Control information generation device, control information generation method, and program

Abstract

A control information generation device is provided with: a molding information acquisition unit that acquires information on molding passes; a connection position specifying unit that specifies, on the basis of the acquired information of the molding passes, a connection position at which a pair of molding passes, which are arranged adjacent to each other and formed in a sequential order, are connected to each other; a molding pass connection unit for connecting the pair of molding passes to each other by newly adding a connection pass for connecting the pair of molding passes to each other at the connection position; and a control information output unit that repeatedly links the molding passes until the number of the molding passes is equal to or less than a preset upper limit number, and outputs information on the linked molding passes as control information.

Description

Technical Field

[0001] The present invention relates to a control information generating device, a control information generating method and a program. Background Art

[0002] In recent years, the demand for component manufacturing based on stacked modeling using 3D printers has increased, and research and development is being promoted for the practical application of modeling using metal materials. For example, Patent Document 1 proposes a method for improving modeling quality by correcting the weld bead forming track (modeling pass) in stacked modeling in a manner that reduces the overlap of weld beads and the deviation of processed materials. In this method, after adjusting the weld bead width based on the modeling pass and the reference width of the weld bead cross section, the modeling pass is corrected.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication No. 47-011817 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In stacked modeling, multiple modeling passes are placed adjacent to each other in various forms to form the desired shape. For the modeling pass, the more the number of passes, the more the number of starting points and ending points increases, which increases the frequency of modeling stops. Therefore, from the perspective of productivity, there is a demand to minimize the number of modeling passes. However, the more complex the shape of the modeling object, the more limited the types of modeling passes that can be generated, so it is difficult to reduce the number of passes in general. Due to such a situation, the development of a method to generally reduce the number of passes is sought. Patent document 1 describes a method for correcting modeling passes, but does not mention the number of modeling passes themselves.

[0008] Therefore, an object of the present invention is to provide a control information generating device, a control information generating method and a program that can generate control information that can reduce the number of shaping passes for forming a weld bead without making major changes to the original shaping passes and improve productivity.

[0009] Solutions to Solve Problems

[0010] The present invention is constituted by the following structure.

[0011] (1) A control information generating device that generates control information for controlling a stacking modeling device that repeatedly forms a layered weld bead layer using a weld bead formed by applying a molten processing material to a modeling target surface while moving a processing position along a predetermined modeling pass, and models a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0012] The control information generating device comprises:

[0013] A molding information acquisition unit, which acquires the molding pass information;

[0014] a connection position determination unit for determining a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence, based on the acquired information of the molding passes;

[0015] a pass connecting portion which newly adds a connecting pass for connecting the pair of molding passes to each other at the connecting position, thereby connecting the pair of molding passes to each other; and

[0016] A control information output unit repeatedly connects the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputs information of the connected molding passes as the control information.

[0017] (2) A control information generating method for generating control information for controlling a stacking modeling device, the stacking modeling device repeatedly forming a layered weld bead layer using a weld bead formed by attaching a molten processing material to a modeling target surface while moving a processing position along a predetermined modeling pass, and modeling a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0018] The control information generation method performs the following processing:

[0019] Obtaining information of the molding pass;

[0020] Determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence;

[0021] A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, so as to connect the pair of molding passes to each other; and

[0022] The connection of the molding passes is repeatedly performed until the number of the molding passes becomes equal to or less than a preset upper limit, and information of the connected molding passes is output as the control information.

[0023] (3) A program for generating control information for controlling a stacking molding device, the stacking molding device repeatedly forming a layered weld bead layer using a weld bead formed by applying a molten processing material to a molding target surface while moving a processing position along a predetermined molding pass, and molding a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0024] The program is used to enable the computer to implement the following functions:

[0025] A function for obtaining information of said molding pass;

[0026] A function of determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence;

[0027] A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, thereby connecting the pair of molding passes to each other; and

[0028] A function of repeatedly connecting the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputting information of the connected molding passes as the control information.

[0029] Effects of the Invention

[0030] According to the present invention, the number of shaping passes for forming a weld bead can be reduced without making a major change from the original shaping pass, thereby improving productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural block diagram of a cascading modeling system including a control information generating device.

[0032] Figure 2 This is a flowchart showing the procedure of changing the molding pass performed by the control information generating device.

[0033] Figure 3 This is an explanatory diagram showing the steps of changing the molding pass in stages.

[0034] Figure 4 It is an explanatory diagram showing connection positions extracted by the connection position specifying unit.

[0035] Figure 5 It is an explanatory diagram showing connection positions extracted by the connection position specifying unit.

[0036] Figure 6 (A) and (B) are explanatory diagrams showing another example of adding a connecting pass.

[0037] Figure 7 It is an explanatory diagram showing another example of adding a connecting pass in (A) and (B).

[0038] Figure 8 It is an explanatory diagram showing another example of adding a connecting pass in (A) to (C).

[0039] Fig. 9A is a schematic diagram showing the Figure 8FIG. 2 is an explanatory diagram of the state of the weld bead formed in each pass shown.

[0040] Fig. 9B It schematically shows the cutting positions of the molding passes PS1 and PS2. Figure 8 The diagrams are explanatory diagrams of weld beads formed when the cutting positions are different.

[0041] Fig. 9C This is an explanatory diagram schematically showing a weld bead formed when the cutting positions of the molding passes PS1 and PS2 are set on the same side with respect to the connecting positions P1 and P2.

[0042] Fig. 10A This is an explanatory diagram showing the types of connecting passes for connecting grid-like shaping passes.

[0043] Fig. 10B This is an explanatory diagram showing the types of connecting passes for connecting grid-like shaping passes.

[0044] Fig. 10C This is an explanatory diagram showing the types of connecting passes for connecting grid-like shaping passes.

[0045] Fig.11 This is an explanatory diagram showing the steps of changing the multi-loop molding pass in stages.

[0046] Fig.12 This is an explanatory diagram showing another example of multiple circular molding passes.

[0047] Fig.13 This is an explanatory diagram showing a molding pass in the case of dividing one layer shape into a plurality of blocks. DETAILED DESCRIPTION

[0048] The control information generating device shown here generates control information for controlling a stacking molding device for forming a weld bead, but the control object is not limited thereto, and control information for controlling other molding devices may also be generated.

[0049] <Layered modeling system>

[0050] Figure 1 1 is a block diagram of the structure of a stacking modeling system 200 including a control information generating device 100 .

[0051] The stacking molding system includes a control information generating device 100, a control information storage unit 11, and a stacking molding device 13. The control information generating device 100 generates control information for controlling the stacking molding device 13, and the control information storage unit 11 stores the generated control information in the stacking molding device 13 so that it can be output. The stacking molding device 13 is not shown in the figure, but includes: a welding part, which has a manipulator such as a multi-axis robot that moves the welding torch, a welding power source, a feeding mechanism for filler material, etc.; and a control unit 15 that controls each part of the welding part. The control unit 15 reads the control information corresponding to the desired shape of the molding object from the control information storage unit 11, and controls the welding part based on the read control information to manufacture the molding object. That is, the stacking molding device 13 moves the processing position along the preset molding pass, and adds the molten processing material to the molding object surface to form a weld bead. Using the weld bead formed in this way, a layer-shaped weld bead layer is repeatedly formed, and a three-dimensional shape molding object formed by stacking the weld bead layers is molded.

[0052] The control information includes a molding pass indicating the path along which the welding torch is moved by the stack molding device 13 to form a weld bead, and a molding program recording instruction information such as welding conditions when forming a weld bead. The molding program is composed of a plurality of command codes and is created based on an appropriate algorithm according to various conditions such as the shape, material, and heat input of the molding object.

[0053] The control information generating device 100 includes a formation information acquiring unit 17, a connection position determining unit 19, a formation pass connecting unit 21, and a control information output unit 23, each of which will be described in detail later. The functions of each unit are schematically shown as follows.

[0054] The modeling information acquisition unit 17 acquires information on the modeling shape and welding conditions of the modeling object to be manufactured, or information on a modeling plan including modeling passes set using a predetermined algorithm based on the information. The modeling pass referred to herein is, for example, the movement trajectory of the welding torch when the welding torch is moved to form a weld bead. In addition, as the modeling shape information, for example, CAD data can be used.

[0055] The connection position determination unit 19 extracts a pair of molding passes that are arranged adjacent to each other and are sequentially continuous from the acquired molding pass information, and determines a connection position for connecting the pair of molding passes to form one molding pass.

[0056] The molding pass connecting section 21 newly adds a connecting pass for connecting a pair of molding passes at the connecting position to the molding pass. Thus, the aforementioned pair of molding passes are connected to each other and become one continuous molding pass.

[0057] The control information output unit 23 repeatedly connects the molding passes described above until the number of molding passes is less than the preset upper limit. In addition, the information of the mutually connected molding passes is output as control information. It should be noted that the control information output unit 23 may also have a function of displaying information related to the changed molding passes using an output device (not shown) such as a display provided by the control information generating device 100.

[0058] The control information generating device 100 is constituted by an information processing device such as a PC (Personal Computer). The functions of the above-mentioned parts are realized by respectively preparing a processor to read out a program having a specific function and execute the program. Specifically, a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit), or a dedicated circuit reads out and executes a program stored in a RAM (Random Access Memory) as a volatile storage area, a ROM (Read Only Memory) as a non-volatile storage area, or a register such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0059] <Procedure for changing the molding pass>

[0060] Next, the procedure of changing the molding pass using the control information generating device 100 having the above-described structure will be described in detail. Figure 2 1 is a flowchart showing a procedure for changing the molding pass performed by the control information generating device 100 . Figure 3 This is an explanatory diagram showing the steps of changing the molding pass in stages.

[0061] First, the molding information acquisition unit 17 acquires information on the molding pass of the molded object to be manufactured (S1). For example, when a molding plan including the molding pass of the molded object to be manufactured is prepared in advance, the molding information acquisition unit 17 reads the information of the molding plan and acquires the molding pass information from the molding plan. The molding pass acquired here is not limited to the shape and position information related to the straight line or curved track, but may also include information such as the coordinates of points distributed at a certain interval on the track, or a vector indicating the moving direction of the welding torch when passing through the point.

[0062] In addition, the molding information acquisition unit 17 can also prepare a molding plan based on the input molding shape and welding condition information to obtain molding pass information. Figure 3As shown in St.1 of FIG. 1, the layer shape 25 obtained by dividing the model of the shaping shape into layers according to the height of the weld bead is obtained. Then, as shown in St.2, the layer shape 25 obtained is decomposed into the shape of the weld bead, thereby obtaining a plurality of (a total of n) shaping passes PS for forming the layer shape 25 using the weld bead. i (i is 1 to n). The molding pass for forming the layer shape 25 includes a ring-shaped molding pass PS for forming the outer edge of the layer shape 25. OUT And the ring shape PS OUT The inner side of the straight line modeling pass PS i Here, the ring-shaped molding pass PS OUT Multiple shaping passes of the inner filling of the straight line PS i Provide explanation.

[0063] The connection position determination unit 19 extracts a plurality of molding passes PS included in the pass information shown in St.2. i Or multiple molding passes PS calculated according to the above molding plan i A pair of molding passes PS arranged adjacent to each other and forming a sequentially continuous sequence i ,PS i+1 Here, for example, the molding passes PS1 and PS2 are extracted. Then, the adjacent ends PC of the molding passes PS1 and PS2 are 1A 、PC 2A Determined as the connection position (S2).

[0064] Figure 4 , Figure 5 1 is an explanatory diagram showing the connection positions extracted by the connection position determination unit 19. Figure 4 As shown in the figure, when determining the connection position, it can be extracted by combining a pair of molding passes PS i ,PS i+1 The connection position is determined by selecting the combination of two points from the included endpoints and the distance between the midpoints is the shortest. i is the pass through the point group (i, 1), (i, 2), ..., (i, n), the shaping pass PS i+1is a pass that passes through the point group of (i+1, 1), (i+1, 2), ..., (i+1, n) (where a in the above (a, b) represents the pass number, and b represents the passing order of the welding torch.). In this case, at the point (i, n), the distance between the point connecting (i, n) and (i+1, 1) is compared with the distance between the point connecting (i, n) and (i+1, n), and it is determined that the distance between the former points is the shortest, so that the group of (i, n) and (i+1, n1) is extracted as the connection position. In addition, without being limited to the passing order of the welding torch, the group of (i, 1) and (i+1, n) can also be extracted as the connection position in the same way. That is, the connection position determination unit 19 determines the group of the two end points of the shaping pass and the two end points of the shaping pass adjacent to the shaping pass as the connection position, in which the distance between the points connecting the end points is the shortest.

[0065] Alternatively, you can Figure 5 As shown, the modeling pass PS i The points included are similar to PS i+1 The included points are selected one by one in an enumerated manner, and when the points are connected by a straight line, the angle formed by the connected straight line and the vector V representing the moving direction of the straight line, the interval between the selected points, and other feature quantities are calculated, and the connection position is determined using the calculated feature quantity or a combination of multiple feature quantities. That is, the connection position determination unit 19 selects any two points from multiple points on a molding pass and multiple points on a molding pass adjacent to the molding pass, and determines the connection position for the selected two points based on the angle formed by the vector of the moving direction of the molding pass at the two points and the direction of the connecting line of the two points, and at least one of the feature quantities of the distance between the points when the two points are connected.

[0066] In this way, it is not limited to PS i ,PS i+1 The ends of the shapes can be set as connection positions, and the combination of points existing between the molding passes can also be determined. In addition, the above examples can be combined to explore the connection positions that meet the conditions at the same time.

[0067] The molding pass connecting part 21 sets a new connection pass PSC at the determined connection position. That is, the end PC of a pair of molding passes PS1 and PS2 is added to the existing molding pass. 1A With end PC 2A The additional connecting pass PSC constitutes a pass that connects the shaping pass PS1 and the shaping pass PS2. i The total number of items is reduced by one.

[0068] PS for the next styling pass i+1The above process is carried out in the same manner until the preset upper limit number N of the total number of passes is reached (S4). As shown in St.4, a pair of molding passes PS2 and PS3 are extracted, and the end PC is set 2B With end PC 3B Connected connection pass PSC. In this way, as shown in St.5, each molding pass PSi is connected by the connection pass PSC.

[0069] By connecting multiple molding passes to reduce the total number of passes, the time for arc starting and arc ending when forming the weld bead can be reduced, and the total molding time can be shortened. In addition, the shape of the weld bead formed by arc starting and arc ending tends to be different from the shape at the middle of the weld bead in terms of weld bead height and weld bead width, and the molding shape tends to be unstable. By reducing the number of unstable shapes, the molding accuracy of the molded object can be further improved.

[0070] In addition, since adjacent passes are connected to each other based on the molding pass based on the molding plan, no major changes are made to the original molding pass that serves as the basis. As a result, changes from the original molding plan are suppressed to a small extent, and there is no situation that makes molding difficult due to restrictions on the welding torch posture of the stacking molding device 13, for example.

[0071] <Other settings for connecting passes>

[0072] Figure 6 (A) and (B) are explanatory diagrams showing another example of adding a connecting pass.

[0073] like Figure 6 As shown in (A), the end portions PC of the molding passes PS1 and PS2 which are arranged adjacent to each other and form a sequentially continuous molding pass are formed. 1a 、PC 2a The connected line is set as the connection pass PS C , connect pass PS C The smaller intersection angle with the molding pass PS2 is θ. In this case, the connection position determination unit 19 determines the connection position so that the intersection angle θ becomes equal to or larger than a predetermined angle set in advance.

[0074] For example, when Figure 6 As shown in (A), when the crossing angle θ is about 30°, the ends PC where the weld beads are connected to each other 2A When the weld is formed, honeycombs are likely to occur, the height and width of the weld are changed, and the shape is unstable. Figure 6 By making the intersection angle θ close to an obtuse angle as shown in (B), the above-mentioned defect of the weld bead can be prevented, and the end PC can be 2A Forms a good weld.

[0075] exist Figure 6 In the example shown in (B), the end PC connecting a pair of molding passes PS1 and PS2 is set to 1A 、PC 2A Each other's lines (connecting PSC) with the PC at the end 1A 、PC 2A The connection position is determined by the wall portion (based on the weld bead of other passes or the existing object) 31 arranged near the connection pass, which is substantially parallel to the intersection angle θ. In other words, the connection position determination unit 19 determines the position on the molding pass where the intersection angle θ becomes greater than a predetermined angle as the connection position. In addition, the molding pass connecting unit 21 sets the connection pass PSC at the connection position. As a result, a weld bead with high shape accuracy can be formed at the connection position, which can help improve the dimensional accuracy of the molded object.

[0076] Figure 7 It is an explanatory diagram showing another example of adding a connecting pass in (A) and (B).

[0077] In such Figure 7 As shown in (A), the end PC of a pair of molding passes PS1 and PS2 1A 、PC 2A When the weld bead is in contact with or close to an opposing wall portion 31 (based on a weld bead of another pass or an existing object), a honeycomb may be formed between the weld bead and the wall portion 31 when the weld bead is formed, or a change in weld bead height may occur due to fusion with the wall portion 31.

[0078] In this way, the end PC of a pair of molding passes PS1 and PS2 1a 、PC 2a There is a case where the distance from the wall portion (weld bead based on other passes or existing objects) 31 that touches when the molding passes PS1 and PS2 are extended in the longitudinal direction is less than a predetermined distance. In this case, the connection position determination unit 19 is as follows. Figure 7 As shown in (B), the end PC 1A 、PC 2A The direction of the wall 31 is shifted to shorten the pass lengths of the molding passes PS1 and PS2, and the end PC 1A 、PC 2B The connection position is determined. And the molding pass connection part 21 sets the connection pass PSC at the determined connection position. Figure 7 (B), the end PC 1A 、PC 2A Since both ends are close to the wall portion 31 , both ends are offset. However, when only one end portion is close to the wall portion 31 , only the end portion of the close one may be offset.

[0079] According to this, the pass lengths of the shaping passes PS1 and PS2 are shortened, and the total length of all passes does not increase significantly compared to before the connection due to the connection of the shaping passes. Therefore, it is possible to prevent the volume of the filled weld bead from increasing excessively compared to the shaping plan. In addition, by adjusting the pass length, it is also possible not to change the weld bead stacking conditions (mainly the weld bead width and the overlap amount between the weld bead) that require strict adjustment.

[0080] Figure 8 It is an explanatory diagram showing another example of adding a connecting pass in (A) to (C).

[0081] You can also Figure 8 As shown in (A), the midway position of each of the pair of shaping passes PS1 and PS2 is set as a connection position, and a connection pass PSC that connects the shaping pass PS1 and the shaping pass PS2 is set at the connection position. In this case, in the shaping pass PS1, when the connection position P1 is reached along the weld bead forming direction D1, the pass branches in the direction D2 in which the original shaping pass PS1 extends and the direction D3 in which the connection pass PSC extends. Similarly, at the connection position P2 in the middle of the shaping pass PS2, the pass also branches in two directions. That is, since the connection pass PSC is added to the pair of shaping passes PS1 and PS2, the pass branches in more than two directions.

[0082] So, if Figure 8 As shown in (B), at the connection position P1 where the molding pass PS1 is connected to the connecting pass PSC, the molding pass PS1 on either one side of the molding pass PS1 sandwiching the connection position P1 or the other side is cut at the connection position P1. Here, the molding pass PS1 is cut on the right side of the connection position P1. Similarly, at the connection position P2 where the molding pass PS2 is connected to the connecting pass PSC, the molding pass PS2 on either one side of the molding pass PS2 sandwiching the connection position P2 or the other side is cut at the connection position P2. Here, the molding pass PS2 is cut on the left side of the connection position P2.

[0083] As a result, if Figure 8 As shown in (C), the molding pass PS1 is connected to the connection pass PSC at the connection position P1, and is connected to the molding pass PS2 at the connection position P2. In addition, the remaining molding pass PS of the molding pass PS1 cut off at the connection position P1 is 1-D Cut off from the original molding pass PS1 and become the end position P 1-A The independent shaping pass with the starting point is the shaping pass PS cut at the connection position P2. 2-D Similarly, the end position P 2-AIn this way, a connection pass PSC can be added at any position other than the end of the molding pass.

[0084] Fig. 9A is a schematic diagram showing the Figure 8 FIG. 2 is an explanatory diagram of the state of the weld bead formed in each pass shown.

[0085] A pair of molding passes PS1 and PS2 are connected by a connecting pass PSC provided at connecting positions P1 and P2, and the molding pass PS 1-D ,PS 2-D In this case, the weld bead B of the connected inverse S-shaped passes PS1 and PS2 is partially overlapped and the weld bead PS is arranged. 1-D ,PS 2-D The result is that the passes are filled with weld beads without any gaps between them.

[0086] Fig. 9B It schematically shows the cutting positions of the molding passes PS1 and PS2. Figure 8 The diagrams are explanatory diagrams of weld beads formed when the cutting positions are different.

[0087] like Fig. 9B As shown in FIG. 1 , the cutting of the molding pass PS1 is set to the left side of the connection position P1, and the cutting of the molding pass PS2 is set to the right side of the connection position P2, and Fig. 9A When the cutting position shown is set to the opposite side, the S-shaped shaping pass PS2 and PS1 are arranged so that the weld bead B is partially overlapped. 1-D ,PS 2-D The result is that the passes are filled with weld beads without any gaps between them.

[0088] Fig. 9C This is an explanatory diagram schematically showing a weld bead formed when the cutting positions of the molding passes PS1 and PS2 are set on the same side with respect to the connecting positions P1 and P2.

[0089] like Fig. 9C As shown in FIG. 1 , when the cutting positions of the molding passes PS1 and PS2 are both set to the right of the connecting positions P1 and P2, the molding pass PS1, the connecting pass PSC, and the molding pass PS2 form a rectangular folded pass. 1-D PS with modeling 2-D A region K is formed between the weld bead B and the weld bead B. Fig. 9A , Fig. 9B When the passes shown are connected in an S-shape or reverse S-shape, Fig. 9C Compared with the case shown in the figure, it is easier to overlap with the adjacent weld bead, which can suppress the occurrence of undeposited defects. Fig. 9C In the case of the form, the weld bead can be reliably filled in area K by adjusting the increase in heat input, the decrease in welding speed, the increase in filler material feed speed, etc.

[0090] <Curved connecting lanes>

[0091] Fig. 10A , Fig. 10B , Fig. 10C This is an explanatory diagram showing the types of connecting passes for connecting grid-like shaping passes.

[0092] In the stacked modeling of the modeled object, weld bead formation is mainly performed along the grid-like modeling pass PS to produce weld bead layers in the shape of the modeled object divided into layers. The grid-like modeling pass PS mentioned here refers to a state in which multiple straight-line modeling passes PS are arranged in parallel at equal intervals. In the grid-like modeling pass PS, the ends of the straight-line modeling passes are connected to each other by a connecting pass PSC. That is, the connecting pass PSC connects the starting point or the end point of multiple columns of modeling passes PS as the connection position. As a result, the ends close to each other are connected to each other, and the modeling passes arranged in a grid shape are efficiently connected.

[0093] Connecting pass PSC in Fig. 10A In addition to connecting the ends of the aforementioned molding passes to each other in a rectangular shape by straight lines as shown, it is also possible to Fig. 10B As shown, it is an arc-shaped pass, or it can be Fig. 10C As shown in the figure, the pass is composed of curves with multiple curvatures. By introducing a curve in the shape of the connecting pass PSC, the overlap amount between adjacent molding passes or the overlap amount between the molding pass and the wall portion (not shown) can be adjusted by using the portion of the connecting pass PSC, which can more reliably prevent the occurrence of non-welding defects.

[0094] <Multiple circular shaping passes>

[0095] Next, a procedure for connecting the respective shaping passes when shaping passes of the layer-shaped weld bead layer are arranged in a multi-ring shape will be described.

[0096] Fig.11 This is an explanatory diagram showing the steps of changing the multi-loop molding pass in stages.

[0097] First, the modeling information acquisition unit 17 Fig.11As shown in St.1 of FIG. 1, the layer shape obtained by dividing the model of the shaping shape into layers according to the height of the weld bead is obtained. Then, as shown in St.2, the obtained layer shape is decomposed into the shape of the weld bead, thereby obtaining a plurality of (a total of n) multi-ring shaping passes PS for forming the layer shape using the weld bead and concentrically arranged with a plurality of passes. i (i is 1~n).

[0098] Next, the connection position determination unit 19 selects the plurality of molding passes PS shown in St.2. i , extract a pair of molding passes PS arranged adjacent to each other and forming a continuous sequence i ,PS i+1 Here, as shown in St. 3, the molding pass PS1 and the molding pass PS2 are sequentially extracted from the outer peripheral side of the layer shape. Then, the connection position determination unit 19 determines an arbitrary position of each molding pass PS1, PS2 as the connection position P1, P2.

[0099] The molding pass connecting portion 21 is as shown in St.4, and the connecting pass PSC connecting the connecting position P1 and the connecting position P2 of a pair of molding passes PS1 and PS2 is set as a continuous pass connected to the molding passes PS1 and PS2. Here, the end of the remaining pass after the molding passes PS1 and PS2 are cut off is taken as the end position P 1-A , P 2-A And shown.

[0100] The connection position determination unit 19 determines the connection position of the additional end position P at the molding pass PS2 and the molding pass PS3 on the inner peripheral side. 2-A Determine the connection position P3 near the end position P 2-A The connection position P3 is determined as a new connection position. 2-A The connection pass PSC with the connection position P3 is set as a continuous pass connected with the shaping pass PS2 and the shaping pass PS3.

[0101] In this way, by moving the molding passes PS1 to PS2 from the outer circumference to the inner circumference of the layer shape, n Cutting and connecting from the end position P of the molding pass PS1 1-A To the modeling pass PS n The end position P n-A As a result, the layer shape can be continuously shaped from the annular center (the center of the layer shape) O along the radial direction using one pass including the connecting pass PSC. It should be noted that the above processing is not limited to finally setting the number of passes to one, and it is sufficient to reduce the initial number of passes n.

[0102] <Another example of multiple circular molding passes>

[0103] Fig.12 This is an explanatory diagram showing another example of multiple circular molding passes.

[0104] The aforementioned Fig.11 The connecting steps of the passes shown are arranged radially from the annular center O to connect the pass PSC, but Fig.12 In the case of multiple annular shaping passes shown, the connection positions are different in the annular circumferential direction. Specifically, an imaginary straight line L1 is set to extend radially outward from the annular center O of the pass toward the connection position P1 of the shaping pass PS1 determined arbitrarily. The end position of the shaping pass PS1 cut at the connection position P1 is set as P 1-A .

[0105] Furthermore, the imaginary straight line L1 is fixed at the ring center O, and the imaginary straight line L2 is set in the direction of the center angle at the ring center O being offset by φ, and the intersection of the imaginary straight line L2 and the molding pass PS2 is set as the connection position P2 of the molding pass PS2. In addition, the end position of the molding pass PS2 cut at the connection position P2 is set as P 2-A . Use the connection pass PSC to obtain the end position P 2-A Connected to connection position P1.

[0106] From Modeling Pass PS3 to Modeling Pass PS n Repeat the above steps to find the modeling pass PS n The end position P n-A That is, for each molding pass PS i Set up multiple loops of modeling passes PS i The imaginary straight line L extending radially outward from the annular center O i , so that the imaginary straight line L i From the radial inner molding pass to the radial outer molding pass in one direction (in Fig.12 In the figure, the central angle φ at the center of the ring O is increased clockwise. Also, the shaping pass PS i The PS corresponding to the molding pass i The imaginary straight line L i The intersection points are extracted as connection positions P i Therefore, from the end position P of the molding pass PS1 1-A To the modeling pass PS n The end position P n-AIt becomes one pass, and the layer shape can be continuously formed. In this case, the connecting pass PSC is set at a different circumferential position for each pass, and the connecting pass PSC can be dispersedly configured. As a result, the connecting pass PSC will not be concentrated in a specific position, and the entire layer can be formed uniformly.

[0107] <Complex shape molding pass>

[0108] Fig.13 It is an explanatory diagram showing a molding pass in the case of dividing one layer shape 25 into a plurality of blocks.

[0109] When the layer shape 25 is complex, the layer shape 25 can be divided into a plurality of simple shape blocks 25a, 25b, 25c, 25d. Examples of simple shapes include rectangles, squares, triangles, circles, ellipses, etc. In this case, the shaping passes are arranged in each block as follows: Fig.13 The grid shape shown in the figure, or the configuration that can be set as a multiple ring shape although omitted in the figure. Therefore, it is also possible to set a connecting pass between adjacent passes in the block with the same direction of the shaping pass, and connect the passes. According to this, even a complex layer shape 25 can be shaped with a small number of passes.

[0110] Thus, the present invention is not limited to the above-mentioned embodiments, and the combination of the structures of the embodiments and the changes and applications made by those skilled in the art based on the description in the specification and known technologies are also intended by the present invention and are included in the scope of the protection requested.

[0111] As described above, the present specification discloses the following matters.

[0112] (1) A control information generating device that generates control information for controlling a stacking modeling device that repeatedly forms a layered weld bead layer using a weld bead formed by applying a molten processing material to a modeling target surface while moving a processing position along a predetermined modeling pass, and models a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0113] The control information generating device comprises:

[0114] A molding information acquisition unit, which acquires the molding pass information;

[0115] a connection position determination unit for determining a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence, based on the acquired information of the molding passes;

[0116] a pass connecting portion which newly adds a connecting pass for connecting the pair of molding passes to each other at the connecting position, thereby connecting the pair of molding passes to each other; and

[0117] A control information output unit repeatedly connects the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputs information of the connected molding passes as the control information.

[0118] According to the control information generating device, control information is outputted in which the connection position determining unit determines the connection position of a pair of molding passes according to the molding pass information obtained by the molding information obtaining unit, and the pass connecting unit adds a connection pass at the connection position to connect the molding passes to each other. By performing stack molding based on the control information, the number of molding passes can be reduced, the action time of arc starting and arc ending can be reduced, and the molding time can be shortened. In addition, the molding accuracy of the molded object can be further improved.

[0119] (2) The control information generating device according to (1), wherein:

[0120] The connection position determination unit determines the connection position at which a smaller intersection angle between the molding pass and the connection pass connected to the molding pass is equal to or larger than a predetermined angle set in advance.

[0121] According to this control information generating device, at the connection portion where the shaping pass and the connecting pass are connected, the occurrence of honeycombs and changes in the height and width of the weld bead are less likely to occur when the weld bead is formed.

[0122] (3) The control information generating device according to (1), wherein:

[0123] The connection position determination unit determines, as the connection position, a set of two end points of the molding pass and two end points of a molding pass adjacent to the molding pass, in which a distance between points connecting the end points is the shortest.

[0124] According to the control information generating device, the molding pass and the connecting pass are connected with the shortest distance, so that the molding efficiency can be further improved.

[0125] (4) The control information generating device according to (1), wherein:

[0126] The connection position determination unit selects any two points from among the multiple points on the molding pass and the multiple points on the molding pass adjacent to the molding pass, and determines the connection position based on at least one of the characteristic quantities of the angle formed by the vector of the moving direction of the molding pass at the two points and the direction of the connecting line of the two points, and the distance between the points when the two points are connected, with respect to the selected two points.

[0127] According to this control information generating device, the position connecting the molding pass and the connecting pass is not limited to being set as the pass end, but can be set as the most efficient position, which can further improve the molding efficiency.

[0128] (5) The control information generating device according to (1) or (2), wherein:

[0129] When the interval between the end of the pair of molding passes and other molding passes or installed objects that are touched when the molding passes are extended in the length direction becomes less than a predetermined distance, the connection position determination unit shifts the end of the molding pass in a direction away from the other molding passes or installed objects to shorten the pass length, and determines the shortened end of the molding pass as the connection position.

[0130] According to the control information generating device, it is difficult to generate honeycomb or change the height and width of the weld bead between the end of the shaping pass and other shaping passes or the existing objects. In addition, since the pass length is shortened, the total length of all passes does not increase significantly compared with before the connection, thereby preventing the excessive increase of the volume of the filled weld bead.

[0131] (6) The control information generating device according to (1), wherein:

[0132] When the molding passes are branched in two or more directions due to the addition of the connecting pass to the pair of molding passes, the pass connecting portion cuts off the molding pass at the connection position on either one side or the other side of the connection position connected to the connecting pass.

[0133] According to this control information generating device, a connecting pass can be added at an arbitrary position other than the end of the molding pass.

[0134] (7) The control information generating device according to any one of (1) to (6), wherein:

[0135] The molding passes are arranged in a grid-like manner.

[0136] The connection position determination unit extracts starting points or ending points of a plurality of the molding passes arranged in parallel as the connection positions.

[0137] According to this control information generating device, each molding pass arranged in a grid shape can be efficiently connected by the connecting pass.

[0138] (8) The control information generating device according to any one of (1) to (6), wherein:

[0139] The molding passes are arranged in multiple rings.

[0140] The connection position determination unit connects a cut position obtained by cutting off a part of the molding pass with other adjacent molding passes by using the connection pass.

[0141] According to this control information generating device, each molding pass arranged in a multiple loop shape can be efficiently connected by the connecting pass.

[0142] (9) The control information generating device according to (8), wherein:

[0143] The connection position determination unit sets an imaginary straight line extending radially outward from the annular center of the multiple annular molding passes for each molding pass, so that the imaginary straight line increases the central angle at the annular center in one direction from the radially inner molding pass to the radially outer molding pass, and the intersection points of the molding pass and the imaginary straight line corresponding to the molding pass are respectively extracted as the connection positions.

[0144] According to the control information generating device, the connecting passes are provided at different circumferential positions for each pass, and the connecting passes can be arranged in a dispersed manner. Thus, the connecting passes are not concentrated at a specific position, and the entire texture layer can be homogenized.

[0145] (10) A control information generating method for generating control information for controlling a stacking modeling device, the stacking modeling device using a weld bead formed by applying a molten processing material to a modeling target surface while moving a processing position along a predetermined modeling pass to repeatedly form a layer-shaped weld bead layer, and modeling a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0146] The control information generation method performs the following processing:

[0147] Obtaining information of the molding pass;

[0148] Determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence;

[0149] A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, so as to connect the pair of molding passes to each other; and

[0150] The connection of the molding passes is repeatedly performed until the number of the molding passes becomes equal to or less than a preset upper limit, and information of the connected molding passes is output as the control information.

[0151] According to the control information generation method, control information is outputted for repeatedly determining the connection position of a pair of molding passes based on the information of the molding passes obtained, and adding a connection pass at the connection position to connect the molding passes to each other. By performing stack molding based on the control information, the number of molding passes can be reduced, the action time of arc starting and arc ending can be reduced, and the molding time can be shortened. In addition, the molding accuracy of the molded object can be further improved.

[0152] (11) A program for generating control information for controlling a stacking molding device, the stacking molding device repeatedly forming a layer-shaped weld bead layer using a weld bead formed by applying a molten processing material to a molding target surface while moving a processing position along a predetermined molding pass, and molding a three-dimensional shape formed by stacking the weld bead layers, wherein:

[0153] The program is used to enable the computer to implement the following functions:

[0154] A function for obtaining information of said molding pass;

[0155] A function of determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence;

[0156] A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, thereby connecting the pair of molding passes to each other; and

[0157] A function of repeatedly connecting the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputting information of the connected molding passes as the control information.

[0158] According to the program, control information is outputted for repeatedly determining the connection position of a pair of molding passes based on the information of the molding passes obtained, and adding a connection pass at the connection position to connect the molding passes to each other. By performing stack molding based on the control information, the number of molding passes can be reduced, the action time of arc starting and arc ending can be reduced, and the molding time can be shortened. In addition, the molding accuracy of the molded object can be further improved.

[0159] It should be noted that the present application is based on the Japanese patent application (Japanese Patent Application No. 2022-114006) filed on July 15, 2022, and the contents thereof are incorporated herein by reference.

[0160] Description of reference numerals:

[0161] 11 Control information storage unit

[0162] 13. Cascading Modeling Device

[0163] 15 Control Unit

[0164] 17 Modeling Information Acquisition Department

[0165] 19 Connection position determination unit

[0166] 21 Molding pass connection

[0167] 23 Control information output unit

[0168] 25 layers of shapes

[0169] Blocks 25a, 25b, 25c

[0170] 31 Wall

[0171] 100 Control information generating device

[0172] 200 Layer Modeling System

[0173] PS modeling pass

[0174] PSC connection pass

[0175] P1, P2, P3 connection positions.

Claims

1. A control information generating device for generating control information for controlling a stacking modeling device, wherein the stacking modeling device repeatedly forms a layer-shaped weld bead layer using a weld bead formed by adding a molten processing material to a modeling target surface while moving a processing position along a preset modeling pass, and models a three-dimensional shape formed by stacking the weld bead layers, wherein: The control information generating device comprises: A molding information acquisition unit, which acquires the molding pass information; a connection position determination unit for determining a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence, based on the acquired information of the molding passes; a pass connecting portion which newly adds a connecting pass for connecting the pair of molding passes to each other at the connecting position, thereby connecting the pair of molding passes to each other; as well as A control information output unit repeatedly connects the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputs information of the connected molding passes as the control information.

2. The control information generating device according to claim 1, wherein: The connection position determination unit determines the connection position at which a smaller intersection angle between the molding pass and the connection pass connected to the molding pass is equal to or larger than a predetermined angle set in advance.

3. The control information generating device according to claim 1, wherein: The connection position determination unit determines, as the connection position, a set of two end points of the molding pass and two end points of a molding pass adjacent to the molding pass, in which a distance between points connecting the end points is the shortest.

4. The control information generating device according to claim 1, wherein: The connection position determination unit selects any two points from among the multiple points on the molding pass and the multiple points on the molding pass adjacent to the molding pass, and determines the connection position based on at least one of the characteristic quantities of the angle formed by the vector of the moving direction of the molding pass at the two points and the direction of the connecting line of the two points, and the distance between the points when the two points are connected, with respect to the selected two points.

5. The control information generating device according to claim 1, wherein: When the interval between the end of the pair of molding passes and other molding passes or installed objects that are touched when the molding passes are extended in the length direction becomes less than a predetermined distance, the connection position determination unit shifts the end of the molding pass in a direction away from the other molding passes or installed objects to shorten the pass length, and determines the shortened end of the molding pass as the connection position.

6. The control information generating device according to claim 1, wherein: When the molding passes are branched in two or more directions due to the addition of the connecting pass to the pair of molding passes, the pass connecting portion cuts off the molding pass at the connection position on either one side or the other side of the connection position connected to the connecting pass.

7. The control information generating device according to any one of claims 1 to 6, wherein: The molding passes are arranged in a grid-like manner. The connection position determination unit extracts starting points or ending points of a plurality of the molding passes arranged in parallel as the connection positions.

8. The control information generating device according to any one of claims 1 to 6, wherein: The molding passes are arranged in multiple rings. The connection position determination unit connects a cut position obtained by cutting off a part of the molding pass with other adjacent molding passes by using the connection pass.

9. The control information generating device according to claim 8, wherein: The connection position determination unit sets an imaginary straight line extending radially outward from the annular center of the multiple annular molding passes for each molding pass, so that the imaginary straight line increases the central angle at the annular center in one direction from the radially inner molding pass to the radially outer molding pass, and the intersection points of the molding pass and the imaginary straight line corresponding to the molding pass are respectively extracted as the connection positions.

10. A control information generating method, which generates control information for controlling a stacking modeling device, wherein the stacking modeling device repeatedly forms a layer-shaped weld bead layer using a weld bead formed by adding a molten processing material to a modeling target surface while moving a processing position along a preset modeling pass, and models a three-dimensional shape formed by stacking the weld bead layers, wherein: The control information generation method performs the following processing: Obtaining information of the molding pass; Determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence; A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, so that the pair of molding passes are connected to each other; as well as The connection of the molding passes is repeatedly performed until the number of the molding passes becomes equal to or less than a preset upper limit, and information of the connected molding passes is output as the control information.

11. A program for generating control information for controlling a stacking modeling device, the stacking modeling device repeatedly forming a layer-shaped weld bead layer using a weld bead formed by adding a molten processing material to a modeling target surface while moving a processing position along a preset modeling pass, and modeling a three-dimensional shape formed by stacking the weld bead layers, wherein: The program is used to enable the computer to implement the following functions: A function for obtaining information of said molding pass; A function of determining, based on the acquired information of the molding passes, a connection position for connecting a pair of molding passes that are arranged adjacent to each other and form a sequentially continuous sequence; A connection pass for connecting the pair of molding passes to each other is newly added at the connection position, thereby connecting the pair of molding passes to each other; and A function of repeatedly connecting the molding passes until the number of the molding passes becomes equal to or less than a preset upper limit, and outputting information of the connected molding passes as the control information.

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