Furthermore, a stacking forming method that omits the drawing-in process of collecting dust generated from the processing position p by drawing in the atmosphere surrounding the processing position p can also be implemented. Moreover, a stacking forming apparatus 100 that omits the dust collector 12 can also be constructed. However, to suppress fires, explosions, etc., the stacking forming method of the present invention preferably includes a drawing-in process. Furthermore, the stacking forming apparatus 100 preferably includes a dust collector 12.

[0050] Based on the basic machining program bpr and temperature data td, the control unit 1 determines the heat source supply command lc, material supply command md, gas supply command gc, and drive command dc as the corrected command cccv. Figure 4This diagram illustrates an example of the structure of the control unit according to this embodiment. The control unit 1 includes a controller 52, a differential 53, and an output unit 54. The control unit 1 obtains a basic machining program bpr from the machining program generation apparatus 200. Here, the basic machining program bpr includes basic instructions bcv for performing stacked forming and machining conditions pc for performing stacked forming. In addition, the basic instructions bcv are instructions for performing corrections by the control unit 1, including instructions for the heat source supply unit before correction, instructions for the material supply unit before correction, instructions for the gas supply unit before correction, and instructions for the drive unit before correction.

[0051] The drive command dc specifies the machining path. The machining path is the movement path that changes the relative position between the workpiece OP and the machining head 6. Alternatively, the machining path can be set as the path for shaping a three-dimensional object sc. Furthermore, the machining path can be set as the path for moving the irradiation position of the heat source hs. The control unit 1 can also be, for example, a CNC device. The machining conditions pc are the machining conditions and parameters executed by the stacked shaping device 100.

[0052] Examples of processing conditions pc in this embodiment include target values ​​for the temperature of processing position p, the temperature of the shaping material pm supplied to processing position p, the temperature of the object surface ts, and the amount of shaping material pm supplied per unit time. Processing conditions pc can be set to different values ​​depending on the layering process and the processing position p in the shape sc.

[0053] Control unit 1 obtains temperature data td from temperature measuring unit 9. Differential unit 53 calculates the difference d between processing condition pc and temperature data td. Controller 52 determines the corrected processing program ppr based on the calculated difference d. The corrected processing program ppr is a program with the same structure as the basic processing program bpr, including processing condition pc and corrected instructions ccf to each unit. Output unit 54 determines the corrected instructions ccf based on the corrected processing program ppr. The corrected instructions ccf are instructions corrected by control unit 1, including heat source supply unit instruction lc, material supply instruction MD, gas supply instruction GC, and drive instruction DC.

[0054] exemplify Figure 4The operation of the control unit 1 is as follows: Differential 53 calculates the difference between the temperature of the processing position p contained in the temperature data td and the target temperature value determined by the melting point, boiling point, etc. of the shaping material pm, and uses the difference d as differential d. Controller 52 determines the corrected processing program ppr based on the calculated difference d. Output unit 54 outputs the instruction lc to the heat source supply unit. Thus, the temperature of the processing position p can be controlled in parallel with the layered shaping, corresponding to the temperature monitoring value of the processing position p. Thus, the temperatures of the processing position p, the shaping material pm, the object being processed OP, etc., can be ensured to be close to the target value set by the temperature contained in the processing conditions pc.

[0055] For example, the temperature of the forming material PM can be maintained between its melting point and ignition temperature. This allows for the execution of lamination forming while preventing or reducing the frequency of ignition, thus improving the accuracy of lamination forming. Furthermore, the temperature of the forming material PM can be maintained at a viscosity that prevents droplet formation. Here, droplet formation refers to a state where the viscosity of the molten forming material PM decreases, resulting in droplets and reduced processing accuracy. This allows for the execution of lamination forming while suppressing droplet formation, thus improving the accuracy of lamination forming. Additionally, the number of times the lamination forming apparatus 100 stops due to ignition, droplet formation, etc., can be reduced, thus improving the speed and efficiency of lamination forming.

[0056] Here, as an example of controlling the temperature of the shaping material pm, the processing position p, and the object surface ts, sometimes the control unit 1 determines the heat source supply command lc to control the supply amount of the heat source hs. Additionally, sometimes the control unit 1 determines the gas supply command gc to control the amount of the protective gas g. The heating and cooling methods are not limited to the amount of the heat source hs or the flow rate of the protective gas g. For example, the angle of the wire feed nozzle 80 can be changed to adjust the amount of heat input per unit volume to the shaping material pm. Furthermore, the heat input and heat output can be adjusted by changing the shaping sequence due to changes in the processing path, or by changing the amount of air drawn in by the dust collector 12. The control unit 1 can combine the parameters illustrated above to control the temperature of the shaped object sc, the shaping material pm, etc.

[0057] If it is desired to lower the temperature at processing position p, at least one of the following actions can be performed: increasing the flow rate of protective gas g, decreasing the supply of heat source hs, increasing the supply of shaping material pm, or decreasing the moving speed of processing position p. Conversely, if it is desired to raise the temperature at processing position p, any of the following actions can be performed: decreasing the flow rate of protective gas g, increasing the supply of heat source hs, decreasing the supply of shaping material pm, or increasing the moving speed of processing position p. Furthermore, if fire ignition is observed based on temperature data td, the aforementioned actions can be performed to lower the temperature and suppress fire ignition.

[0058] It can also be combined with the suction of smoke, flying debris, and dust by the dust collector 12 to perform the control of each part of the stacking forming apparatus 100 based on temperature data td as described above by the control unit 1. The operation of the dust collector 12 suppresses the occurrence of fire, droplet formation, explosion, etc., and thus the accuracy of the control of the processing state by the control unit 1 is further improved. For example, the accuracy of the temperature at the processing position p can be improved. In addition, the deviation of each weld bead constituting the stacked form from the target shape can be reduced. Furthermore, when the temperature measuring unit 9 measures the temperature data td, it suppresses the occurrence of fire, droplet formation, explosion, etc., which contribute to noise, thereby outputting more accurate temperature data td. As a result, the accuracy of the control of each part of the stacking forming apparatus 100 based on temperature data td by the control unit 1 is improved, and stacking forming can be performed with higher precision.

[0059] Figure 5 This is a block diagram illustrating an example of the structure of the machining program generation apparatus 200 according to this embodiment. The machining program generation apparatus 200 can be configured as a CAM (Computer Aided Manufacturing) apparatus that generates a basic machining program (bpr) for controlling the stacking shaping apparatus 100. The machining program generation apparatus 200 includes a data input unit 201 that acquires data from an external source, a data storage unit 202 that stores the data, a machining path generation unit 203 that generates machining paths, and a machining program generation unit 204 that generates the basic machining program (bpr). Figure 5 In the structure shown, the data transmission and reception path is shown in one direction, but it can also be a structure in which the various structural elements of the processing program generation device 200 can transmit and receive data with each other.

[0060] The data input unit 201 acquires CAD (Computer-Aided Design) data 300 and overlay condition data 400 input to the machining program generation device 200 from outside the device. The data storage unit 202 acquires and stores the CAD data 300 and overlay condition data 400 from the data input unit 201. The CAD data 300 may be shape data representing the finished shape of the object sc manufactured by the overlay shaping device 100. Alternatively, it may consist solely of CAD data 300. The shape data may, for example, be data that numerically represents the outline of the finished shape of the object sc.

[0061] Furthermore, the shape data is not limited to the form of data illustrated herein. CAD data 300 can be any data that the machining program generation device 200 can use to generate a basic machining program (bpr). Additionally, the data input unit 201 can also obtain overlay condition data 400 based on the CAD data 300 and output it to the data storage unit 202. Overlay condition data 400 can be information related to weld beads. Examples of weld bead-related information include information indicating whether the weld bead to be formed is a beaded weld bead or a line weld bead, and information related to the weld bead's size, shape, and specifications. Information indicating the shape of a line weld bead used in the generation of the basic machining program (bpr) is called line weld bead forming information. Information indicating the shape of a beaded weld bead used in the generation of the basic machining program (bpr) is called beaded weld bead forming information. For example, the target value of the line weld bead's width, the target value of the line weld bead's height, etc., can be set as line weld bead forming information and added to the overlay condition data 400. Alternatively, target values ​​for the diameter of the bead weld and the height of the bead weld can be added to the stacking condition data 400.

[0062] The data storage unit 202 stores the CAD data 300 and overlay condition data 400 sent from the data input unit 201. The machining path generation unit 203 receives the CAD data 300 and overlay condition data 400 from the data input unit 201. Furthermore, the machining path generation unit 203 generates a machining path based on the CAD data 300 and overlay condition data 400. The machining path generation unit 203 can parse the CAD data 300 and overlay condition data 400 and generate a machining path based on the parsed result.

[0063] Here, the machining path is the path for additional machining of wire welds or bead welds, such as the tool path of the machining head 6. The machining program generation unit 204 obtains the machining path. The machining program generation unit 204 generates a basic machining program bpr based on the obtained machining path. The basic machining program bpr can specify the machining path by indicating the trajectory of the machining head 6 used to form wire welds or bead welds. The machining program generation unit 204 can allocate the machining path into a part for additional machining performed through bead welds and a part for additional machining performed through wire welds based on the weld information contained in the stacking condition data. In addition, the machining program generation unit 204 can allocate the machining path using internally stored judgment criteria related to the distinction between wire welds and bead welds. Control unit 1 as follows Figure 4 As shown, the basic machining program bpr is obtained from the machining program generation unit 204. The above is an example of the structure of the machining program generation device 200.

[0064] Figure 6 This diagram illustrates an example of a hardware structure used to implement the functions of the control unit 1 according to this embodiment through processing circuitry and a storage device. The control unit 1 is implemented, for example, using a control program that executes control of the stacked modeling device 100. The control unit 1 includes a CPU (Central Processing Unit) 41 that performs various processes, a RAM (Random Access Memory) 42 containing a data storage area, a non-volatile memory (ROM) 43, an external storage device 44, and an input / output interface 45 for inputting information to and outputting information from the control unit 1. Figure 6 The components shown are interconnected via bus 46.

[0065] The CPU 41 executes programs stored in the ROM 43 and external storage device 44. Control of the stacked modeling device 100 via the control unit 1 is implemented using the CPU 41. The external storage device 44 is an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The external storage device 44 stores the control program and various data. The ROM 43 stores programs used for basic control of the computer or controller of the control unit 1, such as a boot loader like BIOS (Basic Input / Output System) or UEFI (Unified Extensible Firmware Interface), and software or programs that control the hardware. Furthermore, the control program may also be stored in the ROM 43.

[0066] The program stored in ROM 43 and external storage device 44 is loaded into RAM 42. CPU 41 expands the control program in RAM 42 and performs various processes. Input / output interface 45 is the connection interface between control unit 1 and external devices. The corrected processing program bpr is input to input / output interface 45. In addition, input / output interface 45 outputs various instructions. Control unit 1 may have input devices such as keyboard and pointing devices and output devices such as displays. The control program may be stored in a computer-readable storage medium. Control unit 1 can store the control program stored in the storage medium to external storage device 44. The storage medium may be a floppy disk, i.e., a portable storage medium, or semiconductor memory, i.e., flash memory. The control program can be installed from other computers or server devices to the computer or controller that becomes control unit 1 via a communication network.

[0067] Figure 7 This diagram illustrates an example of a hardware structure for implementing the functions of the control unit 1 according to this embodiment using a dedicated processing circuit. The functions of the control unit 1 can also be implemented via... Figure 7 The dedicated hardware shown is the processing circuit 47. The processing circuit 47 can be a single circuit, a composite circuit, a programmable processor, a parallel-programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. The functions of the control unit 1 can be partially implemented using dedicated hardware and partially implemented using software or firmware.

[0068] Furthermore, the function of the machining program generation device 200 is to enable it to generate machining programs by means of having Figure 6 The structure shown is implemented by executing a hardware control program, which is a program for controlling the machining program generation device 200. Furthermore, the functions of the machining program generation device 200 can also be utilized. Figure 7 The dedicated hardware shown, namely the processing circuit 47, executes the control program to achieve this.

[0069] Next, we will describe the shaping accuracy during the layering process. Figure 8 This is a diagram showing an example of a shape created by the layering shaping system of this embodiment. Figure 9 This is a diagram illustrating an example of the temperature distribution of a shape in a layered shaping process performed by the layered shaping system of this embodiment. Figure 9 The shape sc1 is set to be with Figure 8The shape sc1 shown is identical. Shape sc1 is a cylindrical shape, stacked in the positive direction of the z-axis of the 3-axis orthogonal coordinate system shown in the figure. In the following description, the positive direction of the z-axis is sometimes referred to as the direction from bottom to top. Shape sc1 has multiple layers perpendicular to the z-axis, with solid lines drawn between the layers.

[0070] Figure 9 The upper surface is painted black, indicating that a heat source hs is supplied to the upper surface, and the upper surface is heated. Figure 9 The temperature distribution is shown by shading. As this temperature distribution shows, the temperature of the shape sc1 depends on both the processing position p (the shaping part) and the height of the processing position p (the shaping height). Figure 9 In the example, as the shaping height increases, the heat dissipation to the matrix material bm decreases, and the heat storage capacity of the shaping sc1 increases. As a result, when the heat input generated by the heat source hs and the heat dissipation generated by the protective gas g are maintained at the same level and continuously stacked, the upper layer of the shaping sc1 becomes mostly hotter than the lower layer. Under the conditions described above, when the corrected command cCV is determined to match the condition of the lower layer, the upper layer becomes overheated, with the temperature higher than the appropriate temperature.

[0071] When the shaped object sc1 becomes overheated, droplet formation and edge collapse of the shaping material pm due to the decrease in viscosity occur. Sometimes, deviations from the target shape may occur in the shape of the shaped object sc1. For example, such deviations may occur if the basic instruction bcv contained in the basic processing program bpr is used directly as the corrected instruction cccv. Even when the height deviation of each layer in the stacked shape is a small value of a few μm to tens of μm, the difference between the final stacked shape and the target shape can become larger when hundreds of layers are stacked.

[0072] As described above, the layered shaping method of this embodiment includes: a temperature measurement step, which measures the temperature of the object being processed (OP) or the shaping material (PM) and outputs it as temperature data (Td); a control step, which corrects the basic processing procedure (BPR) based on the basic processing procedure (BCV) including the basic instruction (BCV) and the processing conditions (PC) and the temperature data (Td), and determines the corrected instructions including the material supply instruction (MD), the heat source supply instruction (LC), the drive instruction (DC), and the gas supply instruction (GC); a shaping material supply step, which supplies shaping material to the processing position of the object surface of the object based on the material supply instruction (MD); a heat source supply step, which supplies a heat source that melts the shaping material supplied to the processing position based on the heat source supply instruction (LC) to the processing position; a drive step, which changes the relative position of the processing position and the object based on the drive instruction (DC); and a gas supply step, which supplies a protective gas that inhibits the reaction of the shaping material at the processing position to the processing position based on the gas supply instruction (GC).

[0073] In addition, the layering forming method of this embodiment has an attraction step that attracts the atmosphere around the processing position.

[0074] Furthermore, the lamination forming apparatus 100 of this embodiment includes: a temperature measuring unit 9, which measures the temperature of the workpiece OP or the forming material PM and outputs it as temperature data td; a control unit 1, which corrects the basic processing procedure BPR, including the basic instruction BCV and processing conditions PC, and the temperature data td, and determines the corrected instructions, including the material supply instruction MD, the heat source supply instruction lc, the drive instruction DC, and the gas supply instruction GC; a forming material supply unit 8, which supplies forming material to the processing position of the workpiece's object surface based on the material supply instruction MD; a heat source supply unit, which supplies a heat source that melts the forming material supplied to the processing position based on the heat source supply instruction lc to the processing position; a drive unit 7, which changes the relative position between the processing position and the workpiece based on the drive instruction DC; and a gas supply unit 4, which supplies a protective gas, which inhibits the reaction of the forming material at the processing position, to the processing position based on the gas supply instruction GC.

[0075] In addition, the layered shaping system 1000 of this embodiment includes a layered shaping device 100 and a machining program generation device 200 for generating a basic machining program bpr.

[0076] Furthermore, the control unit 1 determines the corrected command CCV based on the basic machining program BPR and the temperature data TD, thereby enabling the temperature at the machining position P to approach the target value. Additionally, it can suppress the occurrence of fire, droplet formation, explosion, etc. This improves the accuracy of the laminated forming process. Furthermore, the machining program generation device 200 generates a basic machining program BPR corresponding to the shape data representing the finished product shape, thereby further improving the accuracy of the laminated forming process.

[0077] Furthermore, according to this embodiment, a dust collector 12 is provided to attract an atmosphere containing dust, smoke, etc., thereby suppressing fires, explosions, etc. This further improves processing accuracy. Additionally, a gas supply unit 4 is provided to supply a protective gas g towards the processing position p. Therefore, lamination forming is performed under the atmosphere of the protective gas g, thus suppressing oxidation, fires, explosions, etc. during forming. Moreover, by suppressing the occurrence of forming defects associated with oxidation, fires, explosions, etc., during forming, the accuracy of lamination forming can be improved. Furthermore, by supplying the protective gas g, fires, explosions, etc., are suppressed, thereby enabling the temperature measuring unit 9 to obtain temperature data td with higher accuracy.

[0078] Furthermore, since it can suppress vibrations, rapid temperature changes, and rapid changes in atmosphere, the control unit 1 can more accurately determine the corrected command CCV based on temperature data td. Additionally, according to this embodiment, since protective gas g and temperature control are implemented, raw materials that are difficult to use as shaping material PM due to the potential for dust explosions can sometimes be used as shaping material PM. As explained above, according to this embodiment, the accuracy of layered shaping can be improved.

[0079] Implementation method 2.

[0080] Figure 10 This diagram illustrates an example of the structure of the stacked forming system according to this embodiment. In the description of this embodiment, structural elements and signals that are the same as or correspond to those in Embodiment 1 are labeled with the same reference numerals. The stacked forming apparatus 100a, based on the structure of the stacked forming apparatus 100, further includes a light detection unit 17. Furthermore, the stacked forming apparatus 100a replaces the control unit 1 of Embodiment 1 with a control unit 1a.

[0081] The light detection unit 17 detects light emitted from the processing position p, scattered light scattered from externally supplied light, or transmitted light, and outputs a light detection result lr. The light detection result lr can be a numerical value that quantitatively represents the light intensity, or it can output a signal indicating the presence of light detection when light intensity is greater than or equal to a certain threshold, and output a signal indicating no light detection when the intensity is less than the threshold. Furthermore, multiple thresholds for light intensity can be set in stages, and different signals can be output in stages depending on whether multiple thresholds are exceeded, with the control unit 1a operating accordingly. Examples of scattered light include light generated by shaping materials pm, debris, smoke, etc. Examples of transmitted light include transmitted light from smoke, protective gases, atmospheres, etc.

[0082] Furthermore, when using a heat source hs other than a laser beam, an observation light source can be added to the stacked forming apparatus 100a, and the light from the observation light source can be detected by the light detection unit 17. When using the observation light source, the control unit 1a can detect the generation of smoke by detecting the reduction or variation of scattered light. Alternatively, light can be irradiated near the processing position p from an external light source to detect the scattered light generated by the forming material pm or the weld bead, and the presence or absence of droplet formation can be detected by detecting changes in the scattered light. Furthermore, in Figure 10 The middle figure shows the case where the light detection unit 17 sends the light detection result lr to the control unit 1a via wireless communication, but the light detection unit 17 can also send the light detection result lr to the control unit 1a via wired communication.

[0083] Figure 11 This is a block diagram illustrating an example of the structure of the control unit involved in this embodiment. Figure 11 The difference between the control unit 1a shown and the control unit 1 is that the controller 52 of the control unit 1 is replaced by a controller 52a. Additionally, Figure 1 The control unit 1 only acquires temperature data td, in contrast, Figure 11 The control unit 1a obtains the light detection result lr based on the differential d. Based on the light detection result lr, the control unit 1a detects whether fire, droplet formation, explosion, smoke, etc., have occurred, or the state of fire, droplet formation, explosion, smoke, etc. Hereinafter, the state in which the control unit 1a does not detect the occurrence of fire, droplet formation, explosion, smoke, etc., is referred to as a stable state. Conversely, the situation in which the control unit 1a detects the occurrence of fire, droplet formation, explosion, smoke, etc., is referred to as an abnormal state.

[0084] like Figure 11As shown, when the control unit 1a determines that the state is stable, it operates in the same way as the control unit 1. That is, the controller 52a, like the controller 52, outputs a corrected machining program ppr based on the temperature data td, and the output unit 54 outputs a command based on the corrected machining program ppr. In other words, the output unit 54 determines the corrected command cccv based on the corrected machining program ppr.

[0085] On the other hand, when the controller 52a determines an abnormal state based on the light detection signal lr, it also determines the corrected machining program ppr, but the corrected instruction cccv for the abnormal state is different from the corrected instruction cccv for the normal state. For example, in the event of a fire, machining can be stopped. Alternatively, the corrected instruction cccv for the abnormal state could be an instruction to lower the temperature of the machining position p described in Embodiment 1 to suppress fire. It could also be a corrected instruction cccv reflecting the abnormal state. For example, based on the corrected instruction cccv for the normal state where there is no smoke or fire, the corrected instruction cccv for the abnormal state where there is smoke or fire is pre-stored in the basic machining program bpr. Furthermore, it can be configured such that a conditional branch is set in the basic machining program bpr, and either the corrected instruction cccv for the normal state or the corrected instruction cccv for the abnormal state is selected for execution.

[0086] The controller 52a can select from the heat source supply command lc, material supply command MD, gas supply command GC, and drive command DC, a command that changes between the corrected command CCV in the normal state and the corrected command CCV in the abnormal state. Furthermore, when making the selection, one or more of the aforementioned commands can be selected in accordance with the temperature data td and the light detection result LR. Additionally, one or more commands that change between the basic command BCV and the corrected command CCV can be selected in accordance with the temperature data td and the light detection result LR. Furthermore, the controller 52a can also select one or more commands that change between the corrected command CCV in the normal state and the corrected command CCV in the abnormal state, in accordance with the status of the machining position p on the machining path. Additionally, one or more commands that change between the basic command BCV and the corrected command CCV can be selected in accordance with the status of the machining position p on the machining path.

[0087] Examples of the conditions of the machining position p on the aforementioned machining path include the case where machining position p is at the end of a wire weld bead, at the intersection of wire weld beads, or at the bend of a wire weld bead. Furthermore, the control unit 1 can be configured to automatically select the changing command corresponding to the condition of the machining position p shown in the basic machining program bpr by attaching a changing command to the basic machining program bpr. Additionally, an input unit for receiving changing commands from an external source can be provided in the control unit 1a, allowing the selection of changing commands in response to external input.

[0088] As described above, the layered forming method of this embodiment includes a light detection step that detects light from the processing position p and outputs a light detection result lr. The control step determines a corrected instruction cCV based on the basic processing program bpr, temperature data td, and the light detection result lr. Furthermore, in this control step, anomalies are detected based on the light detection result lr. If an anomaly is detected, at least one of the following is executed: increasing the supply of protective gas g, decreasing the supply of heat source hs, increasing the supply of forming material pm, and reducing the rate of change of relative position. This suppresses the occurrence of abnormal conditions such as fires.

[0089] Therefore, the control unit 1a can control the heat source supply command lc, material supply command md, gas supply command gc, drive command dc, etc., in accordance with the light detection result lr. Furthermore, it can detect abnormal states such as fire, droplet formation, explosion, and smoke caused by overheating at the processing position p, and control the supply amount of heat source h, the supply speed of the forming material pm, the flow rate of protective gas g, the movement of the processing head 6, and the rotation of the worktable 10. As described above, according to this embodiment, the accuracy of layered forming can be improved.

[0090] Implementation method 3.

[0091] The structure of the lamination forming system in this embodiment is the same as that of the lamination forming system 1000 described in Embodiment 1, therefore, the same reference numerals used for structural elements, signals, etc., described in Embodiment 1 will be used for explanation. In the event of an interruption in lamination forming, the control unit 1 of this embodiment reheats the workpiece OP formed before the interruption of lamination forming based on temperature data td. Furthermore, lamination forming is resumed after reheating.

[0092] Furthermore, the following explains the option to add a corrected instruction CCV for reheating to the basic machining program BPR and the conditional branch for selecting the option. The control unit 1 determines the corrected instruction CCV when reheating is instructed by the basic machining program BPR. On the other hand, this embodiment is not limited to the operation described above. For example, the control unit 1 may pre-store the corrected instruction CCV for reheating. In addition, the timing of the corrected instruction CCV for reheating issued according to the corrected machining program PPR for reheating may be added to the basic machining program BPR, or the control unit 1 may determine the timing for reheating in accordance with the temperature data td, etc. In addition, by adding a conditional branch to the basic machining program BPR that changes the action in accordance with the temperature data td, the control unit 1 can be configured to execute different corrected machining programs PPR in accordance with the temperature data td.

[0093] Furthermore, restoring the laminated shape involves restoring the supply of the shaping material pm to the processing position p and performing the operation of supplying the heat source hs to the processing position p. Additionally, based on restoring the supply of the shaping material pm and the heat source hs to the processing position p, the change in the relative position between the processing position p and the shaped object sc can be restored. Furthermore, when the laminated shape is interrupted, for purposes such as avoiding collisions between the processing head 6 and the processing object oop formed before the interruption, the processing head 6 may sometimes be moved away from the vicinity of the processing object oop. In the cases described above, at the start of heating during the laminated shape interruption or at the start of the laminated shape, the processing head 6 can be returned to the vicinity of the processing object oop, or the relative position between the processing head 6 and the shaped object sc can be returned to the state at the time of the interruption. Subsequently, heating or the restoration of the laminated shape can be started.

[0094] The processing position p during shape restoration is called the shape restoration part rp. Figure 12 This is a diagram illustrating an example of the temperature distribution of the workpiece when the shaping restoration area rp is heated during the restoration process following an interruption in the lamination shaping described in this embodiment. Figure 12 The diagram shows the heat source supply port 14 and the arrow indicating the supply direction of the heat source hs. Additionally, the diagram shows the trajectory command tc, which indicates the trajectory of the machining position p movement included in the basic machining program bpr. Figure 12 The trajectory command tc shown results in a trajectory drawn in one stroke without interruption or reversal; in other words, a trajectory drawn in one stroke. The trajectory command tc is not limited to... Figure 12 The method is not limited to a trajectory drawn in one stroke. Furthermore, in Figure 12The temperature distribution is illustrated using shaded lines. In the shape sc, the temperature is high near the shape restoration area rp, decreasing further away. Furthermore, the shape sc has multiple layers, whose boundaries are shown by solid lines perpendicular to the z-axis. Moreover, the shape sc is constructed by layering each layer from bottom to top.

[0095] The machining program generation apparatus 200 of this embodiment determines the heat source supply command lc in the machining program bpr based on the position of the workpiece OP in the shape restoration part rp and the cross-sectional shape of the workpiece OP at the time of shape restoration. In other words, the machining program generation apparatus 200 adjusts the supply specifications of the heat source hs based on the cross-sectional shape of the workpiece OP when the shape is interrupted. As a result, by controlling the heat input based on the cross-sectional shape of the workpiece OP when the shape is interrupted, the time spent until the laminated shape is restored can be reduced. In addition, the heat input can be finely adjusted by supplying heat source for a short time during point shaping, further improving the accuracy of the laminated shape.

[0096] For example, in the case where the heat source hs is a laser beam, the heat source supply unit instruction lc, in other words, examples of the specifications of the heat source hs, can include the laser beam's moving speed, laser beam diameter, etc. During processing restoration, in order to prevent a decrease in the shaping accuracy of the shape restoration part rp, it is preferable to heat the shape restoration part rp to the heat saturation temperature of the shape part. Here, the balance between the heat input generated by the heat source under the processing conditions pc of the layer to be laminated (i.e., the next layer) and the heat dissipation in the overall shape area becomes a constant state, and the temperature suitable for laminated shaping is called the heat saturation temperature.

[0097] The heat saturation temperature varies depending on the shape, cross-sectional shape, and processing conditions (pc) of the workpiece OP during shape restoration. Therefore, it is sometimes difficult to determine before processing begins. On the other hand, according to this embodiment, the temperature measuring unit 9 outputs temperature data td of the shape restoration area RP, thereby enabling the control unit 1 to determine whether the temperature of the processing position p exceeds or does not exceed the heat saturation temperature. Furthermore, the control unit 1, for example, can determine the heat source supply unit command lc based on whether the temperature exceeds or does not exceed the heat saturation temperature using the conditional branches included in the basic processing program bpr, according to the determination result. Additionally, the control unit 1 preferably determines the drive command dc in a manner that prevents the processing position p from moving until the heat saturation temperature is reached. Furthermore, the control unit 1 can store the temperature of the processing position p when the lamination shaping is interrupted, and resume the lamination shaping after bringing the temperature of the shape restoration area RP close to that at the time of the lamination shaping interruption. An example of resuming the lamination shaping operation is shown. For example, if the temperature difference between the shape recovery location rp and the processing position p when the lamination forming was interrupted is less than or equal to a certain value, the drive command dc of the corrected processing program bpr can be determined in such a way that the processing position p begins to move. As described above, it is preferable to change the relative position between the processing position p and the shape sc after the temperature of the processing position p, the workpiece OP, or the shaping material pm has been heated to a predetermined temperature, thereby restoring the lamination forming. Furthermore, consider the case where a shape containing multiple layers is subjected to lamination forming along a shaping path for each layer. In the case described above, when the lamination forming is interrupted, the shaping path of the layer in the workpiece OP formed before the lamination forming was interrupted, i.e., the restoration shaping path, can be heated, and the lamination forming can be restored after the temperature of the restoration shaping path has been heated to a predetermined temperature. In this case, it is preferable to heat the entire restoration shaping path in such a way that the temperature is greater than or equal to the predetermined temperature. In addition, during heating, the relative positions of the processing head 6 and the shape sc can be changed, and the heat source hs can be supplied to the recovery shaping path in the processing object OP formed before the layering shaping was interrupted.

[0098] Figure 13 This is a diagram illustrating the heat flow in the base plate and the shape in this embodiment. Figure 13 The upper surface of the shape sc is painted black, indicating the surface being heated by the heat source hs. Additionally, Figure 13 (a) The shape sc has a layer. Figure 13 (b) The shape sc has 6 layers. That is, Figure 13 (b) shows from Figure 13 (a) is the state after 5 layers of cascading shaping. Figure 13 The solid lines perpendicular to the z-axis represent the boundaries between layers. Figure 13In the diagram, heat flow in the base plate bp and the shape sc is indicated by arrows. Figure 13 (a) Figure 13 In (b), heat source hs is supplied to the shape sc in the opposite direction of the z-axis orientation, that is, from the position with a large z-axis value to the position with a small z-axis value. Figure 13 (a) In comparison, Figure 13 In (b), the distance between the shape restoration part rp and the base plate bp is large. Therefore, regarding the heat dissipation performance from the shape restoration part rp to the base plate bp, Figure 13 (a) has a structure superior to Figure 13 (b) Structure. As a result, regarding the time until the temperature of the reconstructed area rp reaches its thermal saturation temperature, Figure 13 (a) structural ratio Figure 13 (b) The structure becomes longer. As mentioned above, the time until the temperature of the shape restoration part rp reaches the thermal saturation temperature depends on the distance between the shape restoration part rp and the base plate bp, the heat capacity of the shape sc, etc.

[0099] Temperature measuring unit 9 measures the temperature of the shaping restoration part RP or the shaped object SC and outputs it as temperature data TD. Control unit 1 determines the heat source supply unit command lc based on the temperature data TD and controls the heat source supply unit 2 to bring the temperature of the shaping restoration part RP close to the thermal saturation temperature. At this time, it is preferable to control the heat source output while preventing ignition and droplet formation until the shaping restoration part RP reaches the thermal saturation temperature. Control unit 1 can control the output to determine the gas supply command GC based on the temperature data TD, on the basis of the heat source supply unit command lc, so that the temperature of the processing position P approaches the thermal saturation temperature. Furthermore, if the difference between the temperature of the processing position P and the thermal saturation temperature does not fall within a certain range, control unit 1 can determine the drive command DC in a way that prevents the processing position P from moving. Additionally, until the difference between the temperature and the thermal saturation temperature in the entire path of the shaped restoration layer falls within a certain range, the heat source supply unit command lc can be changed sequentially to supply the heat source hs to the processing path, and the entire path of the restored shaping layer can be repeatedly heated. The heat saturation temperature can be set to a temperature lower than the melting point of the shaping material pm. Alternatively, it can be configured such that the user can input the heat saturation temperature to the control unit 1 or the processing program generation device 200, corresponding to the processing conditions pc.

[0100] In additive manufacturing, after additional processing, finishing processes such as grinding and lapping are often required. When the error between the target shape and the obtained shape is large, the burden on subsequent processes increases; therefore, a small error is preferable. Furthermore, in layer forming, it is preferable to perform forming continuously from the start to the end of the layer forming process. However, depending on the amount of layer forming, the forming material (PM), the processing path, etc., prolonged heating and long forming operations are difficult, and interruptions sometimes occur during the period from the start to the end of the layer forming process. In the cases described above, when the layer forming resumes, the surface cools and the surface oxidation deepens compared to before the interruption. Additionally, the balance between heat input and heat dissipation changes compared to before the interruption, and processing stabilization takes time. For these reasons, the forming accuracy of the areas where the layer forming was interrupted sometimes deteriorates.

[0101] As described above, in the case of an interruption in the layering forming method of this embodiment, the layering forming is resumed after the forming material pm is heated to a predetermined temperature by a forming material heating process. Furthermore, in the case of an interruption in the layering forming method of this embodiment, the layering forming is resumed after the processing object OP formed before the interruption is heated to a predetermined temperature. Additionally, in the case where the forming object sc consists of multiple layers, and the layering forming is performed along the forming path tc for each layer, the layering forming method of this embodiment first heats the forming path tc of the layering forming to a predetermined temperature after the layering forming is resumed, and then performs the resumption. Furthermore, the layering forming method of this embodiment includes: a retraction step, in which the processing head 6 is retracted from the processing object OP, the processing head 6 including a heat source supply port 14 that supplies heat source hs to the processing position p when the layering forming is interrupted; and a reset step, in which the retracted processing head 6 is returned to the processing object OP before the resumption is performed.

[0102] According to this embodiment, when an interruption occurs in the lamination process and the lamination process is resumed, heating of the workpiece sc is performed before the lamination process begins. To this end, the temperature of the resuming portion rp or the forming path tc of the resuming layer is made close to the temperature at the time of the lamination interruption, enabling high-precision lamination forming. Furthermore, during the heating process, the temperature is controlled based on temperature data td. Therefore, the temperature at the processing position p can be controlled to be close to the thermal saturation temperature. Additionally, smoke, fire, and droplet formation can be suppressed. Thus, high-precision lamination forming can be performed even when the lamination process is interrupted. As explained above, according to this embodiment, the accuracy of the lamination process can be improved. Furthermore, collisions between the processing head 6 and the workpiece OP can be avoided through a retraction process.

[0103] Implementation method 4.

[0104] In this embodiment, Joule heating is used to heat the shaping material pm. Figure 14 This is a diagram illustrating an example of the structure of the layered forming system according to this embodiment. In the description of this embodiment, structural elements and signals that are the same as or correspond to those in Embodiment 1 are labeled with the same reference numerals.

[0105] The lamination forming apparatus 100b of this embodiment, based on the structural elements of the lamination forming apparatus 100 of Embodiment 1, further includes a power supply 55 and a contact piece 56. Additionally, a control unit 1b is provided instead of the control unit 1 of Embodiment 1. The power supply 55 is electrically connected to the contact piece 56 and the substrate material bm via wiring. Furthermore, the power supply 55 applies voltage to the contact piece 56 and the substrate material bm, sequentially connecting the contact piece 56 to the forming material pm, from the forming material pm to the forming object sc, and from the forming object sc to the substrate material bm. Due to the current flowing in the above paths, the temperature of the forming material pm rises due to Joule heating. This phenomenon is used to heat the forming material pm.

[0106] In addition, the power supply 55 can communicate with the control unit 1b. Figure 15 This is a block diagram illustrating an example of the structure of the control unit in this embodiment. For example, the power supply 55 and the control unit 1b can be connected via a signal line. The control unit 1b determines the corrected processing program ppr based on the temperature data td. The basic processing program bpr and the corrected processing program ppr in this embodiment include instructions related to the current generated by the power supply 55, namely, the current instruction cc. The difference between the control unit 1b and the control unit 1 is that the control unit determines the current instruction cc. Furthermore, the difference between the controller 52b and the controller 52 is that the controller 52b determines the current instruction cc based on the differential d. The method for determining the current instruction cc can be the same as other instructions. The power supply 55 causes current to flow through the shaping material pm based on the current instruction cc.

[0107] For example, the control unit 1b can calculate a current command cc that instructs the power supply 55 on the magnitude and waveform of the current, based on the difference d between the melting point, boiling point, and temperature data td of the shaping material pm included in the processing conditions pc of the basic processing program bpr, and send the current command cc to the power supply 55. This suppresses the thermal influence on the shaped object sc during layered shaping. Furthermore, the temperature of the shaping material pm can be controlled independently of the heating of the shaped object sc via the output of the heat source hs. This improves the accuracy of the shaping process.

[0108] The shaping material PM is preferably capable of carrying electric current and has a shape that allows for control of Joule heating. For example, regarding shape, a linear shape is preferred compared to a powdered material. Furthermore, when using a linear shaping material PM, since the shaping material PM is a fine wire, its resistivity is higher than that of the shaping material sc and the substrate material bm. Therefore, the heat generated by Joule heating on the shaping material sc and the substrate material bm due to the power supply 55 is less than the heat generated by the shaping material PM. As a result, only the tip portion of the shaping material PM closest to the processing position p can be heated to the target temperature before being supplied to the processing position p. Moreover, the heating caused by the heat source hs during lamination shaping can be reduced.

[0109] Furthermore, by controlling the temperature of the shaping material pm, the temperature of the processing position p is maintained within a specified temperature range, allowing for the suppression of temperature variations outside the processing position p while performing layered shaping. This also reduces the range of thermal impact on the shaped object sc and the base material bm. Consequently, warping and bending of the shaped object sc and the base material bm caused by thermal expansion and contraction can be suppressed. Moreover, fatigue and thermal deformation caused by temperature fluctuations in the shaped object sc and the base material bm can be suppressed during the manufacturing of the shaped object sc.

[0110] Furthermore, the structure of this embodiment is similar to that described in Embodiment 2. Figure 10 The light detection unit 17 is provided, and similarly to Embodiment 2, the corrected processing program ppr can be changed in response to the occurrence of fire, explosion, smoke, etc. Furthermore, the processing interruption control unit 1 described in Embodiment 3 can be added in combination with this embodiment. For example, if the lamination process is interrupted from the beginning to the end, the shaping material pm is heated by Joule heating as described in Embodiment 3 without supplying the shaping material pm to the processing position p. After heating the shaping material pm to a predetermined temperature, the shaping material pm is supplied to the processing position p. The lamination process can then be resumed by supplying the heat source hs to the processing position p. As described above, when processing is interrupted, the shaping material pm can be heated by Joule heating.

[0111] As described above, the lamination forming method of this embodiment includes a forming material heating step that uses a linear forming material pm and heats the forming material pm by Joule heating. Furthermore, in the event of an interruption in the lamination forming process, the lamination forming method of this embodiment resumes after heating the forming material pm to a predetermined temperature through the forming material heating step.

[0112] As described above, this embodiment can improve the accuracy of layered molding.

[0113] Implementation method 5.

[0114] Figure 16 This is a diagram illustrating an example of the structure of the stacked modeling system of this embodiment. In the description of this embodiment, structural elements, signals, etc. that are the same as or correspond to those in Embodiment 1 are labeled with the same reference numerals. The stacked modeling system 1000c replaces the control unit 1 of the stacked modeling system 1000 of Embodiment 1 with a control unit 1c. Figure 17 This is a block diagram illustrating an example of the structure of the control unit 1c.

[0115] The control unit 1c includes a machine learning device 500 and an intention determination unit 530. The machine learning device 500 includes a state quantity observation unit 510 and a learning unit 520. The state quantity observation unit 510 acquires a state quantity st, which includes at least the basic processing procedure bpr and temperature data td and is related to the state of the stacked shape.

[0116] Examples of state variables st include the basic command bcv, the corrected command cccv, temperature data td, the light detection result lr described in Embodiment 2, the shape recovery part rp during the recovery from a layered shaping interruption as described in Embodiment 3, the current command cc described in Embodiment 4, the shape of the shape sc during the recovery from a layered shaping interruption, the processing path, the cross-sectional shape, and the detection results during processing. Examples of detection results during processing include temperature data td, light detection result lr, and the detection results of a height sensor that measures the height of the processing position p. Furthermore, examples of state variables included in the processing condition pc include the material of the shaping material pm, the material of the base material bm, the shape, laser output, irradiation time, cooling time, processing path, dust collection force, and heating time.

[0117] The learning unit 520 learns the corrected instruction cccv for forming a layered shape based on a training dataset created using the state quantity st obtained by the state quantity observation unit 510. Here, the learning unit 520 can be configured to perform learning based on the training dataset, which determines the corrected instruction cccv for forming the layered shape according to the basic processing procedure bpr and temperature data td. Furthermore, the learning unit 520 can also perform learning to determine the corrected processing procedure ppr. In the case described above, the corrected instruction cccv is included in the corrected processing procedure ppr, therefore learning to determine the corrected instruction cccv is performed.

[0118] The learning algorithm used by Learning Unit 520 can be any learning algorithm. As an example, we will explain the case where reinforcement learning is applied. Reinforcement learning is a method in which an agent, i.e., an actor in an environment, observes the current state and decides on the action to be taken. The agent selects actions and thereby receives rewards from the environment, and learns the strategy that yields the highest reward through a series of actions. As representative methods of reinforcement learning, Q-learning and TD-learning are known. For example, in the case of Q-learning, the general update formula (action value table) of the action value function Q(s,a) is expressed by the following formula (1).

[0119] Formula 1

[0120]

[0121] In equation (1), S t Let a represent the environment at time t. t Indicates the action at time t. Through action a t Environmental changes are s t+1 r t+1 Let γ represent the reward resulting from changes in the environment, γ represent the discount rate, and α represent the learning coefficient. In the case of Q-learning, the processing condition pc and the processing path become the action α. t Furthermore, γ can take values ​​in the range 0 < γ ≤ 1, and α can take values ​​in the range 0 < α ≤ 1.

[0122] The update formula, expressed by equation (1), states that if the action value of the best action a at time t+1 is greater than the action value function Q of action a executed at time t, then the action value function Q is increased; conversely, if the action value function Q is less than or equal to the action value function Q of action a executed at time t, then the action value function Q is decreased. In other words, the action value function Q(s, a) is updated in a way that makes the action value function Q of action a at time t close to the best action value at time t+1. Thus, the best action value in a given environment is continuously propagated to the action values ​​in previous environments.

[0123] The reward calculation unit 521 calculates the reward r based on the state variable st. For example, the reward calculation unit 521 can increase the reward r when the height difference between the target's shape and the actual shape in each layer is small, and decrease the reward r when the error is large. For example, the reward calculation unit 521 can assign a reward of 1 when a large reward is assigned, and assign a reward of -1 when a small reward is assigned. The function update unit 522 updates the action value function Q according to the reward r calculated by the reward calculation unit 521. The intention determination unit 530 uses the action value function Q to determine the corrected instruction ccf. For example, in the case of Q learning, the action value function Q(s) expressed by formula (1) can be used. t a t This is used as a function to determine the processing path.

[0124] Figure 18 This is a flowchart illustrating an example of the operation of the layered modeling system of this embodiment. Figure 18 The actions shown can be performed at predetermined control cycles during the stacking and shaping process of the object OP by the stacking and shaping device 100c. The intention determination unit 530 uses the action value function Q determined by the machine learning device 500 to determine the corrected instruction ccv of the stacking and shaping device 100c.

[0125] The layered forming apparatus 100c performs layered forming processing according to the determined corrected instruction ccv. Furthermore, in step s101, the state quantity observation unit 510 acquires the state quantity st. As an example, the state quantity st can be a measured value of the weld height of the forming portion in each layer, obtained by a height sensor. In step s102, the report calculation unit 521 calculates the report r based on the state quantity st.

[0126] For example, the reward calculation unit 521 calculates the error between the height of the detected shape sc in each layer and the height of the target shape, and determines whether the error is less than or equal to a threshold or exceeds a threshold. If the error is less than or equal to the threshold, the reward calculation unit 521 assigns a large reward. On the other hand, if the error exceeds the threshold, the reward calculation unit 521 assigns a small reward. By calculating the reward as described above, the learning used for performing layered shaping is performed, thereby improving the accuracy of layered shaping.

[0127] In step s103, the function update unit 522 updates the action value function based on the reward r. In step s104, the intention determination unit 530 determines the corrected instruction cccv based on the updated action value function. Here, the intention determination unit 530 can determine the corrected processing program ppr.

[0128] Furthermore, the state quantity observation unit 510 obtains the light detection result lr described in Embodiment 2 as the state quantity st. Moreover, when the number of occurrences of dropletization, fire, smoke, etc., is high, the reward r assigned by the reward calculation unit 521 can be reduced, and when the number of occurrences of dropletization, fire, smoke, etc., is low, the reward r assigned by the reward calculation unit 521 can be increased. Thus, it is possible to perform the learning of the corrected instruction cv for determining the low number of occurrences of dropletization, fire, smoke, etc. Furthermore, it is possible to perform layered shaping with high shaping accuracy. Additionally, in the case of interruption of the layered shaping described in Embodiment 3, a large reward can be assigned when the accuracy during layered shaping recovery is high, and a small reward can be assigned when the accuracy during layered shaping recovery is low. The learning unit 520 can perform the learning of the corrected instruction cv for performing layered shaping with high accuracy during layered shaping recovery. Alternatively, the current command cc described in Implementation 4 can be included in the state quantity, and learning can be performed to determine the corrected command ccv, which includes the current command cc.

[0129] Furthermore, while examples using reinforcement learning have been described above, the machine learning device 500 can also perform machine learning using other well-known methods, such as neural networks, genetic programming, functional logic programming, support vector machines, etc.

[0130] Furthermore, some or all of the control unit 1c can be connected, for example, via a network to other parts of the stacked forming device 100c besides the control unit 1c. Also, some or all of the control unit 1c can reside on a cloud server.

[0131] Furthermore, the trained learning machine, after the learning process performed by the machine learning device 500 is completed, can be applied to other stacking forming devices different from the stacking forming device that performed the learning. For example, a state quantity acquisition unit 310, which includes at least a basic processing procedure bpr and temperature data td, and observes a state quantity st, a quantity related to the state of the stacked forming, can be provided in the aforementioned other stacking forming device. Moreover, a trained learning machine, after the learning of the corrected instruction ccf for determining the form used to form the stacked forming based on the state quantity st, the basic processing procedure bpr, and the temperature data td, can also be provided in the aforementioned other stacking forming device.

[0132] The trained learning machine can be, for example, an intention determination unit 530, which has an updated action value function Q that has been executed. By using the trained learning machine, without performing new learning in the stacking forming device equipped with the trained learning machine, it is possible to determine the corrected instruction cccv for forming the object of the stacked shape, and perform high-precision stacking forming processing. Alternatively, it can be configured from... Figure 17 The control unit 1c omits the machine learning device of the intention determination unit 530. Learning can be repeatedly performed by repeatedly obtaining the state quantity st from the outside through the machine learning device described above, thus constructing a trained learning machine equipped with the learned results.

[0133] In addition, Figure 16 In this design, the control unit 1c constitutes a single layered forming device, but the machine learning device 500 can also be connected to the mechanical parts of multiple layered forming devices. Here, the parts other than the machine learning device, such as the parts of the layered forming device 100c other than the machine learning device 500, are referred to as the mechanical parts. Furthermore, the state quantity st can be obtained from the mechanical parts of the multiple layered forming devices connected to the machine learning device 500. The aforementioned mechanical parts can be multiple devices used in the same field, or devices that operate independently in different fields.

[0134] Furthermore, the mechanical device part that collects the dataset by the machine learning device 500 can be added to the object midway through the dataset collection process, or it can be removed from the object midway. Also, the machine learning device that has learned about a certain mechanical device part can be installed on different mechanical device parts to relearn and update the learning results.

[0135] As described above, the stacking forming apparatus 100c of this embodiment includes: a state quantity observation unit 510, which observes quantities related to stacking forming, including at least the basic instruction bcv, the processing condition pc, and the temperature data td, and uses these as state quantities st; and a learning unit 520, which learns, based on the state quantities st, the corrected instruction cccv that performs stacking forming according to the basic instruction bcv, the processing condition pc, and the temperature data td. Furthermore, the stacking forming apparatus of this embodiment includes: a state quantity observation unit 510, which observes quantities related to stacking forming, including at least the basic instruction bcv, the processing condition pc, and the temperature data td, and uses these as state quantities st; and a trained learner, which learns, based on the state quantities st, the corrected instruction cccv that performs stacking forming according to the basic instruction bcv, the processing condition pc, and the temperature data td.

[0136] According to this embodiment, the corrected instruction cccv can be determined using the results of the learning process. According to this embodiment, the accuracy of layered modeling can be improved.

[0137] As described above, this embodiment can improve the accuracy of layered molding.

[0138] Explanation of the label

[0139] 1 Control unit, 2 Heat source supply unit, 3 Heat source path, 4 Gas supply unit, 5 Piping, 6 Processing head, 7 Drive unit, 8 Shaping material supply unit, 9 Temperature measuring unit, 10 Worktable, 12 Dust collector, 13 Gas nozzle, 14 Heat source supply port, 16a Rotating component, 17 Photodetector, 41 CPU, 42 RAM, 43 ROM, 44 External storage device, 45 Input / output interface, 46 Bus, 47 Processing circuit, 52, 52a Controller, 53 Differential converter, 54 Output unit, 55 Power supply, 56 Contact plate, 71 Processing head drive unit, 72 Worktable rotation mechanism, 80 Wire supply nozzle, 81 Wire winding spool, 82 Wire winding spool drive device, 100, 100a, 100b, 100c Stacked shaping device, 200 Processing program generation device, 201 Data input unit, 202 Data storage unit 203 Machining Path Generation Department, 204 Machining Program Generation Department, 300 CAD Data, 400 Layered Condition Data, 500 Machine Learning Device, 510 State Quantity Observation Department, 520 Learning Department, 521 Return Calculation Department, 522 Function Update Department, 530 Intention Decision Department, 1000, 1000a, 1000b, 1000c Layered Shaping System, BM Matrix Material, BCV Basic Commands, BPR Basic Machining Program, CCV Corrected Commands, PPR Corrected Machining Program, DC Drive Commands, G Protective Gas, GC Gas Supply Commands, HS Heat Source, LR Light Detection Results, MD Material Supply Commands, LC Heat Source Supply Department Commands, OP Machining Object, P Machining Position, PC Machining Conditions, PM Shaping Material, SC Shaping Object, ST State Quantity, TD Temperature Data, TS Object Surface.

Claims

1. A layered shaping method, which has the following characteristics: The temperature measurement process involves measuring the temperature of the object being processed or the material being shaped, and outputting this as temperature data. The control process corrects the basic instructions based on the basic processing procedure including basic instructions and processing conditions and the temperature data, and determines the corrected instructions including material supply instructions, heat source supply instructions, drive instructions and gas supply instructions. The shaping material supply process supplies shaping materials to the processing position of the object surface of the object based on the material supply instruction; In the heat source supply process, a heat source that melts the shaping material supplied to the processing position is supplied to the processing position based on the instruction of the heat source supply unit. The driving process, based on the driving command, causes a change in the relative position of the processing position and the shape; as well as In the gas supply process, based on the gas supply command, a protective gas that inhibits the reaction of the shaping material at the processing position is supplied to the processing position in such a way that the protective gas surrounds the position where the heat source touches the processing position, and the protective gas is supplied from the gas nozzle toward the processing position; as well as In the suction process, a dust collector is used to draw in the atmosphere around the processing position. When viewed from the processing position, the front end of the suction port of the dust collector is positioned away from the nozzle tip of the gas nozzle in a direction opposite to the direction in which the protective gas is sprayed.

2. A layered shaping method, which has the following characteristics: The temperature measurement process involves measuring the temperature of the object being processed or the material being shaped, and outputting this as temperature data. The optical inspection process detects the light from the processing position of the object's surface and outputs the optical inspection result. The control process, based on the basic processing procedure including basic instructions and processing conditions, the temperature data, and the light detection results, corrects the basic instructions and determines the corrected instructions including material supply instructions, heat source supply instructions, drive instructions, and gas supply instructions. If, based on the light detection results, it is determined that any of the following abnormal states have been detected: dropletization, fire, smoke, or explosion, the process executes at least one of the following: increasing the supply of protective gas to inhibit the reaction of the shaping material, decreasing the supply of heat source to melt the shaping material supplied to the processing position, increasing the supply of the shaping material, and reducing the rate of change of the relative position of the processing position and the shaping object. The shaping material supply process supplies the shaping material to the processing position based on the material supply instruction; The heat source supply process involves supplying the heat source to the processing position based on the instructions from the heat source supply unit. The driving process involves changing the relative position based on the driving command. The gas supply process involves supplying the protective gas to the processing position based on the gas supply command. as well as The attraction process involves attracting the atmosphere surrounding the processing location.

3. The layered shaping method according to claim 2, characterized in that, Based on the light detection results, the control process determines that the state is stable, i.e., no dropletization, ignition, smoke, or explosion has been detected. Based on the basic processing procedure and the temperature data, the basic instructions are corrected to determine the corrected instructions, which include the material supply instructions, the heat source supply instructions, the drive instructions, and the gas supply instructions.

4. The layered forming method according to claim 2 or 3, characterized in that, The optical detection process detects either scattered light or transmitted light to obtain the optical detection result. The scattered light is light emitted from the processing location or supplied from the outside and scattered by the shaping material, debris, or smoke; the transmitted light is light emitted from the processing location or supplied from the outside after the smoke, the protective gas, or the atmosphere have passed through it.

5. The layered forming method according to claim 1 or 2, wherein, It includes a shaping material heating process, which heats the linear shaping material through Joule heating.

6. The layered forming method according to claim 5, characterized in that, In the event of an interruption in the layering process, the layering process is resumed after the shaping material is heated to a predetermined temperature through the heating process of the shaping material.

7. The layered forming method according to claim 1 or 2, characterized in that, When the layered design is interrupted The stacking process is restored after the workpiece, which was formed before the stacking process was interrupted, is heated to a predetermined temperature.

8. The layered shaping method according to claim 7, characterized in that, The shape is composed of multiple layers. The layered shaping is performed for each of the layers along the shaping path. The restoration is performed after the shaping path of the stacked shape is heated to a predetermined temperature following the restoration of the stacked shape.

9. The layered forming method according to claim 7, wherein, have: The retraction process involves retracting the processing head from the workpiece. The processing head includes a heat source supply port, which serves as an injection port to supply heat to the processing position when the lamination process is interrupted. as well as In the reset process, before performing the restoration, the retracted processing head is returned to the workpiece.

10. A layered shaping device, comprising: The temperature measuring unit measures the temperature of the object being processed or the material being shaped and outputs it as temperature data. The control unit corrects the basic instructions based on the basic processing procedure, which includes basic instructions and processing conditions, and the temperature data, and determines the corrected instructions, which include material supply instructions, heat source supply instructions, drive instructions, and gas supply instructions. The shaping material supply unit supplies shaping material to the processing position of the object surface of the object based on the material supply command; A heat source supply unit, which supplies a heat source that melts the shaping material supplied to the processing position to the processing position based on instructions from the heat source supply unit; The drive unit changes the relative position of the processing position and the shape based on the drive command; as well as The gas supply unit, based on the gas supply command, supplies a protective gas that inhibits the reaction of the shaping material at the processing position to the processing position in such a way that the protective gas surrounds the position where the heat source touches the processing position, and supplies the protective gas from the gas nozzle toward the processing position; as well as A dust collector that draws in the atmosphere around the processing position, wherein the front end of the dust collector's suction port, when viewed from the processing position, is positioned away from the nozzle tip of the gas nozzle in a direction opposite to the direction in which the protective gas is sprayed.

11. A layered shaping device, comprising: The temperature measuring unit measures the temperature of the object being processed or the material being shaped and outputs it as temperature data. The light detection unit detects the light from the processing position of the object's surface and outputs the light detection result. The control unit corrects the basic instructions based on the basic processing procedure including basic instructions and processing conditions, the temperature data, and the light detection results, and determines the corrected instructions including material supply instructions, heat source supply instructions, drive instructions, and gas supply instructions. If the light detection results indicate that an abnormal state has been detected, such as dropletization, fire, smoke, or explosion, the control unit executes at least one of the following: increasing the supply of protective gas to suppress the reaction of the shaping material, decreasing the supply of heat source to melt the shaping material supplied to the processing position, increasing the supply of the shaping material, and reducing the rate of change of the relative position of the processing position and the shaping object. A shaping material supply unit supplies the shaping material to the processing position based on the material supply instruction; A heat source supply unit that supplies the heat source to the processing position based on instructions from the heat source supply unit; The driving unit changes the relative position based on the driving command; A gas supply unit that supplies the protective gas to the processing position based on the gas supply command; as well as A dust collector that draws in the atmosphere around the processing location.

12. The layered shaping device according to claim 11, characterized in that, Based on the light detection results, if the control unit determines that there is no detection of any of the following states—that is, a stable state—the basic instructions are corrected based on the basic processing procedure and the temperature data, and the corrected instructions are determined to include the material supply instructions, the heat source supply instructions, the drive instructions, and the gas supply instructions.

13. The layered shaping device according to claim 11 or 12, characterized in that, The light detection unit detects scattered light or transmitted light and uses this as the light detection result. The scattered light is light emitted from the processing location or supplied from the outside and scattered by the shaping material, debris, or smoke; the transmitted light is light emitted from the processing location or supplied from the outside after the smoke, the protective gas, or the atmosphere have passed through it.

14. The layered shaping apparatus according to claim 10 or 11, wherein, have: A state quantity observation unit observes quantities related to the stacking and shaping process, including at least the basic instructions, the processing conditions, and the temperature data, and uses these as state quantities; and The learning unit learns, based on the state quantity, the corrected instructions that execute the layered shaping according to the basic instructions, the processing conditions, and the temperature data.

15. The layered shaping apparatus according to claim 10 or 11, wherein, have: A state quantity observation unit observes quantities related to the stacking and shaping process, including at least the basic instructions, the processing conditions, and the temperature data, and uses these as state quantities; and The trained learner, based on the state variables, learns the corrected instructions for performing layered shaping according to the basic instructions, the processing conditions, and the temperature data.

16. A layered modeling system, comprising: The layered forming apparatus as described in any one of claims 10 to 15; and A machining program generation device that generates the basic machining program.

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