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

Abstract

Design information relating to a pass and a shape of a bead is acquired, a bead model of a bead formed in a bead layer is obtained on the basis of the design information, and a first overlap distribution of an overlap region where the bead models are predicted to overlap each other is obtained. On the basis of the first overlap distribution, a constricted portion in which overlap between the bead models is insufficient is determined, and an additional deposition amount of the processing material for complementing the insufficient amount of overlap in the constricted portion is calculated. The control information is corrected according to the additional deposition amount. The additional deposition amount is the sum of a missing complement amount for filling the missing portion and a height adjustment complement amount for aligning the height of a fused surface formed by fusing a part of the weld bead with the surface height around the missing portion.

Description

Technical Field

[0001] The present invention relates to a control information correction method, a control information correction device and a program for a stacking molding device for molding a molded object in a stacked manner. Background Art

[0002] In recent years, the demand for using 3D printers as production mechanisms has increased, especially with regard to modeling technology using metal materials, and research and development is being promoted for its practical application. However, in stacked modeling using weld beads, for example, when the track (pass) formed by the weld bead is formed into a sharp angle shape, a gap is generated between the angle-shaped pass and the pass inside it, making it difficult to fill the entire inside of the angle with the weld bead. For example, in Patent Document 1, a method is proposed to improve the modeling quality by correcting the pass on the inside of the angle in a manner that reduces the overlap of the weld bead and removes the gap.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Chinese Patent Application Publication No. 110899905 Summary of the invention

[0006] Problems to be solved by the invention

[0007] Regarding the above-mentioned gap, one of the reasons is that the outer edge of the weld bead formed by the angled pass has a rounded corner, while the inner edge has a sharp corner. Therefore, the amount of weld deposited can be increased in order to fill the gap (missing) generated at the edge of the weld bead. However, when adding passes in a narrow area, if the welding conditions are not properly adjusted, the material is oversupplied, and the stacking height of the weld bead increases compared to other parts. In this regard, T-shaped passes such as other weld bead abutting against the side of the weld bead also produce gaps at the intersection where the weld bead abuts against each other, resulting in the same problem as above.

[0008] Thus, it is sought to establish a technology for shaping narrow portions such as angled corners or T-shaped intersections at a uniform height while preventing chipping.

[0009] An object of the present invention is to provide a control information correction method, a control information correction device, and a program that can form a weld bead with a uniform stacking height without causing a loss in a narrow portion formed by the weld bead.

[0010] Solutions to Solve Problems

[0011] The present invention is constituted by the following structure.

[0012] (1) A control information correction method, in which control information for controlling a stacking molding device is corrected in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0013] The control information correction method comprises the following steps:

[0014] Obtaining design information related to the pass and the shape of the weld bead;

[0015] deriving a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other;

[0016] determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; and

[0017] The control information is corrected according to the additional welding amount,

[0018] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0019] (2) A control information correction method, in which control information for controlling a stacking molding device is corrected in a stacking molding device, wherein the stacking molding device, while moving a processing position along a pass, overlaps portions of adjacent weld beads to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface, and molds a three-dimensional object by stacking the weld bead layers, wherein:

[0020] obtaining design information related to the pass and the shape of the weld bead,

[0021] measuring the shape of the weld bead of the weld bead layer formed based on the design information,

[0022] The additional deposition amount is calculated as the total value of the missing compensation amount of the processed material and the height adjustment compensation amount based on the measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with the surface height around the missing portion,

[0023] The control information is corrected according to the additional welding amount.

[0024] (3) A control information correction device, which corrects control information for controlling a stacking molding device in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0025] The control information correction device comprises:

[0026] a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead;

[0027] an overlap prediction unit that obtains a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtains a first overlap distribution that predicts an overlap region where the weld bead models overlap each other;

[0028] an additional amount calculation unit that determines a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculates an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; and

[0029] an information correction unit that corrects the control information according to the additional welding amount,

[0030] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0031] (4) A control information correction device, which corrects control information for controlling a stacking molding device in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0032] The control information correction device comprises:

[0033] a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead;

[0034] a shape measuring unit that measures a shape of the weld bead of the weld bead layer formed based on the design information;

[0035] an additional amount calculation unit that calculates an additional deposition amount as a total value of a missing compensation amount of the processed material for filling a missing portion caused by the weld bead in the weld bead layer and a height adjustment compensation amount for aligning a fused surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion, based on a measurement result of the shape of the weld bead; and

[0036] An information correction unit corrects the control information according to the additional welding amount.

[0037] (5) A program for executing a step of correcting control information for controlling a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, wherein the stacking molding device forms a three-dimensional object by stacking the weld bead layers.

[0038] The program causes the computer to execute:

[0039] The step of obtaining design information related to the pass and the shape of the weld bead;

[0040] A step of obtaining a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other;

[0041] A step of determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the workpiece material to make up for the insufficient overlap in the narrow portion; and

[0042] The step of correcting the control information according to the additional welding amount,

[0043] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0044] (6) A program for executing a step of correcting control information for controlling a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forming a three-dimensional object by stacking the weld bead layers.

[0045] The program is used to make the computer execute:

[0046] The step of obtaining design information related to the pass and the shape of the weld bead;

[0047] a step of measuring a shape of the weld bead of the weld bead layer formed based on the design information;

[0048] a step of calculating an additional deposition amount as a total value of a missing compensation amount of the processed material and a height adjustment compensation amount based on a measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill a missing portion caused by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align a fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion; and

[0049] and correcting the control information according to the additional welding amount.

[0050] Effects of the Invention

[0051] According to the present invention, control information for the stacking molding device can be corrected so that even when a narrow portion is generated in the formed weld bead, no defect occurs and a weld bead of uniform height can be formed. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is an overall structural diagram of the stacking modeling device.

[0053] Figure 2AThis is an explanatory diagram showing a procedure for determining the pass of a weld bead constituting a laminated body using a cross section of the weld bead perpendicular to the longitudinal direction.

[0054] Figure 2B This is an explanatory diagram showing a procedure for determining the pass of a weld bead constituting a laminated body using a cross section of the weld bead perpendicular to the longitudinal direction.

[0055] Figure 2C This is an explanatory diagram showing a procedure for determining the pass of a weld bead constituting a laminated body using a cross section of the weld bead perpendicular to the longitudinal direction.

[0056] Figure 3 This is an explanatory diagram showing an example of a model that takes into account the overlap between adjacent weld beads.

[0057] Figure 4 This is an explanatory diagram showing a model that reproduces the shape of the weld metal sagging toward the layer side.

[0058] Figure 5 This is a functional block diagram of a first structural example of a control information correction device.

[0059] Figure 6 is a flowchart showing the steps of a control information correction method.

[0060] Figure 7 This is an explanatory diagram showing a part of the intra-layer distribution of the weld bead.

[0061] Figure 8 Yes Figure 7 A partial enlarged view showing the bent portion.

[0062] Fig. 9 is shown with Figure 7 Illustration of the continuous overlapping areas in the corresponding bends.

[0063] Fig.10 It is an explanatory diagram schematically showing the predicted distribution of the stacking height in the bent portion of the weld bead model.

[0064] Fig.11A It is an explanatory diagram showing a spiral pass.

[0065] Fig. 11B It is shown by Fig.11A An explanatory diagram of a spiral weld bead model formed by the passes shown.

[0066] Fig.12 It is shown Fig. 11B An enlarged view of the detail of a portion of the pass terminal.

[0067] Fig.13 This is a functional block diagram of a second configuration example of the control information correction device.

[0068] Fig.14 This is a schematic diagram showing a shape sensor provided on a welding torch.

[0069] Fig.15 It is a graph showing a shape contour which is a measurement result measured by a shape sensor.

[0070] Fig.16 It is an explanatory diagram showing another example of the operation of moving the processing position.

[0071] Fig.17 It is an explanatory diagram showing another example of the operation of moving the processing position. DETAILED DESCRIPTION

[0072] Here, an example of a stacking molding device for manufacturing a molded object by stacking weld beads by arc welding is described, but the manufacturing method of the molded object and the device structure for stacking molding are not limited to this.

[0073] <Structure of stacking molding device>

[0074] Figure 1 1 is an overall structural diagram of a stacking molding device. The stacking molding device 100 includes a molding section 11 and a control device 13. The stacking molding device 100 deposits the molten processing material on the processing object surface to form a deposited weld bead (also called a weld bead) B while moving the processing position along the pass representing the molding path, thereby molding a three-dimensional molded object Wk. The control device 13 outputs various control information to the molding section 11, and comprehensively controls the operation of the molding section 11. It should be noted that the movement of the above-mentioned processing position is not limited to changing the formation position of the deposited weld bead B by driving the robot 15 described later of the molding section 11, and various methods are adopted according to the structure of the stacking molding device described later.

[0075] The control device 13 is connected to a control information correction device 200 for correcting control information for controlling the stacking molding device 100. The control information correction device 200 may be connected to the control device 13 to constitute a part of the stacking molding device 100, or may be provided separately from the stacking molding device 100 and connected to the control device 13 via a communication such as a network or a storage medium.

[0076] The molding unit 11 includes a robot 15 , a robot control unit 17 , a filling material supply unit 19 , and a heat source control unit 21 .

[0077] The robot control unit 17 controls the robot 15 and the heat source control unit 21. A controller (not shown) is connected to the robot control unit 17, and an operator can instruct arbitrary operations on the robot control unit 17 via the controller.

[0078] The manipulator 15 is, for example, a multi-joint robot, and a welding torch 23 provided on the front end axis can support the filler material M in a continuous supply. The welding torch 23 keeps the filler material (also called welding wire) M protruding from the front end. The position and posture of the welding torch 23 can be set arbitrarily in three dimensions within the range of the degrees of freedom of the robot arm constituting the manipulator 15. The manipulator 15 preferably has more than six degrees of freedom, and preferably allows the axial direction of the heat source at the front end to be arbitrarily changed. In addition to Figure 1 In addition to the multi-joint robot with four or more axes shown above, various types of robots such as a robot having angle adjustment mechanisms on two or more orthogonal axes may be used.

[0079] The welding torch 23 has a shielding nozzle not shown in the figure, and a shielding gas is supplied from the shielding nozzle. The shielding gas blocks the atmosphere, prevents oxidation and nitridation of the molten metal during welding, and suppresses poor welding. The arc welding method used in this structure can be any of a consumable electrode type such as covered arc welding or carbon dioxide arc welding, a non-consumable electrode type such as TIG (Tungsten Inert Gas) welding or plasma arc welding, and is appropriately selected according to the modeling object. Here, gas shielded arc welding is cited as an example for explanation. In the case of the consumable electrode type, a conductive nozzle is arranged inside the shielding nozzle, and the filler material M supplied with current is held in the conductive nozzle. While holding the filler material M, the welding torch 23 generates an arc from the front end of the filler material M in a protective gas atmosphere.

[0080] The filler material supply unit 19 supplies the filler material M toward the welding torch 23. The filler material supply unit 19 includes a reel 19a wound with the filler material M and a delivery mechanism 19b that delivers the filler material M from the reel 19a. The filler material M is delivered to the welding torch 23 while being fed forward or reversely as required by the delivery mechanism 19b. The delivery mechanism 19b is not limited to a push type that is arranged on the side of the filler material supply unit 19 and pushes out the filler material M, but may also be a pull type or a push-pull type that is arranged on a robot arm or the like.

[0081] The heat source control unit 21 is a welding power source that supplies power required for welding performed by the robot 15. The heat source control unit 21 adjusts the welding current and welding voltage supplied when forming a weld bead that melts and solidifies the filler material M. In addition, the filler material supply speed of the filler material supply unit 19 is adjusted in conjunction with the welding conditions such as the welding current and welding voltage set by the heat source control unit 21.

[0082] The heat source for melting the filler material M is not limited to the above-mentioned arc. For example, a heat source based on a heating method based on a combination of arc and laser, a heating method using plasma, a heating method using electron beam or laser, etc. can also be used. In the case of heating using an electron beam or laser, the amount of heating can be more finely controlled, and the state of the formed weld bead can be more appropriately maintained, which helps to further improve the quality of the stacked structure. In addition, there is no particular limitation on the material of the filler material M. For example, the type of filler material M used can be different according to the characteristics of the molded object Wk, such as mild steel, high-tensile steel, aluminum, aluminum alloy, nickel, nickel-based alloy, etc.

[0083] The control device 13 comprehensively controls the above-mentioned components. The control device 13 is constituted by hardware using an information processing device such as a PC (Personal Computer).

[0084] The stacking molding device 100 of the above-mentioned structure operates according to the molding program created based on the stacking plan of the molded object Wk. 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 molded object Wk. If the supplied filler material M is melted and solidified while the welding torch 23 is moved according to the molding program, a linear weld bead B as a molten solidified body of the filler material M is formed on the base 25. That is, the robot control unit 17 drives the robot 15 and the heat source control unit 21 based on the prescribed molding program provided from the control device 13. The robot 15 melts the filler material M by an arc and moves the welding torch 23 according to the command from the robot control unit 17 to form the weld bead B. By sequentially forming and stacking the weld bead B in this way, the molded object Wk of the target shape is obtained.

[0085] Next, a stacking plan of an object to be formed by the stacking forming apparatus 100 will be described.

[0086] The stacking plan is determined based on a predetermined algorithm according to the shape of the object to be molded and the specifications of the various parts constituting the stacking molding device 100. Specifically, the stacking plan includes information on the trajectory (hereinafter also referred to as "pass") of moving the welding torch 23, information on welding conditions for forming a weld bead, etc. The specific steps for determining the stacking plan are well known, so the description thereof is omitted here.

[0087] <Modeling plan and model>

[0088] Figure 2A , Figure 2B , Figure 2C This is an explanatory diagram showing a procedure for determining the pass of a weld bead constituting a laminated body using a cross section of the weld bead perpendicular to the longitudinal direction.

[0089] First, the shape of the object is obtained from shape data such as CAD data. Figure 2A As shown, the target shape So of the manufactured object is sliced ​​into a plurality of layers L1, L2, L3, and L4 according to the predetermined weld bead height H. The number of sliced ​​layers and the weld bead height can be set arbitrarily, and the specific method of slice shape is not particularly limited, and known means can be adopted.

[0090] The separated layers L1, L2, L3, L4 are as follows Figure 2B As shown in the figure, the weld bead is divided into a plurality of rectangular weld bead models BM0 in a manner corresponding to the cross-sectional shape of the weld bead. Thus, each layer L1, L2, L3, and L4 is divided into a plurality of rectangular weld bead models BM0. When dividing the rectangular weld bead model BM0, conditions such as making the cross-sectional area of ​​the weld bead in the orthogonal cross section in the longitudinal direction of the weld bead constant in each rectangular weld bead model BM0 can also be specified.

[0091] For the multiple rectangular weld bead models BM0 segmented as follows Figure 2C As shown in FIG. 1 , a simple geometric figure, that is, a semicircular shape, is applied as an example. Here, each rectangular bead model BM0 is changed to a semicircular bead model BM having a bottom side 31 and an arc 33 and close to the shape of an actual weld bead. The shape of the applied bead model BM is arbitrary, but when the relationship between welding conditions and bead shapes is managed in advance as a database, a model of an appropriate shape can be set by referring to the database.

[0092] Then, as a representative position of the obtained semicircular weld bead model BM, for example, the midpoint of the bottom side 31 is set as the target position P of the weld bead. The target position P as the midpoint is Figure 2C The line of the point group that is continuous in the depth direction along the length direction of the weld bead model BM becomes the pass PS for forming the deposited weld bead. The pass PS is set for each of the plurality of weld bead models BM. The pass PS includes information on the target position for forming the deposited weld bead and information on the planned height of the deposited weld bead (weld bead height H). It should be noted that in addition to applying the weld bead model BM to the entire modeling shape to obtain the pass PS, the pass PS that locally generates a portion of the modeling shape may be copied in parallel to obtain the pass PS for the entire modeling shape.

[0093] Here, examples of other shapes of the weld bead model BM will be described.

[0094] Figure 3 This is an explanatory diagram showing an example of a model that takes into account the overlap between adjacent weld beads. Figure 3The following are three model shapes in a cross section perpendicular to the longitudinal direction of the weld bead. In each model, the cross-sectional shape of the model BM1 of pass P1, which is the reference, is a trapezoid. The model BM2 of pass PS2 is adjacent to the model BM1, and the model BM3 of pass PS3 is adjacent to the model BM2. The models BM2 and BM3 are partially aligned with the cross-sectional shape of the model BM1 of pass P1. Figure 3 Specifically, models BM2 and BM3 are basically the same trapezoidal shape as model BM1, and the base of the trapezoid is tilted by rotating a predetermined angle clockwise with one end of the base of the trapezoid on the side opposite to the side of model BM1 as the center. Furthermore, the portion where model BM2 overlaps with model BM1 is set as the area of ​​model BM1, and the lower area of ​​model BM2 that is not included in model BM1 is included in the area of ​​model BM2. Similarly, the portion where model BM3 overlaps with model BM2 is set as the area of ​​model BM2, and the lower area of ​​model BM3 that is not included in model BM2 is included in the area of ​​model BM3.

[0095] As a result, the shape of the model BM2 becomes a polygonal shape (pentagon) close to one of the oblique sides of the model BM1, and the shape of the model BM3 becomes a polygonal shape (pentagon) close to one of the oblique sides of the model BM2. In this way, each of BM1, BM2, and BM3 becomes a shape similar to the cross-sectional shape of the actual weld bead.

[0096] Figure 4 This is an explanatory diagram showing a model that reproduces the shape of the weld metal drooping toward the lower layer side. Figure 4 The model shape in the cross section perpendicular to the longitudinal direction of the weld bead is also shown.

[0097] Regarding the trapezoidal weld bead models BM2, BM3, ..., BMn (n is an integer) of the upper layer of the model BM1 having a trapezoidal cross-sectional shape stacked on the base 27, and the models BM2, BM3, ..., BMn (n is an integer) that are higher than the model BM1, the drooping parts 37a and 37b extending downward are added to both ends of the base 35. The cross-sectional shapes of the drooping parts 37a and 37b are respectively triangular with the end of the base 35 as one side, and the shapes and areas thereof are set according to the welding conditions and passes of the aforementioned weld bead. The drooping parts 37a and 37b may be the same shape or different shapes. In addition, the drooping parts 37a and 37b may be provided in pairs or only at the end of one side of the base 35 of the trapezoidal model.

[0098] By setting the models BM2, BM3, ..., BMn provided with the drooping parts 37a and 37b as the weld bead models for the modeling plan, the influence of the weld bead height of the deposited weld bead caused by the drooping of the molten metal generated in the deposited weld bead is taken into consideration. As a result, even under conditions such as the overhanging part where the molten metal of the deposited weld bead is likely to droop, it is easy to match the predicted shape of the contour of the deposited weld bead with the actual shape.

[0099] The shape of the model can also be determined by welding conditions, such as welding current, welding voltage, welding torch moving speed (rod moving speed), and filler material feeding speed.

[0100] For example, the bead height H from the base surface of the bead to the top of the weld bead may be obtained by equation (1), and the bead width LW in a direction perpendicular to the longitudinal direction of the weld bead may be obtained by equation (2).

[0101] [Formula 1]

[0102]

[0103] T s : Torch moving speed

[0104] W f : Filling material feeding speed

[0105] C 1 ~C 6 :coefficient

[0106] D 1 ~D 6 :coefficient

[0107] The model shape may be any shape other than the aforementioned semicircular shape, trapezoidal shape, or shape close to a trapezoidal shape, such as a polygonal shape, an elliptical shape, etc., without particular limitation. In addition, a model shape closest to the set welding conditions may be searched and determined from a database that associates welding conditions with parameters such as a deposition cross-sectional area, a weld bead height, and a weld bead width. Furthermore, an approximate formula may be prepared based on the aforementioned database, and the model shape may be determined using the approximate formula.

[0108] <First Configuration Example of Control Information Correction Device>

[0109] Figure 5 1 is a functional block diagram of a first configuration example of the control information correction device 200. The control information correction device 200 includes a design information acquisition unit 41, an overlap prediction unit 43, an additional amount calculation unit 45, and an information correction unit 47.

[0110] The control information correction device 200 is similar to the control device 13 and is composed of hardware using an information processing device such as a PC (Personal Computer). The control function of the control information correction device 200 is realized by a control device (not shown) reading a program with a specific function stored in a storage device and executing the program. As the control device, a processor such as a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), or a dedicated circuit can be cited. As the storage device, a memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a storage device such as a HDD (Hard Disk Drive), and an SSD (Solid State Drive) can be exemplified.

[0111] The details of each part of the control information correction device 200 will be described later, but the general functions are as follows.

[0112] The design information acquisition unit 41 acquires design information related to the pass and the shape of the deposited weld bead. The overlap prediction unit 43 obtains the weld bead model formed in the weld bead layer based on the obtained design information, and obtains the distribution of the overlap area where the weld beads overlap each other in the weld bead layer. The additional amount calculation unit 45 determines the narrow part where the overlap between the weld beads is insufficient based on the distribution of the obtained overlap area, and calculates the additional deposited amount of the processing material (deposited weld bead) to make up for the insufficient overlap in the narrow part. The information correction unit 47 corrects the control information based on the calculated additional deposited amount.

[0113] Next, the control information correction method is described. As a premise, a stacking plan or a molding program for controlling the stacking molding device 100 to mold an object is prepared, or corresponding information corresponding to these is prepared in advance. This control information correction method corrects the prepared stacking plan or molding program or corresponding information.

[0114] Figure 6 2 is a flowchart showing the steps of the control information correction method. The design information acquisition unit 41 reads the prepared information such as the stacking plan or the shaping program, and acquires the design information including the information related to the predetermined shaping pass and the shape of the weld bead, that is, the information related to the welding conditions (S1). Examples of the welding conditions include parameters such as welding current, welding voltage, filler material feeding speed, and welding speed.

[0115] Next, the overlap prediction unit 43 obtains a weld bead model of a deposited weld bead determined based on the obtained pass and welding conditions, and uses the weld bead model to predict the intra-layer distribution of the deposited weld bead formed during modeling. Then, the distribution of the overlapping area between the weld bead models is obtained based on the predicted intra-layer distribution of the weld bead model (S2). The distribution of the overlapping area is defined as a first overlap distribution.

[0116] Figure 7 This is an explanatory diagram showing a portion of the distribution of the weld bead within the layer. Here, a pass PS1 in which the weld bead is bent and a weld bead model BM1 formed by the pass PS1 and a pass PS2 arranged inside the bend and a weld bead model BM2 formed by the pass PS2 are shown. The pass P1 is bent at the bending point Pb1, and the inner pass P2 is bent at the bending point Pb2. The bend angle θ of the pass P1 is 1 Angle θ with pass P2 2 The pass P1 and P2 shown here have the bend angles θ1 and θ2 as acute angles, but they may be right angles or obtuse angles.

[0117] The outer edge convex portion 51a at the bending point Pb1 of the outer edge 51 in the bead width direction orthogonal to the bead length direction of the weld bead model BM1 arranged on the outside is formed into an arc shape. In addition, the inner edge concave portion 53a at the bending point Pb1 of the inner edge 53 is formed into a shape with less bending. Similarly, the outer edge convex portion 55a at the bending point Pb2 of the outer edge 55 in the bead width direction of the weld bead model BM2 arranged on the inside is formed into an arc shape. In addition, the inner edge concave portion 57a ​​at the bending point Pb2 of the inner edge 57 is formed into a shape with less bending.

[0118] Figure 8 Yes Figure 7 The bend portion of the weld bead model BM1 and the weld bead model BM2 are configured to have overlapping regions 59A and 59B in which a portion of the adjacent sides overlap. The overlapping regions 59A and 59B are not formed in the regions that become the tops of the bends, and are divided into Figure 8 The overlapped area 59A of the straight passes PS1 and PS2 on the left side and the overlapped area 59B of the straight passes PS1 and PS2 on the right side are shown. That is, at the bend of the weld bead model BM1 and the weld bead model BM2, a missing portion 61 where no deposited weld bead is formed is formed between the inner side of the weld bead model BM1 and the outer side of the weld bead model BM2.

[0119] Fig. 9 is shown with Figure 71 is an explanatory diagram of a continuous overlapping area 59R in the corresponding bending portion. In the stacking molding, it is desired that the overlapping areas in the bending portions of the passes PS1 and PS2 are also continuously formed along each pass PS1 and PS2 to obtain a uniform overlapping state. By forming the same uniform overlapping area in the bending portion as in the straight portion, the stacking height in the bending portion is uniformized. Such an ideal overlapping area 59R having a continuous overlapping width along the passes PS1 and PS2 is defined as a second overlapping distribution.

[0120] When the general Fig. 9 The ideal overlap area (second overlap distribution) 59R shown is Figure 8 When the overlap areas (first overlap distribution) 59A and 59B of the weld bead models BM1 and BM2 shown in the figure are compared, the difference between the two is that there is a missing portion 61 where no weld bead is formed and an insufficient overlap portion 63 where no overlap with the already set weld bead model BM1 is formed around the missing portion 61. Here, the area where the missing portion 61 and the insufficient overlap portion 63 are combined is called a "narrow portion 65". By supplementing the narrow portion 65 with an additional weld amount corresponding to the insufficient amount relative to the ideal overlap area (second overlap distribution) 59R described above, the area including the missing portion 61 filled with the additional weld amount and the original overlap areas 59A and 59B can be approximated to the ideal overlap area 59R. More preferably, both can be made equal. In this way, it is preferable to calculate the additional weld amount based on the difference between the first overlap distribution and the second overlap distribution.

[0121] The additional amount calculation unit 45 determines the area of ​​the narrow portion 65 based on the information of the first overlap distribution, and calculates the additional weld amount of the weld bead for supplementing the missing amount and the insufficient overlap amount of the narrow portion 65 (S3). In order to determine the area of ​​the narrow portion 65, the area where the overlapping area (first overlap distribution) 59A and 59B becomes discontinuous is obtained by referring to the weld bead models BM1 and BM2 formed by the passes PS1 and PS2. In addition, the narrow portion 65 can also be determined based on the location where the difference between the first overlap distribution and the second overlap distribution occurs. In this case, the narrow portion can be easily extracted by simply comparing the overlap distributions with each other.

[0122] The additional amount calculation unit 45 obtains the amount of processing material (weld bead) used to fill the missing portion 61 generated in the weld bead model within the weld bead layer as the missing compensation amount. When the weld bead of the missing compensation amount is formed in the missing portion 61, a fusion surface is formed in which the weld bead formed according to the missing compensation amount is fused with a part of the weld bead corresponding to the weld bead models BM1 and BM2 around the missing portion 61, that is, a molten solidification surface of the weld bead. The additional amount calculation unit 45 obtains the amount of processing material (weld bead) added to align the surface height of the fusion surface with the surface height of the weld bead around the missing portion 61. And the additional amount calculation unit 45 sets the total value of the missing compensation amount and the height adjustment compensation amount obtained in this way as the additional welding amount. It should be noted that the "alignment of the surface height of the fusion surface" mentioned here is expected to be a flat surface with a uniform height, but it does not necessarily need to be a flat surface, and can also be set to a flatness that can ensure the shape accuracy of the stacked modeling object.

[0123] In addition, the calculation of the insufficient overlap amount in the narrow portion 65 is preferably performed by Figure 8 In this case, the additional deposit amount can be simply calculated without the need for complex three-dimensional volume calculation. In addition, a correction can be performed by incorporating the three-dimensional concavity and convexity of the actual weld bead surface into the above-mentioned geometric calculation. For example, correction can be performed by using a three-dimensional weld bead model of a simple shape that simulates the shape of the actual weld bead. In this case, the additional deposit amount can be calculated with higher accuracy while reducing the amount of calculation for volume calculation.

[0124] Furthermore, it is also possible to prepare a plurality of types of additional deposit amounts as table values ​​in advance, respectively find the difference between the overlap amount after adding each additional deposit amount and the ideal overlap amount of the weld metal, and select the additional deposit amount with the smaller difference. In this way, the additional deposit amount can be determined relatively simply by a single calculation without separately calculating the missing portion 61 and the insufficient overlap portion 63.

[0125] Next, the information correction unit 47 corrects the aforementioned design information based on the obtained additional deposition amount ( S4 ), that is, makes the overlapping region between the weld bead models BM1 and BM2 close to or equal to the ideal overlapping region 59R.

[0126] As specific correction contents of the control information corresponding to the additional welding amount, for example, Figure 8 In the inner pass PS2 shown, the welding speed is reduced near the corner of the bend, and the filler material feeding speed is increased to locally increase the amount of weld deposited.

[0127] In addition, the pass may be extended toward the outer side of the bend (the side of the bend point Pb1) at the bend point Pb2 of the pass PS2. In this case, the stacking height of the overlapping region of the weld bead models BM1 and BM2 may be predicted by calculation, the stacking height of the overlapping region may be compared with the stacking height of the surrounding region, and at least one of the extension direction and extension amount of the pass may be adjusted so as to obtain a uniform height. In addition, the extension of the pass is not limited to the extension in one direction, and may be extended in a zigzag shape such as in yaw welding.

[0128] Fig.10 This is an explanatory diagram schematically showing the predicted distribution of stacking height in the bend portion of the weld bead models BM1 and BM2. As shown here, it is preferable to correct the design information in such a way that the area Aw other than the overlapping area around the narrow part 65 has a uniform height distribution, not limited to the area Ak of ​​the narrow part 65.

[0129] The correction of the design information is implemented in such a way that the difference in the stacking height in the narrow portion 65 falls within a predetermined range. If the difference in the stacking height after one correction does not fall within the predetermined range, the correction can be repeated until it falls within the range. That is, in the case where the additional weld amount is insufficient due to the shape of the narrow portion, etc., the difference in the stacking height (the insufficient amount) is calculated by calculation, and the additional weld amount is increased until the difference is less than the predetermined value. On the contrary, in the case of excessive stacking height, the additional weld amount is reduced and adjusted until the difference falls within the predetermined range. In this way, the deviation of the height distribution of the weld bead can be reliably suppressed, and the object with the desired stacking height can be molded with high precision.

[0130] As described above, according to the control information correction method, the overlapping area of ​​the weld bead models obtained from the design information is obtained, the narrow part is determined based on the distribution of the overlapping area, and the additional deposition amount added to the narrow part is obtained as the total value of the missing part compensation amount and the height adjustment compensation amount for aligning the height of the fusion surface. By correcting the control information of the stacking molding device based on the additional deposition amount, the control information of the stacking molding device can be corrected so that even if the narrow part 65 is generated by the formed weld bead, no defect occurs and a weld bead of uniform height can be formed. Therefore, for example, even for a portion where the pass for forming the weld bead becomes an angled shape, no defect occurs and a weld bead of uniform height can be formed.

[0131] The narrow portion 65 where the weld beads do not overlap sufficiently is not limited to the bending point of the passes, but also occurs at a position where the passes abut against each other in a T-shape.

[0132] Fig.11A This is an explanatory diagram showing a pass formed in a spiral shape. Fig. 11B It is shown by Fig.11A An explanatory diagram of a spiral weld bead model formed by the passes shown. Fig.11A The pass PS shown in the figure forms linear passes in a spiral shape from the outside to the inside along the welding direction WD. The weld bead model BM corresponding to the pass PS is configured so that the weld bead model BM based on the inner pass PS and the weld bead model BM based on the outer pass PS have an overlapping area 59. Fig. 11B As shown, the weld bead pattern BM formed at the inner pass terminal PSe is arranged so as to fill the inside of the wall portion surrounded by the weld bead pattern BM.

[0133] Fig.12 It is shown Fig. 11B The enlarged view of the details of the pass terminal PSe. The outer edge of the front end edge of the actually formed weld bead is curved. On the other hand, if the previously formed weld bead is a straight pass PS, the inner edge of the weld bead is straight, and it is easy to become a straight inner edge in the bent portion as described above. Therefore, at the pass terminal PSe, the weld bead with a curved front end abuts against the side of the straight weld bead formed in the rectangular dead end in a T-shape.

[0134] Fig.12 The predicted shape of such a deposited weld bead is shown by the weld bead model BM. The front end edge 67 of the terminal end of the weld bead model BM is bent to simulate the front end shape of the deposited weld bead. Even if a part of the bent front end edge 67 is brought close to the weld bead model BM facing the front end edge 67 until an overlapping area 59C is generated, a missing portion 61 is generated on both sides of the weld bead width direction at the front end of the weld bead model BM.

[0135] As for such a missing portion 61, the insufficient amount of overlap can be supplemented in the same manner as in the above steps. In this case, first, based on the design information, a first overlap distribution in which the welds overlap each other in the weld bead layer is obtained. Next, a narrow portion (missing portion 61) with insufficient overlap is determined based on the first overlap distribution, and the additional amount of weld bead to supplement the insufficient amount of overlap for the determined narrow portion is calculated. Then, the control information is corrected based on the calculated additional amount of weld. In this way, the generation of a missing portion that is not welded in the narrow portion can be suppressed, and a weld bead can be formed with a uniform stacking height.

[0136] <Second Configuration Example of Control Information Correction Device>

[0137] Next, a second configuration example of the control information correction device will be described.

[0138] Fig.13 4 is a functional block diagram of a second configuration example of the control information correction device 300 .

[0139] The control information correction device 300 replaces Figure 5 The overlap prediction unit 43 in the control information correction device 200 of the first configuration example shown is provided with a shape measuring unit 49 . Output information from the shape sensor 71 provided in the shaping unit 11 is input to the shape measuring unit 49 via the control device 13 .

[0140] Fig.14 2 is a schematic diagram showing a shape sensor 71 provided in the welding torch 23. The shape sensor 71 can use, for example, a laser sensor that obtains the reflected light of the irradiated laser as height information. In addition, as the shape sensor 71, a camera for three-dimensional shape measurement can also be used. For example, when measuring the shape by the light section method, slit light is irradiated from the irradiation part of the laser sensor to the measurement target surface, and the reflected light from the measurement target surface is detected by the detection part to obtain the shape contour. This process is repeated while changing the irradiation position, so as to obtain the three-dimensional height distribution of the measurement target surface.

[0141] Fig.15 It is a graph showing a shape contour which is a measurement result measured by the shape sensor 71 . Fig.14 The surface shape of the two rows of weld beads B shown is detected by the shape sensor 71 as a shape profile Prf having two convex portions. The shape sensor 71 is integrally fixed to the welding torch 23, and can form a height distribution on the plane simultaneously with the weld bead when the welding torch 23 moves in the welding direction WD. It should be noted that the configuration location of the shape sensor 71 is not limited to the welding torch 23, and can also be near the front end axis of the manipulator.

[0142] According to the control information correction device 300, the weld bead shape is measured in the stacked layers of weld beads, and the aforementioned additional welding amount can be calculated using the measurement result.

[0143] That is, the design information acquisition unit 41 acquires design information related to the pass and the shape of the deposited weld bead. The shape measurement unit 49 uses the shape sensor 71 to measure the weld bead shape of the weld bead layer formed by the control device 13 controlling the shaping unit 11 based on the design information. And, the additional amount calculation unit 45 obtains the missing compensation amount of the processing material (welded weld bead) used to fill the missing part that can be generated by the deposited weld bead in the weld bead layer based on the measurement result of the weld bead shape after formation. In addition, the height adjustment compensation amount is obtained for aligning the fusion surface of the weld metal formed by fusing the deposited weld bead of the missing compensation amount with a part of the deposited weld bead around the missing part under the action of the heat input during welding with the surface around the missing part. These missing compensation amounts and height adjustment compensation amounts are obtained by obtaining the aforementioned overlap distribution based on the measurement result of the weld bead shape and the weld bead model based on the design information, and then obtaining the overlap distribution.

[0144] The additional amount calculation unit 45 calculates the additional welding amount as the sum of the obtained missing compensation amount and the height adjustment compensation amount. The information correction unit 47 corrects the control information (lamination conditions) when forming a weld bead adjacent to the measured weld bead based on the calculated additional welding amount.

[0145] The measurement of the weld bead shape may be performed simultaneously with the formation of the weld bead, or after the formation of the weld bead is completed. Figure 7 The weld bead shape of the weld bead formed in the pass PS1 is shown, and the conditions for forming the weld bead of the next pass PS2 are changed according to the shape of the weld bead of the pass PS1. In this case, the shape measurement result of the already set weld bead is used, so the meandering of the weld bead can be considered, and the amount of weld to be added can be calculated more accurately.

[0146] The present invention is not limited to the above-mentioned embodiments, and combinations of the various structures of the embodiments and changes and applications by those skilled in the art based on the description in the specification and known techniques are also intended by the present invention and are included in the scope of the claims.

[0147] The above-mentioned operation of moving the processing position is not limited to Figure 1 The action performed by driving the robot 15 of the stacking molding device 100 shown in FIG. Fig.16 As shown in FIG. 1 , when the robot 15 is arranged on a slide 73 that can move on a horizontal plane and the cylindrical base 25A is supported by a positioner 75 that can be driven to rotate, the action of moving the processing position may include the action of moving the formation position of the weld bead by driving at least one of the slide 73 and the positioner 75. Fig.17 As shown, when the base 25B is supported by a positioner 77 that can be driven to perform rotational and linear motion, and the object Wk is being molded on the base 25, the action of moving the processing position can also include the action of moving the formation position of the deposited weld bead by driving the positioner 77.

[0148] As described above, the following matters are disclosed in this specification.

[0149] (1) A control information correction method, in which control information for controlling a stacking molding device is corrected in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0150] The control information correction method comprises the following steps:

[0151] Obtaining design information related to the pass and the shape of the weld bead;

[0152] deriving a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other;

[0153] determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; and

[0154] The control information is corrected according to the additional welding amount,

[0155] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0156] According to the control information correction method, the overlapping area of ​​the weld bead models obtained according to the design information is obtained, the narrow part is determined according to the distribution of the overlapping area, and the additional deposition amount added to the narrow part is obtained as the total value of the missing part compensation amount and the height adjustment compensation amount for aligning the height of the fusion surface. By correcting the control information of the stacking molding device according to the additional deposition amount, the generation of the missing part is suppressed when molding the molded object, and the stacking height of the weld bead can be made uniform.

[0157] (2) The control information correction method according to (1), wherein:

[0158] Based on the information of the pass, a second overlap distribution is obtained, which is set so that the overlap between the adjacent weld bead models in the weld bead layer continues along the pass.

[0159] The additional welding amount is calculated based on the difference between the first overlap distribution and the second overlap distribution.

[0160] According to the control information correction method, the additional welding amount is calculated based on the difference between the first overlapping distribution and the second overlapping distribution. Therefore, there is no need to calculate the volume of the missing part and the area around the missing part separately. A single calculation is sufficient, so the additional welding amount can be calculated relatively simply.

[0161] (3) The control information correction method according to (1), wherein:

[0162] Based on the information of the pass, a second overlap distribution is obtained, which is set so that the overlap between the adjacent weld bead models in the weld bead layer continues along the pass.

[0163] The narrow portion is determined according to a location where a difference between the first overlapping distribution and the second overlapping distribution occurs.

[0164] According to this control information correction method, a stenosis portion can be easily identified based on the difference between the first overlap distribution and the second overlap distribution.

[0165] (4) The control information correction method according to (1), wherein:

[0166] calculating a stacking height of the narrow portion to which the additional welding amount is added and a stacking height of a periphery of the narrow portion,

[0167] The control information is corrected so that the difference between the stacking height of the narrow portion and the stacking height of the periphery of the narrow portion falls within a predetermined range.

[0168] According to this control information correction method, by making the difference between the stacking height of the narrow portion and the stacking height of the periphery of the narrow portion fall within a predetermined range, it is possible to accurately mold an object having a desired stacking height.

[0169] (5) A control information correction method, in which control information for controlling a stacking molding device is corrected in a stacking molding device, wherein the stacking molding device, while moving a processing position along a pass, overlaps portions of adjacent weld beads to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface, and molds a three-dimensional object by stacking the weld bead layers, wherein:

[0170] obtaining design information related to the pass and the shape of the weld bead,

[0171] measuring the shape of the weld bead of the weld bead layer formed based on the design information,

[0172] The additional deposition amount is calculated as the total value of the missing compensation amount of the processed material and the height adjustment compensation amount based on the measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with the surface height around the missing portion,

[0173] The control information is corrected according to the additional welding amount.

[0174] According to this control information correction method, the additional deposition amount is calculated using the shape measurement result of the already set deposited weld bead. Therefore, the actual meandering of the weld bead that cannot be obtained from the weld bead model can be taken into consideration, and the additional deposition amount can be calculated more accurately.

[0175] (6) A control information correction device, which corrects control information for controlling a stacking molding device in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0176] The control information correction device comprises:

[0177] a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead;

[0178] an overlap prediction unit that obtains a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtains a first overlap distribution that predicts an overlap region where the weld bead models overlap each other;

[0179] an additional amount calculation unit that determines a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculates an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; and

[0180] an information correction unit that corrects the control information according to the additional welding amount,

[0181] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0182] According to the control information correction device, the overlap prediction unit calculates the overlap area between the weld bead models based on the design information obtained by the design information acquisition unit. The additional amount calculation unit determines the narrow part based on the distribution of the overlap area, and calculates the additional deposition amount added to the narrow part as the total value of the missing portion compensation amount and the height adjustment compensation amount for aligning the height of the fusion surface. The information correction unit corrects the control information of the stacking modeling device based on the additional deposition amount, thereby suppressing the generation of the missing part when modeling the modeled object, and making the stacking height of the weld bead uniform.

[0183] (7) A control information correction device, which corrects control information for controlling a stacking molding device in a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forms a three-dimensional object by stacking the weld bead layers, wherein:

[0184] The control information correction device comprises:

[0185] a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead;

[0186] a shape measuring unit that measures a shape of the weld bead of the weld bead layer formed based on the design information;

[0187] an additional amount calculation unit that calculates an additional deposition amount as a total value of a missing compensation amount of the processed material for filling a missing portion caused by the weld bead in the weld bead layer and a height adjustment compensation amount for aligning a fused surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion, based on a measurement result of the shape of the weld bead; and

[0188] An information correction unit corrects the control information according to the additional welding amount.

[0189] According to the control information correction device, the additional amount calculation unit calculates the additional deposition amount using the shape measurement result of the already set deposited weld bead, so that the actual meandering of the weld bead that cannot be obtained from the weld bead model can be taken into consideration, and the deposition amount to be added can be calculated more accurately.

[0190] (8) A program for executing a step of correcting control information for controlling a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forming a three-dimensional object by stacking the weld bead layers.

[0191] The program causes the computer to execute:

[0192] The step of obtaining design information related to the pass and the shape of the weld bead;

[0193] A step of obtaining a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other;

[0194] A step of determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the workpiece material to make up for the insufficient overlap in the narrow portion; and

[0195] The step of correcting the control information according to the additional welding amount,

[0196] The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

[0197] According to the program, the overlapping area of ​​the weld bead models obtained from the design information is obtained, the narrow part is determined based on the distribution of the overlapping area, and the additional deposition amount added to the narrow part is obtained as the total value of the missing part compensation amount and the height adjustment compensation amount for aligning the height of the fusion surface. By correcting the control information of the stacking molding device based on the additional deposition amount, the generation of the missing part is suppressed when molding the molded object, and the stacking height of the weld bead can be made uniform.

[0198] (9) A program for executing a step of correcting control information for controlling a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forming a three-dimensional object by stacking the weld bead layers.

[0199] The program is used to make the computer execute:

[0200] The step of obtaining design information related to the pass and the shape of the weld bead;

[0201] a step of measuring a shape of the weld bead of the weld bead layer formed based on the design information;

[0202] a step of calculating an additional deposition amount as a total value of a missing compensation amount of the processed material and a height adjustment compensation amount based on a measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill a missing portion caused by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align a fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion; and

[0203] and correcting the control information according to the additional welding amount.

[0204] According to this program, the additional deposit amount is calculated using the shape measurement result of the already-established deposited weld bead, so that the actual meandering of the weld bead that cannot be obtained from the weld bead model can be taken into consideration, and the amount of deposit to be added can be calculated more accurately.

[0205] It should be noted that the present application is based on the Japanese patent application (Japanese Patent Application No. 2022-125616) filed on August 5, 2022, and the contents thereof are incorporated herein by reference.

[0206] Description of reference numerals:

[0207] 11. Modeling Department

[0208] 13 Control Devices

[0209] 15. Robot

[0210] 17 Robot control unit

[0211] 19 Filling material supply unit

[0212] 19a Reel

[0213] 19b Delivery mechanism

[0214] 21 Heat source control department

[0215] 23 Welding torch

[0216] 25, 25A, 25B, 27 Base

[0217] 31 bottom edge

[0218] 33 Arc

[0219] 35 bottom edge

[0220] 37a, 37b: hanging part

[0221] 41 Design Information Acquisition Department

[0222] 43 Overlap Prediction Department

[0223] 45 Additional amount calculation unit

[0224] 47 Information Correction Department

[0225] 49 Shape measurement unit

[0226] 51 outer edge

[0227] 51a Outer edge convex part

[0228] 53 Inner Edge

[0229] 53a Inner edge recess

[0230] 55 outer edge

[0231] 55a Outer edge convex part

[0232] 57 Inner Edge

[0233] 57a Inner edge recess

[0234] 59, 59A, 59B, 59C overlapping area (first overlapping distribution)

[0235] 59R Overlapping area (second overlapping distribution)

[0236] 61 Missing part

[0237] 63 Overlapping

[0238] 65 Stenosis

[0239] 67 Front edge

[0240] 71 Shape Sensor

[0241] 73 Slide

[0242] 75, 77 Locator

[0243] 100 Layered Modeling Device

[0244] 200, 300 Control information correction device

[0245] Ak, Aw area

[0246] B Deposited weld bead (weld bead)

[0247] BM weld bead model

[0248] BM0 rectangular weld model

[0249] BM1, BM2, BM3, BMn models

[0250] L1, L2, L3, L4 layers

[0251] M Filling material

[0252] P Target position

[0253] PS, P1, P2, P3 Passes

[0254] Pb1, Pb2 bending points

[0255] PSe Pass Terminal

[0256] WD welding direction

[0257] Wk modeling object.

Claims

1. A control information correction method, in which control information for controlling a stacking modeling device is corrected in a stacking modeling device, wherein the stacking modeling device, while moving a processing position along a pass, overlaps a portion of adjacent welds to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface, and models a three-dimensional object by stacking the weld bead layers, wherein: The control information correction method comprises the following steps: Obtaining design information related to the pass and the shape of the weld bead; deriving a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other; determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; and The control information is corrected according to the additional welding amount, The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

2. The control information correction method according to claim 1, wherein: Based on the information of the pass, a second overlap distribution is obtained, which is set so that the overlap between the adjacent weld bead models in the weld bead layer continues along the pass. The additional welding amount is calculated based on the difference between the first overlap distribution and the second overlap distribution.

3. The control information correction method according to claim 1, wherein: Based on the information of the pass, a second overlap distribution is obtained, which is set so that the overlap between the adjacent weld bead models in the weld bead layer continues along the pass. The narrow portion is determined according to a location where a difference between the first overlapping distribution and the second overlapping distribution occurs.

4. The control information correction method according to claim 1, wherein: calculating a stacking height of the narrow portion to which the additional welding amount is added and a stacking height of a periphery of the narrow portion, The control information is corrected so that the difference between the stacking height of the narrow portion and the stacking height of the periphery of the narrow portion falls within a predetermined range.

5. A control information correction method, in which control information for controlling a stacking modeling device is corrected in a stacking modeling device, wherein the stacking modeling device, while moving a processing position along a pass, overlaps a portion of adjacent welds to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface, and models a three-dimensional object by stacking the weld bead layers, wherein: obtaining design information related to the pass and the shape of the weld bead, measuring the shape of the weld bead of the weld bead layer formed based on the design information, The additional deposition amount is calculated as the total value of the missing compensation amount of the processed material and the height adjustment compensation amount based on the measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with the surface height around the missing portion, The control information is corrected according to the additional welding amount.

6. A control information correction device, which corrects control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device overlaps a portion of adjacent welds to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface while moving a processing position along a pass, and models a three-dimensional object by stacking the weld bead layers, wherein: The control information correction device comprises: a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead; an overlap prediction unit that obtains a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtains a first overlap distribution that predicts an overlap region where the weld bead models overlap each other; an additional amount calculation unit that determines a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculates an additional deposition amount of the work material to make up for the insufficient overlap in the narrow portion; as well as an information correction unit that corrects the control information according to the additional welding amount, The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

7. A control information correction device, which corrects control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device overlaps a portion of adjacent welds to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface while moving a processing position along a pass, and models a three-dimensional object by stacking the weld bead layers, wherein: The control information correction device comprises: a design information acquisition unit that acquires design information related to the pass and the shape of the weld bead; a shape measuring unit that measures a shape of the weld bead of the weld bead layer formed based on the design information; an additional amount calculation unit that calculates an additional deposition amount as a total value of a missing compensation amount of the processed material and a height adjustment compensation amount based on a measurement result of the shape of the weld bead, the missing compensation amount of the processed material being used to fill a missing portion generated by the weld bead in the weld bead layer, and the height adjustment compensation amount being used to align a fused surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion; as well as An information correction unit corrects the control information according to the additional welding amount.

8. A program for executing a step of correcting control information for controlling a stacking molding device, wherein the stacking molding device forms a three-dimensional object by overlapping portions of adjacent weld beads formed by depositing molten processing material on a processing object surface while moving a processing position along a pass, and forming a three-dimensional object by stacking the weld bead layers, wherein: The program causes the computer to execute: The step of obtaining design information related to the pass and the shape of the weld bead; A step of obtaining a weld bead model of the weld bead formed in the weld bead layer based on the design information, and obtaining a first overlap distribution predicting an overlap area where the weld bead models overlap each other; The step of determining a narrow portion where the overlap between the weld bead models is insufficient based on the first overlap distribution, and calculating an additional deposition amount of the workpiece material to make up for the insufficient overlap in the narrow portion; as well as The step of correcting the control information according to the additional welding amount, The additional deposition amount is the total value of the missing compensation amount of the processed material and the height adjustment compensation amount, the missing compensation amount of the processed material is used to fill the missing portion generated by the weld bead model in the weld bead layer, and the height adjustment compensation amount is used to align the fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead corresponding to the weld bead model around the missing portion with the surface height around the missing portion.

9. A program for executing a step of correcting control information for controlling a stacking molding device in which, while moving a processing position along a pass, the stacking molding device overlaps a portion of adjacent weld beads to form a weld bead layer for a weld bead formed by depositing a molten processing material on a processing object surface, and a three-dimensional object is molded by stacking the weld bead layers, wherein: The program is used to make the computer execute: The step of obtaining design information related to the pass and the shape of the weld bead; a step of measuring a shape of the weld bead of the weld bead layer formed based on the design information; A step of calculating an additional deposition amount as a total of a missing compensation amount of the processed material and a height adjustment compensation amount based on a measurement result of the shape of the weld bead, wherein the missing compensation amount of the processed material is used to fill a missing portion generated by the weld bead in the weld bead layer, and the height adjustment compensation amount is used to align a fusion surface formed by fusing the processed material of the missing compensation amount with a part of the weld bead around the missing portion with a surface height around the missing portion; as well as and correcting the control information according to the additional welding amount.

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