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

Abstract

A control information generation device is provided with: a shape acquisition unit that acquires information on the three-dimensional shape of a modeling unit; a point group generation unit that generates a plurality of feature points along a specific direction within a layer in each of layered bodies obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that links a plurality of feature points generated in the same layered body and a plurality of feature points generated in another layered body adjacent to the layered body, and sets, as a modeling path, a line that links the linked feature points to each other; and an output unit that outputs control information including information on the set molding path.

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 layered modeling using 3D printers has increased, and research and development is being promoted towards the practical application of modeling using metal materials. For example, Patent Document 1 discloses a technology for decomposing a three-dimensional model to obtain a modeling path for forming a weld bead, and performing layered modeling based on the information.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: U.S. Patent No. 6,274,839 Summary of the invention

[0006] Problems to be solved by the invention

[0007] Generally, in three-dimensional modeling, a shape model based on three-dimensional CAD data is sliced, and a modeling path (hereinafter also referred to as a "track" or "pass") for forming a weld bead is planned for each layer obtained by the slices, and a weld bead layer is formed while the welding torch is moved along the planned pass. The desired object is modeled by stacking such weld bead layers.

[0008] There are various known patterns for forming weld beads, such as grid, zigzag, lattice, and concentric circles. However, the more complex the shape of the object, the more difficult it is to generate the pass itself. Fig.13A In the case of a molded object W that follows the outer surface of a semi-cylindrical flow path and also follows the undulations of the flow path as shown in FIG. 1 , when the pass PS for molding the molded object W is set along the flow path as the length direction, efficient molding can be performed. However, in order to generate such a pass PS for the entire molded object W, complicated calculations are required, and there are many practical difficulties. On the other hand, when the pass is calculated for such a shape using the technology of Patent Document 1, as shown in FIG. Fig. 13B As shown in the figure, the cross section is mechanically sliced ​​using a cross section perpendicular to the stacking direction (the length direction of the flow path), and passes are generated in each layer of the obtained layer Ly. In this way, passes can be easily generated in a layer of a relatively small area, but on the other hand, the number of layers and the number of passes are extremely increased, which is not preferred from the perspective of productivity.

[0009] Therefore, an object of the present invention is to provide a control information generating device, a control information generating method and a program for controlling a stacking molding device in a manner that enables efficient stacking molding while suppressing an increase in the number of layers and the number of passes regardless of the shape of a molded object.

[0010] Solutions to Solve Problems

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

[0012] (1) A control information generating device for generating control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device models a layer shape using a weld bead formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and models a modeled object of a three-dimensional shape by stacking the layer shapes, wherein:

[0013] The control information generating device comprises:

[0014] a shape acquisition unit for acquiring information on the three-dimensional shape of the object;

[0015] a point group generating unit that generates a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers;

[0016] a modeling path setting unit that connects the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and sets a line connecting the connected feature points as the modeling path; and

[0017] An output unit outputs the control information including information of the set shaping path.

[0018] (2) A control information generating method, in which control information for controlling a stacking modeling device is generated, wherein the stacking modeling device uses a weld bead modeling layer shape formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and the layer shapes are stacked to model a three-dimensional object, wherein:

[0019] obtaining information on the three-dimensional shape of the object,

[0020] generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers,

[0021] connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path;

[0022] The control information including the information of the set shaping path is output.

[0023] (3) A program for generating control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device models a layer shape using a weld bead formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and models a three-dimensional object by stacking the layer shapes, wherein:

[0024] The program is used to make the computer execute:

[0025] A step of obtaining information on the three-dimensional shape of the object;

[0026] a step of generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers;

[0027] The step of connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path; and

[0028] The step of outputting the control information including the information of the set shaping path.

[0029] Effects of the Invention

[0030] According to the present invention, the stacking molding apparatus can be controlled so as to perform efficient stacking molding while suppressing an increase in the number of layers and the number of passes regardless of the shape of the molded object. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram showing the overall structure of the stacking molding device.

[0032] Figure 2 This is a functional block diagram of a control information generating device.

[0033] Figure 3 Detailed description of the process of generating control information.

[0034] Figure 4A This is an explanatory diagram showing a state in which a weld bead model is generated by dividing the three-dimensional shape of a modeled object.

[0035] Figure 4B This is an explanatory diagram showing a state in which a weld bead model is generated by dividing the three-dimensional shape of a modeled object.

[0036] Figure 5A This is an explanatory diagram showing in stages the steps of dividing a long and narrow target shape layer to generate a plurality of feature points and connecting the feature points in the division direction of each layer.

[0037] Figure 5BThis is an explanatory diagram showing in stages the steps of dividing a long and narrow target shape layer to generate a plurality of feature points and connecting the feature points in the division direction of each layer.

[0038] Figure 5C This is an explanatory diagram showing in stages the steps of dividing a long and narrow target shape layer to generate a plurality of feature points and connecting the feature points in the division direction of each layer.

[0039] Figure 5D This is an explanatory diagram showing in stages the steps of dividing a long and narrow target shape layer to generate a plurality of feature points and connecting the feature points in the division direction of each layer.

[0040] Figure 6 Yes Figure 5D An explanatory diagram showing a plan view of the bottom surface areas of the six unit models shown.

[0041] Figure 7 Yes Figure 6 The illustrated diagram is an explanatory diagram of a situation in which a new pass is generated by connecting a point group of characteristic points in a direction of dividing each layer instead of a direction along the layer.

[0042] Figure 8 It shows that the new pass generated is Figure 5C The explanatory diagrams are shown correspondingly.

[0043] Fig. 9 It is an explanatory diagram showing a method of determining whether a generated pass is appropriate.

[0044] Fig.10 This is an explanatory diagram schematically showing the generated curved passes in a plan view.

[0045] Fig.11A is a graph showing a curve based on a sin function in the xy plane.

[0046] Fig. 11B It is shown Fig.11A A graph of the curvature distribution of the sin curve.

[0047] Fig. 12A This is a graph showing the result of adding sin functions having different periods and amplitudes.

[0048] Fig. 12B It is shown Fig. 12A A graph of the curvature distribution of the curve shown.

[0049] Fig.13A This is an explanatory diagram showing an ideal molding process for a conventional molded object having a semi-cylindrical flow path.

[0050] Fig. 13BThis is an explanatory diagram showing an actual molding process of a conventional molded object having a semi-cylindrical flow path. DETAILED DESCRIPTION

[0051] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The stacking molding device shown here forms a weld bead by melting a filler material (welding wire) held in a manipulator using a heat source device based on a predetermined molding plan, and repeatedly stacks the formed weld bead into a desired shape, thereby molding a molded object with multiple weld bead stacked. The control information generating device determines the molding path (pass) of the weld bead when molding the molded object using such a stacking molding device, and outputs a control signal for driving the stacking molding device.

[0052] <Structure of stacking molding device>

[0053] A configuration example of a stacking modeling device that operates based on the control information generated by the control information generating device described above will be described.

[0054] Figure 1 1 is a schematic diagram showing the overall structure of the stacking molding device. The stacking molding device 100 includes a molding control unit 11 and a molding unit 13. In addition, the control information generating device 200 may be connected to the molding control unit 11 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 molding control unit 11 via a communication or storage medium such as a network.

[0055] The molding unit 13 includes a robot 17 , a filling material supply unit 19 , a robot control unit 21 , and a heat source control unit 23 .

[0056] The robot control unit 21 controls the robot 17 and the heat source control unit 23. A controller (not shown) is connected to the robot control unit 21, and an operator can instruct any operation from the robot control unit 21 via the controller.

[0057] The manipulator 17 is, for example, a multi-joint robot, and a welding torch 25 provided on the front end axis can support the filler material M in a continuous supply. The welding torch 25 keeps the filler material M protruding from the front end. The position and posture of the welding torch 25 can be set arbitrarily in three dimensions within the range of the degrees of freedom of the robot arm constituting the manipulator 17. The manipulator 17 preferably has more than six axes of freedom, and preferably allows the axial direction of the heat source at the front end to be arbitrarily changed. In addition to the manipulator 17 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.

[0058] The welding torch 25 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 gas 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 25 generates an arc from the front end of the filler material M in a shielding gas atmosphere.

[0059] The filler material supply unit 19 supplies the filler material M toward the welding torch 25. 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 25 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.

[0060] The heat source control unit 23 is a welding power source that supplies power required for welding performed by the robot 17. The heat source control unit 23 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 23.

[0061] 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 an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser, etc. can also be used. In the case of heating using an electron beam or a laser, the amount of heat 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, it can also be mild steel, high-tensile steel, aluminum, aluminum alloy, nickel, nickel-based alloy, etc. The type of filler material M used varies depending on the characteristics of the object W.

[0062] The shaping control unit 11 comprehensively controls the above-mentioned components.

[0063] The stacking molding device 100 of the above-mentioned structure operates according to the molding program created based on the molding plan of the molding object W. 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 amount of the molding object. If the supplied filler material M is melted and solidified while the welding torch 25 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 27. That is, the robot control unit 21 drives the robot 17 and the heat source control unit 23 based on a predetermined program provided from the molding control unit 11. The robot 17 melts the filler material M by an arc and moves the welding torch 25 according to the command from the robot control unit 21 to form the weld bead B. By sequentially forming and stacking the weld bead B in this way, the molding object W of the target shape is obtained.

[0064] <Structure of control information generating device>

[0065] Figure 2 2 is a functional block diagram of the control information generating device 200. The control information generating device 200 includes a shape acquiring unit 31, a point group generating unit 33, a modeling path setting unit 35, and an output unit 37. In addition, the control information generating device 200 may also include a first determining unit 39 and a second determining unit 41. The details of each part will be described later, but the general functions are as follows.

[0066] The shape acquisition unit 31 acquires information of the three-dimensional shape to be modeled. The point group generation unit 33 divides the acquired three-dimensional shape into a plurality of layers, and generates a plurality of feature points along a specific direction within the layer in each of the divided layered bodies. The modeling path setting unit 35 connects a plurality of feature points generated in the same layered body with a plurality of feature points generated in other layered bodies adjacent to the layered body. And, the line connecting the connected feature points to each other is set as the modeling path. That is, the plurality of feature points in the layer are connected in a manner that connects the layered bodies, and the connection line is set as the modeling path. The output unit 37 outputs control information including information of the set modeling path. The first determination unit 39 and the second determination unit 41 determine whether the connection of the set modeling path is successful or not under different conditions. In this way, the connection line is connected along the surface of the modeling object, so even a modeling object with a curved surface obtains a modeling path corresponding to the curved surface.

[0067] The control information output from the control information generating device 200 is sent to, for example, Figure 1 The molding control unit 11 outputs the molding control unit 11, so that the molding control unit 11 generates a molding program based on the molding plan updated to the newly set molding path. The molding control unit 11 drives and controls the molding unit 13 based on the molding plan, and can manufacture the molded object more appropriately and efficiently.

[0068] The control information generating device 200 described above is composed of hardware using an information processing device such as a PC (Personal Computer). The functions of the control information generating device 200 are realized by a control unit (not shown) reading out a program with a specific function stored in a storage device (not shown) and executing the program. As a control unit, a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit), or a dedicated circuit, etc. can be exemplified. As a storage device, a memory such as a RAM (Random Access Memory) as a volatile storage area, a ROM (Read Only Memory) as a non-volatile storage area, a register such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) can be exemplified.

[0069] In addition, the control information generating device 200 may be configured by another computer remotely connected to the formation control unit 11 via a network or the like as described above, in addition to the above-described aspects.

[0070] Next, the procedure of generating control information by the control information generating device 200 will be described in detail.

[0071] Figure 3 1 is a flowchart showing the steps of generating control information. First, the shape acquisition unit 31 acquires information on the three-dimensional shape of the object to be shaped, for example, based on shape data such as CAD data (S1). The shape acquisition unit 31 outputs the acquired three-dimensional shape information to the point group generation unit 33. The point group generation unit 33 slices the input three-dimensional shape into layers and generates a point group in each layer (S2).

[0072] Figure 4A , Figure 4B FIG. 2 is an explanatory diagram showing a situation in which a weld bead model is generated by dividing the three-dimensional shape of a modeled object. Figure 4A As shown in FIG. 1 , the shape of the obtained object is set as the target shape So of the object to be manufactured, and the target shape So is sliced ​​into a plurality of layers L1, L2, L3, and L4 corresponding to the weld height H of the predetermined weld bead. The number of layers, the direction of the division, and the weld height can be set arbitrarily. In addition, the specific method of dividing the target shape So is not particularly limited, and a known method can be used. Here, the target shape So is divided into a plurality of layers along the vertical direction, but there is also a method such as Fig. 13B As shown in the figure, the target shape So is divided along the length direction.

[0073] The separated layers L1, L2, L3, L4 are as follows Figure 4BAs 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 deposited 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 weld bead cross-sectional area in the orthogonal cross section in the weld bead length direction in each rectangular weld bead model BM0 constant can also be specified.

[0074] Next, the divided multiple rectangular bead models BM0 are applied to simple geometric figures such as trapezoidal shapes, polygonal shapes, and semicircular shapes, and the target position of the weld bead is obtained based on the geometric figure to obtain the moving trajectory of the welding torch. In this way, the number of passes when the object is stacked and molded using the weld bead is determined.

[0075] The above basic pass setting steps are as follows Figure 1 The present invention can be suitably applied to a molded object W having a shape extending in the vertical direction on the base 27 as shown in FIG. Fig.13A In the case of the elongated shape extending long in the horizontal direction as shown in FIG. 1 , when the target shape So is divided into layers in the vertical direction, the area of ​​each layer becomes larger, and the process of dividing each layer into weld bead models becomes complicated. Fig. 13B As shown in FIG. 1 , it is preferable to divide the target shape So into layers in a direction perpendicular to the horizontal direction to reduce the area of ​​each layer, but the length of the weld bead in each divided layer becomes shorter. As a result, the weld bead formation needs to be frequently interrupted, which may not be an efficient shaping step.

[0076] In view of such a situation, in the control information generating device 200 of the present structure, the target shape So is initially divided into layers of small area, and each layer is temporarily divided into a weld bead model. Furthermore, the characteristic points of the weld bead model of each layer are extracted, and these characteristic points are connected in the division direction of each layer. If the connecting line of the characteristic points obtained in this way is set as the pass for forming the weld bead, that is, the pass for forming the target shape So, the pass along the length direction of the target shape So can be easily obtained.

[0077] Figure 5A to Figure 5D 1 is an explanatory diagram showing in stages the steps of dividing the elongated target shape So into layers to generate a plurality of feature points and connecting the feature points in the division direction of each layer. Figure 5A As shown in FIG. 1 , the target shape So is set to be a continuous elongated shape from the front side to the back side. Figure 5B As shown in FIG. 1 , the target shape So is divided into a plurality of layered bodies along the length direction. Here, as an example, the layered bodies are divided into layers L1, L2, L3, and L4. Figure 5CAs shown in FIG. 1 , each of the divided layers is further divided into a plurality of weld bead models. Here, the weld bead models BMa and BMb are divided into upper and lower weld bead models. Each weld bead model BMa and BMb sets Da and Db indicated by arrows as the weld bead forming direction, and the weld bead cross section orthogonal to the weld bead forming direction is Figure 5C The shaded area shown is an approximate cross section.

[0078] Next, if Figure 5D As shown, for the bead model BMa and the bead model BMb, a plurality of feature points are generated along the bead forming directions Da and Db, respectively. Here, feature points are generated at each vertex that divides the model into three equal parts along the bead forming direction. Although not shown in the figure, a plurality of feature points are also generated for each of the layers L2 to L4.

[0079] As described above, the point group generation unit 33 generates a point group consisting of a plurality of feature points along a specific direction (weld bead formation direction Db). Next, the modeling path setting unit 35 connects the connecting lines of the feature points in the direction along the plurality of layers L1, L2, L3, and L4, that is, the above-mentioned direction of dividing the weld bead model.

[0080] Here, for simplicity of explanation, the reorganization of the pass sequence will be explained focusing on the layer L1 and the layer L2.

[0081] Figure 6 Yes Figure 5D FIG. 1 is an illustration of a planar display of the bottom area Ab represented by dotted shadows. Figure 6 In the method, each feature point is captured as a point on the grid coordinates, and each intersection of the grid lines is represented by an index (index) determined by (i, j, k, l). Here, the indexes i and j are indexes representing the coordinates in the bottom surface area Ab, the index k is an index representing the stacking order of multiple columns of weld bead models (second index), and the index l is an index representing the time series order of the welding torch from the time point when stacking of one weld bead model starts to the time point when it ends (first index).

[0082] That is, point (1, 1, 1, 1) is a characteristic point of the left corner in the weld bead model BMb of layer L1. Point (1, 2, 1, 2) is a characteristic point arranged one to the right from the left corner in the weld bead model BMb of layer L1. Point (2, 1, 2, 1) is a characteristic point of the left corner in the weld bead model of layer L2.

[0083] Thus, the index i represents Figure 6 The vertical position in the index j represents Figure 6 In addition, the feature points with the same index k are the feature points included in the same weld bead model, that is, the feature points on the same pass. The index l represents the modeling order along the advancing direction of the pass with the same index k.

[0084] Therefore, in Figure 6 In the example, the characteristic points (1,1,1,1), (1,2,1,2), (1,3,1,3), (1,4,1,4) in layer L1 are arranged in sequence, and the connecting line connecting the characteristic points in sequence is called pass PS1. Similarly, the connecting line connecting the characteristic points (2,1,2,1), (2,2,2,2), (2,3,2,3), (2,4,2,4) arranged in sequence in layer L2 is called pass PS2. Similarly, the connecting line connecting the characteristic points (3,1,3,1), (3,2,3,2), (3,3,3,3), (3,4,3,4) is called pass PS3. The above passes PS1, PS2, and PS3 are all along Figure 5C The direction of the weld bead forming direction Db shown is a direction orthogonal to the longitudinal direction of the target shape So (the arrangement direction of the indices i).

[0085] Figure 7 It shows that Figure 6 The figure shows a situation where a new pass is generated by connecting the point group of the feature points in the direction of division of each layer instead of along the direction within the layer (weld bead forming direction Db). Here, the values ​​of the index k and index l of the feature points of each unit model are replaced with each other. In this way, the feature points with the same index k are the feature points on the same pass, and the index l represents the modeling order along the direction of travel of the pass with the same index k. Therefore, the pass PS1 with index k=1, the pass PS2 with k=2, the pass PS3 with k=3, and the pass PS4 with k=4 all become new passes along the length direction of the target shape So (the arrangement direction of the index i). That is, the point groups of different layers are connected to each other to generate a new pass (S3).

[0086] By replacing the index k and the index l as described above and connecting the feature points based on the updated k and l, a line along the division direction of the layered body (layers L1, L2, L3, L4) divided into multiple layers is generated. This line is set as a new pass.

[0087] Figure 8 Is to make the generated new pass and Figure 5C The explanatory diagrams are shown correspondingly. Figure 8 The passes PS1 to PS4 shown are all along the Figure 5C The passes in the aforementioned layer division direction intersect the weld bead forming directions Da and Db shown. When the deposited weld bead is formed along the passes PS1 to PS4 shown here, the formed deposited weld bead becomes the bottom layer of the target shape So. And, by further forming (stacking) a deposited weld bead on the bottom layer of the weld bead layer in the same manner, the target shape So can be efficiently manufactured.

[0088] In this way, it is possible to Figure 6 The original order shown is simply changed to the following without complicated calculations: Figure 7 Therefore, there is no need to perform special operations such as finely slicing the target shape So or slicing while changing the segmentation direction, and the connection object of the feature points can be simply changed.

[0089] It should be noted that the feature points shown here are an example and are not limited to this. For example, points that are geometrically characteristic, such as vertices that serve as corners in the set pass, can also be set as feature points. The number of feature points can be adjusted according to the area of ​​each layer, etc., and can also be adjusted according to the pass length. In addition, the index assigned to each feature point can also be used to total the number of feature points generated in each layer. The index can also be used not only to identify each feature point in a layer, but also to identify the order information of moving the welding torch along the pass and the connection between passes.

[0090] Furthermore, instead of using the above-mentioned indices k and l to determine the connection direction of the feature points, the indices i and j themselves can be set as indices for pass setting. In this case, the indices of each feature point can be i and j. Furthermore, the distances between the feature points of different layers can be calculated, and the group with the smallest total can be set as the connection destination of the feature points. For example, when the distances between adjacent feature points are shorter than the arrangement direction of index i and the arrangement direction of index j, the feature points are connected to each other along the arrangement direction of index j. By performing the above processing, for example, even if the shaped object has a curved surface, a smooth pass along the curved surface can be generated.

[0091] The control information including the information of the generated new pass is transmitted from the output unit 37 to the Figure 1 The molding control unit 11 etc. as shown in the figure outputs. The molding control unit 11 creates a stacking plan for molding the molding object using the passes along its length direction based on the new pass information. Thus, the molding control unit 11 can drive the molding unit 13 to efficiently mold the molding object of the desired shape.

[0092] For the above pass generated by reconnecting the characteristic points, a step of determining whether the characteristic points are appropriately connected may be performed.

[0093] Fig. 9 For example, when a pass PS is generated by the shaping path setting unit 35 along the length direction of the target shape So, the path length of the pass PS is set to Ln1, and the starting point P of the pass PS is connected to the starting point P of the pass PS. st With the end point P edThe length of the straight line is set to Ln2. Figure 2 The first determination unit 39 shown in the figure determines that a break has occurred in the middle of the pass PS when the distance Ln1 is shorter than the distance Ln2. In addition, when the distance Ln1 is longer than the distance Ln2 by a predetermined difference or more, it is determined that the pass PS is not smoothly connected and the combination of the connected feature points is inappropriate. That is, the first determination unit 39 calculates the path length of the pass set by the molding path setting unit 35, and determines whether the connection between the feature points is successful or not based on the path length.

[0094] When the first determination unit 39 determines that the connection between the feature points is inappropriate, the shaping path setting unit 35 appropriately changes the conditions and reorganizes the connection of the feature points again. This process is repeated until the connection is appropriate. In this way, the success or failure of the connection can be mechanically determined without the need for manual inspection.

[0095] Alternatively, the second determination unit 41 may determine the success of the connection in place of the first determination unit 39 or in parallel with the first determination unit 39. The second determination unit 41 calculates the curvature distribution of the pass set by the shaping path setting unit 35, and determines the success of the connection between the feature points based on the curvature distribution.

[0096] Fig.10 This is an explanatory diagram schematically showing the generated pass PS by looking down. There are discontinuous concave and convex 43 and 45 in a part of the pass PS. Passes that meander in such local concave and convex 43 and 45 or in a short interval, or passes with a shape that is out of shape, are prone to defective shapes and are not suitable for lamination of weld beads. Therefore, it is desirable to correct such passes.

[0097] Then, the second determination unit 41 obtains the distribution of curvature along the pass PS, and compares the inclination of the curvature with a preset threshold value. The specific method for obtaining the curvature distribution of the pass PS is well known, so its detailed description is omitted here. In the case where the inclination exceeds the threshold value, it is determined that the connected pass is not smooth, the pass vibrates, etc. and is not properly connected. The determination can also be based not only on the inclination of the curvature, for example, but also on the number of maximum and minimum values ​​of the curvature distribution. Regarding the number of maximum and minimum peaks, an appropriate threshold can also be set based on the outer surface shape of the object, or experience, and compared with the threshold to determine whether the connection is successful or not.

[0098] The above-described determination based on the curvature distribution can make a determination that more accurately reflects the shape of the pass.

[0099] Fig.11A is a graph showing a curve based on a sin function in the xy plane. Fig. 11B It is shown Fig.11AA graph showing the curvature distribution of the sin curve. Fig. 11B As shown in the curvature distribution of , even a simple curve has the shapes of its maximum and minimum values ​​as significant features.

[0100] Fig. 12A This is a graph showing the result of adding sin functions having different periods and amplitudes. Fig. 12B It is shown Fig. 12A The curvature distribution of the curve shown is shown in the graph. Fig. 12B As shown in the curvature distribution of , when the curve includes minute irregularities, the change in curvature is aggravated by the irregularities.

[0101] As described above, determination based on curvature distribution can more easily detect slight shape changes than directly evaluating the shape of the pass PS, so that meandering, vibration, torsion, etc. of the pass shape can be reliably extracted, thereby improving determination accuracy.

[0102] 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.

[0103] As described above, the following matters are disclosed in this specification.

[0104] (1) A control information generating device for generating control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device models a layer shape using a weld bead formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and models a modeled object of a three-dimensional shape by stacking the layer shapes, wherein:

[0105] The control information generating device comprises:

[0106] a shape acquisition unit for acquiring information on the three-dimensional shape of the object;

[0107] a point group generating unit that generates a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers;

[0108] a modeling path setting unit that connects the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and sets a line connecting the connected feature points as the modeling path; and

[0109] An output unit outputs the control information including information of the set shaping path.

[0110] According to the control information generating device, the obtained three-dimensional shape of the modeling object is divided into multiple layers, and multiple feature points are generated along specific directions in the layers of the obtained layered body. Next, the multiple feature points are connected to each other among the feature points of the adjacent layered bodies, and the connecting line is set as the modeling path. Thus, even if the modeling object is formed by extending in one direction, the modeling path is set along its length direction. Therefore, regardless of the shape of the modeling object, the increase in the number of layers and the number of passes is suppressed, and the stacking modeling device can be controlled in a manner that enables efficient stacking modeling.

[0111] (2) The control information generating device according to (1), wherein:

[0112] The modeling path setting unit sequentially assigns independent first indexes to the plurality of feature points along the specific direction in the layered body, and sequentially assigns independent second indexes to the plurality of feature points along the division directions of the layered bodies.

[0113] The formation path setting unit sets, as the formation path, a line connecting feature points common to the first index assigned to the plurality of feature points in the order of the second index.

[0114] According to this control information generating device, the reconnection can be mechanically performed by a simple process of connecting feature points having the same first index in the order of the second index.

[0115] (3) The control information generating device according to (1), wherein:

[0116] The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

[0117] According to the control information generating device, the specific direction is the length direction of the weld bead assumed when the layered body is divided into the shape of the weld bead, so that the line connected along the dividing direction of the layered body becomes the length direction of the shaped object extending in one direction. Thus, the shaping path for forming the weld bead along the length direction of the shaped object formed by extending in one direction is obtained.

[0118] (4) The control information generating device according to (1), wherein:

[0119] The control information generating device includes a first determination unit that calculates a path length of the formation path set by the formation path setting unit and determines whether the connection between the feature points is successful based on the path length.

[0120] According to this control information generating device, when a combination of connected feature points is inappropriate, it is possible to rearrange the connection between other feature points again.

[0121] (5) The control information generating device according to (1), wherein:

[0122] The control information generating device includes a second determination unit that calculates a curvature distribution of the shaping path set by the shaping path setting unit and determines whether the characteristic points are successfully connected based on the curvature distribution.

[0123] According to this control information generating device, when a combination of connected characteristic points is inappropriate for lamination of weld beads, the connection between other characteristic points can be rearranged again.

[0124] (6) A control information generating method, in which control information for controlling a stacking modeling device is generated, wherein the stacking modeling device uses a weld bead modeling layer shape formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and the layer shapes are stacked to model a three-dimensional object, wherein:

[0125] In the control information generating method,

[0126] obtaining information on the three-dimensional shape of the object,

[0127] generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers,

[0128] connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path;

[0129] The control information including the information of the set shaping path is output.

[0130] According to the control information generation method, the obtained three-dimensional shape of the modeling object is divided into multiple layers, and multiple feature points are generated along specific directions in the layers of the obtained layered body. Next, the multiple feature points are connected to each other among the feature points of the adjacent layered bodies, and the connecting line is set as the modeling path. Thus, even if the modeling object is formed by extending in one direction, the modeling path is set along its length direction. Therefore, regardless of the shape of the modeling object, the increase in the number of layers and the number of passes is suppressed, and the stacking modeling device can be controlled in a manner that enables efficient stacking modeling.

[0131] (7) The control information generation method according to (6), wherein:

[0132] The setting of the modeling path includes the following steps:

[0133] The plurality of feature points are sequentially assigned independent first indexes along the specific direction in the layered body, and are sequentially assigned independent second indexes along the division directions of the plurality of layered bodies,

[0134] A line connecting the feature points having the first index assigned thereto and being common to the plurality of feature points in the order of the second index is set as the modeling path.

[0135] According to this control information generation method, the reconnection can be mechanically performed by a simple process of connecting feature points having the same first index in the order of the second index.

[0136] (8) The control information generation method according to (6), wherein:

[0137] The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

[0138] According to the control information generation method, the specific direction is the length direction of the weld bead assumed when the layered body is divided into the shape of the weld bead, so that the line connected along the division direction of the layered body becomes the length direction of the shaped object extending in one direction. Thus, the shaping path for forming the weld bead along the length direction of the shaped object formed by extending in one direction is obtained.

[0139] (9) The control information generation method according to (6), wherein:

[0140] The control information generation method includes the steps of calculating a path length of the modeling path and determining whether the feature points are successfully connected based on the path length.

[0141] According to this control information generating method, when a combination of connected feature points is inappropriate, the connection between other feature points can be rearranged again.

[0142] (10) The control information generation method according to (6), wherein:

[0143] The control information generation method includes the steps of calculating a curvature distribution of the shaping path and determining whether the feature points are connected successfully based on the curvature distribution.

[0144] According to this control information generating method, when a combination of connected characteristic points is inappropriate for lamination of weld beads, the connection between other characteristic points can be rearranged again.

[0145] (11) A program for generating control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device models a layer shape using a weld bead formed by attaching a molten processing material to a processing object surface while moving a processing position along a modeling path, and models a three-dimensional object by stacking the layer shapes, wherein:

[0146] The program is used to make the computer execute:

[0147] A step of obtaining information on the three-dimensional shape of the object;

[0148] a step of generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers;

[0149] The step of connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path; and

[0150] The step of outputting the control information including the information of the set shaping path.

[0151] According to the program, the obtained three-dimensional shape of the modeling object is divided into multiple layers, and multiple feature points are generated along specific directions in the layers of the obtained layered body. Next, the multiple feature points are connected to each other among the feature points of the adjacent layered bodies, and the connecting line is set as the modeling path. Thus, even if the modeling object is formed by extending in one direction, the modeling path is set along its length direction. Therefore, regardless of the shape of the modeling object, the increase in the number of layers and the number of passes is suppressed, and the stacking modeling device can be controlled in a manner that enables efficient stacking modeling.

[0152] (12) The program according to (11), wherein:

[0153] The step of setting the modeling path includes the following steps:

[0154] The plurality of feature points are sequentially assigned independent first indexes along the specific direction in the layered body, and are sequentially assigned independent second indexes along the division directions of the plurality of layered bodies,

[0155] A line connecting the feature points having the first index assigned thereto and being common to the plurality of feature points in the order of the second index is set as the modeling path.

[0156] According to this program, the reconnection can be mechanically performed by a simple process of connecting feature points having the same first index in the order of the second index.

[0157] (13) The program according to (11), wherein:

[0158] The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

[0159] According to the program, a specific direction is the length direction of the weld bead assumed when the layered body is further divided into the shape of the weld bead, so that the line connected along the division direction of the layered body becomes the length direction of the shaped object extending in one direction. Thus, a shaping path for forming a weld bead along the length direction of the shaped object formed by extending in one direction is obtained.

[0160] (14) The program according to (11), wherein:

[0161] The program causes the computer to further execute the step of calculating a path length of the modeling path and determining whether the connection between the feature points is successful based on the path length.

[0162] According to this program, when a combination of connected feature points is inappropriate, the connection between other feature points can be rearranged again.

[0163] (15) The program according to (11), wherein:

[0164] The program causes the computer to further execute the step of calculating a curvature distribution of the shaping path and determining whether the characteristic points are connected successfully based on the curvature distribution.

[0165] According to this program, when a combination of connected characteristic points is inappropriate for lamination of weld beads, the connection between other characteristic points can be rearranged again.

[0166] It should be noted that the present application is based on the Japanese patent application (Japanese Patent Application No. 2022-143944) filed on September 9, 2022, and the contents thereof are incorporated herein by reference.

[0167] Description of Reference Numerals

[0168] 11 Modeling Control Department

[0169] 13 Modeling Department

[0170] 17 Robot

[0171] 19 Filling material supply unit

[0172] 19a Reel

[0173] 19b Delivery mechanism

[0174] 21 Robot control unit

[0175] 23 Heat source control department

[0176] 25 Welding torch

[0177] 27 Base

[0178] 31 Shape acquisition unit

[0179] 33 Point Group Generation Unit

[0180] 35 Modeling path setting section

[0181] 37 Output

[0182] 39 First Judgment Section

[0183] 41 Second Judgment Unit

[0184] 43, 45 Concave and convex

[0185] 100 Layered Modeling Device

[0186] 200 Control information generating device

[0187] Ab bottom area

[0188] B Deposited weld

[0189] BM0 rectangular weld model

[0190] BMa, BMb weld bead model

[0191] Da, Db Weld bead formation direction

[0192] H Weld bead height

[0193] L1, L2, L3, L4 layers

[0194] Ln1, Ln2 distance

[0195] M Filling material

[0196] PS, PS1, PS2, PS3, PS4

[0197] P st starting point

[0198] P ed end

[0199] So target shape

[0200] W modeling object.

Claims

1. A control information generating device, which generates control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device uses a weld bead modeling layer shape formed by adding a molten processing material to a processing object surface while moving a processing position along a modeling path, and stacks the layer shapes to model a three-dimensional modeling object, wherein: The control information generating device comprises: a shape acquisition unit for acquiring information on the three-dimensional shape of the object; a point group generating unit that generates a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that connects the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and sets a line connecting the connected feature points to the modeling path; as well as An output unit outputs the control information including information of the set shaping path.

2. The control information generating device according to claim 1, wherein: The modeling path setting unit sequentially assigns independent first indexes to the plurality of feature points along the specific direction in the layered body, and sequentially assigns independent second indexes to the plurality of feature points along the division directions of the layered bodies. The formation path setting unit sets, as the formation path, a line connecting feature points common to the first index assigned to the plurality of feature points in the order of the second index.

3. The control information generating device according to claim 1, wherein: The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

4. The control information generating device according to claim 1, wherein: The control information generating device includes a first determination unit that calculates a path length of the formation path set by the formation path setting unit and determines whether the connection between the feature points is successful based on the path length.

5. The control information generating device according to claim 1, wherein: The control information generating device includes a second determination unit that calculates a curvature distribution of the shaping path set by the shaping path setting unit and determines whether the characteristic points are successfully connected based on the curvature distribution.

6. A control information generating method, in which control information for controlling a stacking modeling device is generated in the stacking modeling device, the stacking modeling device uses a weld bead modeling layer shape formed by adding a molten processing material to a processing object surface while moving a processing position along a modeling path, and stacks the layer shapes to model a three-dimensional modeling object, wherein: In the control information generating method, obtaining information on the three-dimensional shape of the object, generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers, connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path; The control information including the information of the set shaping path is output.

7. The control information generating method according to claim 6, wherein: The setting of the modeling path includes the following steps: The plurality of feature points are sequentially assigned independent first indexes along the specific direction in the layered body, and are sequentially assigned independent second indexes along the division directions of the plurality of layered bodies, A line connecting the feature points having the first index assigned thereto and being common to the plurality of feature points in the order of the second index is set as the modeling path.

8. The control information generating method according to claim 6, wherein: The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

9. The control information generating method according to claim 6, wherein: The control information generation method includes the steps of calculating a path length of the modeling path and determining whether the feature points are successfully connected based on the path length.

10. The control information generating method according to claim 6, wherein: The control information generation method includes the steps of calculating a curvature distribution of the shaping path and determining whether the feature points are connected successfully based on the curvature distribution.

11. A program for generating control information for controlling a stacking modeling device in a stacking modeling device, wherein the stacking modeling device uses a weld bead modeling layer shape formed by adding a molten processing material to a processing object surface while moving a processing position along a modeling path, and stacks the layer shapes to model a three-dimensional object, wherein: The program is used to make the computer execute: A step of obtaining information on the three-dimensional shape of the object; a step of generating a plurality of feature points along a specific direction within each layer in each layer body obtained by dividing the three-dimensional shape into a plurality of layers; The step of connecting the plurality of feature points generated in the same layered body with the plurality of feature points generated in another layered body adjacent to the layered body, and setting a line connecting the connected feature points as the modeling path; as well as The step of outputting the control information including the information of the set shaping path.

12. The program according to claim 11, wherein: The step of setting the modeling path includes the following steps: The plurality of feature points are sequentially assigned independent first indexes along the specific direction in the layered body, and are sequentially assigned independent second indexes along the division directions of the plurality of layered bodies, A line connecting the feature points having the first index assigned thereto and being common to the plurality of feature points in the order of the second index is set as the modeling path.

13. The program according to claim 11, wherein: The specific direction is the length direction of the weld bead when assuming that the shape of each layered body is formed by one weld bead or the shape of each layered body is formed by a plurality of weld beads.

14. The program according to claim 11, wherein: The program causes the computer to further execute the step of calculating a path length of the modeling path and determining whether the connection between the feature points is successful based on the path length.

15. The program according to claim 11, wherein: The program causes the computer to further execute the step of calculating a curvature distribution of the shaping path and determining whether the characteristic points are connected successfully based on the curvature distribution.

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