Method for controlling stack molding device, device for controlling stack molding device, and program

Abstract

The present disclosure provides a method for controlling a laminate molding apparatus for molding a molded object by laminating a deposited bead by using a welding torch, the method comprising: an acquisition step for acquiring a deposited bead deposited by using a welding torch, and a control step for controlling the deposited bead deposited by using the welding torch; acquiring a planned value for the width of a gap formed by the plurality of deposition beads from a lamination plan relating to a step for molding the molded object; a measurement step for measuring a plurality of shape profiles corresponding to each of the plurality of deposition beads laminated on the basis of the lamination plan; a derivation step for deriving an actual value of the width of the gap on the basis of the plurality of shape profiles; and a correction step for correcting the stacking condition of the plurality of deposition beads so that the shift amount between the planned value of the width of the gap and the actual value of the width of the gap becomes small.

Description

Technical Field

[0001] This disclosure relates to a control method for a layered molding apparatus, a control device for the layered molding apparatus, and a control procedure for the layered molding apparatus. Background Technology

[0002] Patent Document 1 describes an automatic multi-layer welding apparatus, which includes a first control mechanism that enables a bevel information detection mechanism based on optical sensors, arc voltage, etc., to detect and store the width of the weld bead and control the welding conditions based on the weld bead width; and a second control mechanism that detects and stores the arc voltage during welding and controls the welding conditions based on the arc voltage or the voltage difference with a predetermined reference voltage, and the apparatus is configured to control the welding conditions in a manner that achieves a predetermined weld bead stack height.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2000-033477 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] When designing a shape with gaps formed by multiple weld beads, if a structure is adopted that modifies the stacking conditions based solely on the stacking height of the weld beads, it will be impossible to control the width of the gap within an appropriate range.

[0008] The purpose of this disclosure is to control the width of the gap within an appropriate range when shaping an object with gaps formed by multiple weld beads.

[0009] Solution for solving the problem

[0010] To achieve the above objectives, this disclosure provides a control method for a stacked molding apparatus. The stacked molding apparatus shapes an object by stacking weld beads using a welding torch. The control method includes: an acquisition step, acquiring a planned value for the width of a gap formed by multiple weld beads from a stacking plan regarding the shaping process; a measurement step, measuring multiple shape profiles corresponding to the multiple weld beads stacked based on the stacking plan; a derivation step, deriving actual values ​​of the gap width based on the multiple shape profiles; and a correction step, correcting the stacking conditions of the multiple weld beads in a manner that reduces the offset between the planned value and the actual value of the gap width.

[0011] In the export step, the distance between specific locations of the various shape profiles can be exported as the actual value of the gap width. In this case, the specific location can be the front end position of each shape profile protruding in the direction of the gap.

[0012] In the export step, the protruding front position of each weld bead in the direction of the gap can be estimated based on the specific position of each shape contour of the multiple shape contours, and the distance between these protruding front positions is exported as the actual value of the gap width. In this case, the specific position can be the protruding front position of each shape contour in the direction of the gap of the multiple shape contours.

[0013] In the correction step, the stacking conditions are corrected by adding a correction form to the standard setting of the stacking conditions, along with at least one of the proportional, derivative, and integral terms corresponding to the offset. In this case, the correction step can be switched from a correction form that does not add an integral term to the standard setting of the stacking conditions to a correction form that does add an integral term to the standard setting of the stacking conditions, in accordance with the progress of the stacking.

[0014] In the correction step, the planned value of the target position for each weld bead in the multiple weld beads stacked on the next layer is corrected to a specific position for each of the multiple shape profiles. In this case, the specific position is the position where the planned value of the target position is extended in the stacking direction and intersects with each shape profile.

[0015] In the correction step, the correction method for correcting the stacking conditions is switched from a first correction method to a second correction method in accordance with the progress of the stacking. The first correction method can be a method that corrects the stacking conditions by reducing the offset between the planned value of the growth amount in the stacking direction of each of the multiple weld beads and the actual value of the growth amount derived from the shape profile. The second correction method can be a method that corrects the stacking conditions by reducing the offset between the planned value of the gap width and the actual value of the gap width.

[0016] Furthermore, this disclosure also provides a control device for a stacking molding apparatus, which shapes an object by stacking weld beads using a welding torch. The control device comprises: an acquisition unit that acquires a planned value for the width of the gap formed by multiple weld beads from a stacking plan for the shaping process; a measurement unit that measures multiple shape profiles corresponding to the multiple weld beads stacked based on the stacking plan; an output unit that outputs actual values ​​of the gap width based on the multiple shape profiles; and a correction unit that corrects the stacking conditions of the multiple weld beads in a manner that reduces the deviation between the planned value and the actual value of the gap width.

[0017] Furthermore, this disclosure also provides a control program for a stacking molding apparatus, which enables the control device of the stacking molding apparatus for molding an object by stacking weld beads using a welding torch to perform: an acquisition function, which acquires a planned value of the width of the gap formed by multiple weld beads from a stacking plan regarding the molding process of the object; a measurement function, which measures multiple shape profiles corresponding to the multiple weld beads stacked based on the stacking plan; an export function, which exports the actual value of the gap width based on the multiple shape profiles; and a correction function, which corrects the stacking conditions of the multiple weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

[0018] Invention Effects

[0019] According to this disclosure, when shaping an object with gaps formed by multiple weld beads, the width of the gaps can be controlled within an appropriate range. Attached Figure Description

[0020] Figure 1 This is a diagram illustrating a schematic structural example of the metal stacking molding system in this embodiment.

[0021] Figure 2 This is a diagram illustrating an example of the hardware structure of the control device in this embodiment.

[0022] Figure 3 This is a diagram illustrating the outline of control based on the control device in the first embodiment.

[0023] Figure 4 This is a diagram illustrating an example of the functional structure of the stacking planning device in the first embodiment.

[0024] Figure 5 This is a diagram illustrating an example of the functional structure of the control device in the first embodiment.

[0025] Figure 6 This is a diagram showing an example of the shape profile received by the shape profile receiving section of the control device.

[0026] Figure 7 This is a diagram illustrating a method for deriving the gap width and target position based on the gap width deriving section of the control device.

[0027] Figure 8 This is a flowchart illustrating an example of the operation of the stacking planning device in the first embodiment.

[0028] Figure 9 This is a flowchart illustrating the modeling control process performed by the control device in the first embodiment.

[0029] Figure 10This is a schematic diagram illustrating other controls based on the control device in the second embodiment.

[0030] Figure 11 This is a diagram illustrating an example of the functional structure of the control device in the second embodiment.

[0031] Figure 12 This is a flowchart illustrating the modeling control process performed by the control device in the second embodiment. Detailed Implementation

[0032] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0033] [Structure of the metal layering modeling system]

[0034] Figure 1 This is a diagram showing an example of the general structure of the metal stacking modeling system 1 in this embodiment.

[0035] As shown in the figure, the metal stacking modeling system 1 includes: a welding robot (manipulator) 10, a CAD device 20, a stacking planning device 30, and a control device 50. In addition, the stacking planning device 30 writes the control program for controlling the welding robot 10 into a removable recording medium 70, such as a memory card, and the control device 50 can read the control program written into the recording medium 70.

[0036] The welding robot 10 has an arm 11 with multiple joints, which moves according to a control program read from the control device 50 to perform welding operations. Furthermore, the welding robot 10 has a welding torch 13 at the tip of the arm 11, across a wrist 12, for shaping the laminated object 100. In the case of the metal laminated object system 1, the welding robot 10 manufactures the laminated object 100 by moving the welding torch 13 while melting a soft steel solder (welding wire) 14. Specifically, the welding torch 13 supplies the solder 14 while simultaneously circulating shielding gas to generate an electric arc, melting and solidifying the solder 14, thus laminating multiple layers of weld beads (hereinafter referred to as "weld beads") onto the base material 90 to manufacture the laminated object 100. It should be noted that an electric arc is used here as the heat source for melting the solder 14, but lasers or plasma can also be used. In addition, the welding robot 10 also includes a feeding device for feeding the solder 14, etc., which will not be described in detail here. The welding robot 10 is an example of a layered shaping device that uses a welding torch to deposit weld beads in layers to shape an object.

[0037] Furthermore, the welding robot 10 has a shape measuring device 15 at the tip of its arm 11. The shape measuring device 15 measures the shape of the stacked model 100 during the stacking process using the welding robot 10. Preferably, the shape measuring device 15 is a shape measuring device capable of obtaining the shape profile of the cross-section of the stacked model 100. For example, such a shape measuring sensor that obtains the shape profile of the cross-section based on the intensity of reflected light from the irradiated laser can be used as such a shape measuring device 15. Alternatively, the shape measuring device 15 may not be limited to this and may be a shape measuring device capable of measuring three-dimensional shapes, but the following description focuses on the case where a shape measuring device that obtains the shape profile of the cross-section based on the intensity of reflected light from the irradiated laser is used.

[0038] The CAD device 20 has the function of designing objects using a computer and storing the three-dimensional data (hereinafter referred to as "three-dimensional CAD data") obtained through the design.

[0039] The stacking planning device 30 creates a stacking plan for the stacked model 100 based on the three-dimensional CAD data held by the CAD device 20. That is, the stacking planning device 30 determines the track of the welding torch 13 and the welding conditions when the welding robot 10 performs welding. Furthermore, the stacking planning device 30 generates a control program for controlling the welding robot 10 to form weld beads along the determined track and under the determined welding conditions, and outputs the control program to the recording medium 70.

[0040] The control device 50 reads and holds the control program from the recording medium 70. Furthermore, the control device 50 controls the welding robot 10 by activating the control program, according to the stacking plan created by the stacking plan device 30, that is, by forming weld beads along the track determined by the stacking plan device 30 and the welding conditions determined by the stacking plan device 30.

[0041] The control device 50 is an example of a control device for a layered molding device.

[0042] [Hardware structure of the control device]

[0043] Figure 2 This is a diagram illustrating an example of the hardware structure of the control device 50.

[0044] As shown in the figure, the control device 50 is implemented, for example, by a general-purpose PC (Personal Computer), and includes a CPU 51 as the arithmetic unit, a main memory 52 as the storage unit, and a hard disk drive (HDD) 53. Here, the CPU 51 executes various programs such as the operating system (OS) and application software to implement the various functions of the control device 50. Furthermore, the main memory 52 is a storage area for storing various programs and data used for executing those programs, while the HDD 53 is a storage area for storing input data for various programs and output data from various programs.

[0045] In addition, the control device 50 includes: a communication I / O panel 54 for communicating with external devices; a display mechanism 55 including a video memory, a monitor, etc.; input devices 56 such as a keyboard and mouse; and a driver 57 for reading and writing data to the recording medium 70. It should be noted that... Figure 2 This is merely an example of the hardware structure in which the control device 50 is implemented by a computer system; the control device 5 is not limited to the structure shown in the figure.

[0046] in addition, Figure 2 The hardware structure shown can also be understood as the hardware structure of the stacked planning device 30. However, when describing the stacked planning device 30, Figure 2 The CPU51, main memory 52, disk drive 53, communication I / F 54, display mechanism 55, input device 56, and driver 57 are respectively described as CPU31, main memory 32, disk drive 33, communication I / F 34, display mechanism 35, input device 36, and driver 37.

[0047] [Background and Overview of this Implementation]

[0048] In the metal stacking system 1, the control device 50 controls the welding robot 10 to perform stacking welding based on the stacking plan created by the stacking plan device 30. However, even when stacking welding is performed based on such a stacking plan, the amount of weld deposited is not constant each time and may deviate from the plan due to individual differences in welding power sources / devices, small diameter differences based on batches of solder 14, etc. For example, consider the case where stacking is performed from left to right on flow paths with cavities to form left and right stacked shapes 100, and finally the left and right stacked shapes 100 are closed to complete the process. In this case, if the gap width between the left and right stacked shapes 100 exceeds the reference range, problems such as burn-through or insufficient penetration due to no weld bead on the back side and thus insufficient strength will frequently occur.

[0049] In this embodiment, for the stacked object 100 having a cavity shape such as a flow path shaped in a manner that stacks weld beads symmetrically on both sides, in order to perform closed welding with back weld beads without defects and stably in the final welding, the gap width is controlled within the target value range.

[0050] It should be noted that in this embodiment, the stacking of the stacked structure 100 is described as an example of a flow path with a circular arched cross-section, but it is not limited to this. This embodiment is widely applicable to stacking structures with other cross-sectional shapes, such as square tubes, or where there are specified intervals in the shapes of the structure. That is, this embodiment can be applied to a stacked structure 100 where the gap is formed by two independent weld beads. Alternatively, there may not be two independent weld beads; in other words, this embodiment can be applied to a stacked structure 100 where the gap is formed by multiple independent weld beads. It should be noted that the following description will cover the case where the stacked structure 100 includes n layers.

[0051] [First Implementation]

[0052] (summary)

[0053] Figure 3 This is a diagram showing an outline of the control based on the control device 50 in the first embodiment.

[0054] As shown in the figure, firstly, the control device 50 causes the welding robot 10 to execute the control program obtained from the stacking planning device 30, and uses the welding torch 13 to shape the first layer of the flow path (S11).

[0055] Next, the control device 50 uses the shape measuring device 15 to measure the shape of the cross section of the first layer of the flow path and obtains the measurement result of the cross section shape, i.e., the shape profile (S12).

[0056] Next, the control device 50 derives the gap width of the specified part and the target position of the next layer based on the shape profile obtained in S12 (S13).

[0057] Next, the control device 50 compares the planned value with the value derived in S13 for the gap width and target position, and corrects the stacking conditions and target position based on the comparison result (S14).

[0058] Next, the control device 50 updates the control program based on the stacking conditions and target position corrected in S14 (S15).

[0059] Subsequently, the control device 50 repeatedly performs S11 to S15 (S16) from the second layer to the nth layer. During this time, the control device 50 causes the welding robot 10 to execute the control program updated in S15 during S11. Additionally, for convenience, S12 to S15 are shown in the figure as also being executed for the nth layer; however, since the flow path is closed after shaping at the nth layer, strictly speaking, S12 to S15 may not be executed for the nth layer.

[0060] Finally, the control device 50 causes the welding robot 10 to perform the stacking of closed weld beads to close the gap, and uses the welding torch 13 to stack the closed weld beads (S17).

[0061] (Functional structure of the cascaded planning device)

[0062] Figure 4 This is a diagram illustrating an example of the functional structure of the stacking planning device 30 in the first embodiment. As shown, the stacking planning device 30 in the first embodiment includes a CAD data acquisition unit 41, a CAD data segmentation unit 42, a stacking plan generation unit 43, and a stacking plan output unit 44.

[0063] The CAD data acquisition unit 41 acquires three-dimensional CAD data representing the three-dimensional shape of the stacked model 100 from the CAD device 20.

[0064] The CAD data segmentation unit 42 generates multiple layer shape data representing the shape of each layer by segmenting (slicing) the three-dimensional CAD data acquired by the CAD data acquisition unit 41 into multiple layers. At this time, the CAD data segmentation unit 42 can also convert the three-dimensional CAD data into an internal form that is easily segmented into multiple layers.

[0065] The layer stacking plan generation unit 43 generates a layer stacking plan, which includes welding conditions and target positions when depositing weld beads that conform to the height and width of multiple layers generated by the CAD data segmentation unit 42. To generate such a layer stacking plan, in addition to the height and width of the weld beads, a model approximating the cross-sectional shape of the weld beads is also needed. This can be a model estimated based on measured values ​​from a measurement experiment and calculations of the cross-sectional area of ​​the deposited metal. In this embodiment, while changing the deposited amount by dividing the welding speed and wire feed speed into multiple conditions, several layers are stacked vertically and surfacing are performed, and the results obtained by measuring the height and width of each layer under each condition are databased. Then, during stacking, a welding speed and deposited amount that satisfy the desired height and width of the stack are selected, and the estimated shape of each layer is calculated at any time based on the measurement results, and the target position is determined. It should be noted that the calculation method for the deposited cross-section can be changed according to the material of the solder 14 and the shape of the already stacked parts. This calculation method is used to plan the layer stacking plan containing the shaped object.

[0066] The stacking plan output unit 44 outputs the stacking plan generated by the stacking plan generation unit 43 to the recording medium 70.

[0067] (Functional structure of the control device)

[0068] Figure 5 This is a diagram illustrating an example of the functional structure of the control device 50 in the first embodiment. As shown, the control device 50 in the first embodiment includes a stacking plan acquisition unit 61, a control program storage unit 62, a control program execution unit 63, a plan value storage unit 64, a shape profile receiving unit 65, a gap width exporting unit 66, a stacking condition correction unit 68, and a control program updating unit 69.

[0069] The overlay plan acquisition unit 61 acquires the overlay plan recorded in the recording medium 70.

[0070] Here, the stacking plan may include a control program for controlling the welding robot 10. Additionally, the stacking plan may include planned values ​​such as the target position for the welding robot 10 to stack weld beads, welding speed, feed rate of the solder 14 (hereinafter referred to as "feed rate"), welding current, welding voltage, posture of the welding torch 13, and the sequence of stacked weld beads. Furthermore, the stacking plan may include planned values ​​for at least one of the shape information of the stacked model 100, the height or width of the weld beads, and the cumulative value of the width or height of the weld beads during the stacking process. The stacking plan may also include a planned shape profile. As described later, the planned value for the gap width between weld beads is determined by the planned shape profile.

[0071] Furthermore, the cascaded plan acquisition unit 61 retrieves the control program and plan values ​​from the cascaded plan.

[0072] In this embodiment, as an example of a unit for obtaining the planned value of the width of the gap formed by multiple weld beads from the layer plan of the process of shaping the object, a layer plan obtaining unit 61 is provided.

[0073] The control program storage unit 62 stores the control program retrieved from the stacking plan by the stacking plan acquisition unit 61.

[0074] The control program execution unit 63 executes the control program stored in the control program storage unit 62 or the control program updated by the control program update unit 69. Thus, the control program execution unit 63 controls the welding robot 10 to form weld beads according to the stacking plan generated by the stacking plan generation unit 43 or a subsequently modified stacking plan.

[0075] Specifically, the control program execution unit 63 controls the welding robot 10 to form weld beads from the first layer to the nth layer.

[0076] Subsequently, the control program execution unit 63 controls the welding robot 10 to close the gap of the opening. When forming each layer of weld beads, the functional units described later control the gap width within a specified range, thereby enabling the welding robot 10 to stably close the gap. It should be noted that when closing the gap, the control program execution unit 63 should preferably perform different control than when forming weld beads from the first to the nth layer. In particular, to ensure sufficient penetration of the closed weld bead and the weld beads at both ends of the gap, sufficient penetration depth is required. Therefore, it is preferable that the control program execution unit 63 adjusts the heat input amount to match the shape of the opening. Here, as a control for adjusting the heat input amount, the control program execution unit 63 can adjust not only the welding current and welding voltage, but also the mixing ratio of the shielding gas.

[0077] The planned value storage unit 64 stores the planned values ​​retrieved from the cascaded plan by the cascaded plan acquisition unit 61.

[0078] The shape profile receiving unit 65 receives from the shape measuring unit 15 the shape profile of the cross-section of the stacked model 100, which is stacked by executing a control program through the control program execution unit 63. Here, in the case where gaps are formed in the stacked model 100 by multiple independent weld beads, the shape profile includes multiple shape profile portions corresponding to each of the multiple independent weld beads.

[0079] In this embodiment, a shape profile receiving unit 65 is provided as an example of a measuring unit that measures multiple shape profiles corresponding to multiple weld beads stacked based on a stacking plan.

[0080] exist Figure 6 The diagram shows an example of a shape profile received by the shape profile receiving unit 65. By updating the shape profile in accordance with the progress of the stacking as shown, the movement of the stacked shape can be understood based on the shape profile. Furthermore, by overlapping and arranging target positions T1, T2, ..., Tn corresponding to the stacked weld beads B1, B2, ..., Bn in the shape profile as shown, the positional relationship between the weld bead shape and the target position can be compared.

[0081] The gap width deriving unit 66 derives the gap width and the target position of the next layer based on the shape profile received by the shape profile receiving unit 65 and the planned value stored in the planned value storage unit 64.

[0082] The shape contour receiving unit 65 receives, for example Figure 6 In the case of such a shape profile, there are curved weld walls on the left and right sides respectively. Therefore, the gap width derivation section 66 derives the gap width as the distance between welds located at the apex of the aforementioned weld walls.

[0083] Figure 7 The diagram illustrates the method for deriving the gap width in this case. Figure 7 In the diagram, the planned shape profile 610 is represented by a dashed line, and the actual shape profile 620 is represented by a solid line. Furthermore, the planned value of the gap width obtained from the planned shape profile 610 is set as GapP, and the actual value of the gap width obtained from the actual shape profile 620 is set as GapG and GapR. In the shape profile obtained using laser technology (hereinafter referred to as "sensor profile 630"), as shown by the thick solid line, sometimes only information about a portion of the actual shape can be obtained.

[0084] In this case, there may be a difference between GapG, which is the apparent closest distance between weld beads, and GapR, which is the actual closest distance between weld beads. When there is a plan for closure at the top of the flow path, it is preferable to know GapR. Therefore, the gap width derivation unit 66 can also estimate GapR based on GapG. Specifically, the gap width derivation unit 66 can convert GapG to GapR by obtaining a bias value that conforms to the relationship between GapG and GapR from a simplified test specimen. Alternatively, the gap width derivation unit 66 can also estimate GapR by inputting GapG into a model obtained through machine learning of the relationship between GapG and GapR obtained from the simplified test specimen. It should be noted that the gap width derivation unit 66 can use a specific position on the sensor profile 630 when deriving GapG, but it is preferable to set the most prominent front end position on the sensor profile 630 in the gap width direction as this specific position. Figure 7 In this context, the front-end position can be the boundary point between the range 621 (represented by the thick solid line) that the sensor contour 630 can reach and the range 622 (represented by the thin solid line) that the sensor contour 630 cannot reach. Alternatively, the new target positions TRR and TRL (described later) can be considered as the front-end position, or the range that the sensor contour 630 can reach can be taken into account to extract the front-end position.

[0085] In this embodiment, as an example of a function of a gap width exporting unit 66, this function is provided as an exporting unit that exports actual values ​​of the width of gaps based on multiple shape contours.

[0086] Furthermore, in this embodiment, as an example of an export section that exports the actual value of the gap width as the distance between specific positions of each of the multiple shape contours, this function of gap width export section 66 is provided.

[0087] Furthermore, in this embodiment, the front end position of each weld bead protruding in the direction of the gap is estimated based on the specific position of each shape contour of the plurality of shape contours. As an example of an output section that derives the actual value of the gap width as the distance between the front end positions, this function of the gap width output section 66 is provided.

[0088] Furthermore, if the target position of the next layer is set at a location far from the weld bead, it may lead to poor arc generation and poor stacking shape. Therefore, the gap width derivation section 66 also derives the target position of the next layer.

[0089] exist Figure 7 The method for deriving the target positions in this case is also shown. The gap width deriving unit 66 derives the planned target positions TPR, TPL as new target positions TRR, TRL, by extending along the VR, VL directions (which are the stacking directions) at the overhang angle θOH and intersecting with the sensor profile 630. It should be noted that, for the case where the sensor profile 630 does not intersect with the VR, VL directions, the target positions of the next layer can be derived based on the shape profile obtained by supplementing with a specified weld bead shape model.

[0090] The stacking condition correction unit 68 compares the actual value of the gap width derived by the gap width derivation unit 66 and the new target position with the planned gap width and target position stored in the planned value storage unit 64.

[0091] Specifically, the stacking condition correction unit 68 compares the planned value of the gap width stored in the planned value storage unit 64 with the actual value of the gap width derived by the gap width derivation unit 66, and calculates the offset ε. Here, the actual value of the gap width can be a value obtained directly from the sensor profile (e.g., GapG), or a value obtained by estimation based on the sensor profile (e.g., GapR). The stacking condition correction unit 68 corrects the stacking condition of the weld bead stacked in the next layer using a correction amount corresponding to the calculated offset ε. For example, if the next layer to be stacked is set as layer k, the current offset is set as εk, and the change from the previous offset is set as Δεk, then the stacking condition correction unit 68 can correct the welding speed WeldVk using the correction amount shown in the following formula (1).

[0092]

[0093] Equation (1) is the formula for PID control, where Kp represents the proportional gain, Kd represents the derivative gain, Ki represents the integral gain, θOH represents the overhang angle, and φ represents the tilt angle of the welding torch 13 relative to the horizontal plane. In Equation (1), the standard setting value of the welding speed is corrected based on the overhang angle θOH and the tilt angle φ of the welding torch 13. The corrected welding speed is further corrected by a correction term that depends on the offset ε of the gap width. It should be noted that it is not necessary to set all the terms from the second to the fourth term on the right side of Equation (1). It is sufficient to set at least one of the terms from the second to the fourth term. In addition, terms can be added or omitted according to the progress of the stacking. For example, the fourth term on the right side of Equation (1) can be added starting from the m-th layer, which is the intermediate layer. In this case, the value of m can be adjusted according to the convergence of the offset ε. Moreover, the gains Kp, Kd, ​​and Ki can be adjusted according to the overhang angle θOH and the condition of the stacked weld beads. In equation (1), the gain Kp is corrected based on the overhang angle θOH. ​​This is because, as Figure 7 As shown, even if the weld deposition is the same, the contribution to the gap width direction is different due to the different overhang angles θOH. ​​Thus, the lamination condition correction unit 68 corrects the welding speed using equation (1), but the feed speed can also be corrected using a formula similar to equation (1).

[0094] In this embodiment, as an example of a correction unit that corrects the stacking conditions of multiple weld beads in a way that reduces the deviation between the planned value of the gap width and the actual value of the gap width, the stacking condition correction unit 68 is provided with this function.

[0095] Furthermore, in this embodiment, Equation (1) is used as an example of a correction formula that adds at least one of the proportional, differential, and integral terms corresponding to the offset to the standard setting value of the stacking conditions. Also, in this embodiment, the stacking condition correction unit 68 is provided as an example of a correction unit that uses the correction formula to correct the stacking conditions.

[0096] Furthermore, in this embodiment, as an example of a correction unit that switches from a correction formula that does not add an integral term to the standard setting value of the stacking conditions to a correction formula that adds an integral term to the standard setting value of the stacking conditions in accordance with the progress of the stacking, the stacking condition correction unit 68 is provided with this function.

[0097] Furthermore, the overlay condition correction unit 68 compares the planned target position stored in the planned value storage unit 64 with the new target position derived by the gap width derivation unit 66 on the shape profile. At this time, the overlay condition correction unit 68 calculates the distances AR and AL between the planned target positions TPR and TPL and the new target positions TRR and TRL (see reference). Figure 7Here, the new target positions TRR and TRL can be specific locations on the sensor profile 630. However, as previously mentioned, this specific location is preferably set as the position where the planned target positions TPR and TPL intersect the sensor profile 630 by extending along the VR and VL directions, which are the stacking directions, at the overhang angle θOH (see reference). Figure 7 Furthermore, the stacking condition correction unit 68 uses the correction amount, namely the correction vector 3, which uses the distance AR and AL between the target positions according to the following formula (2) to update the target position indicated to the welding robot 10 to a new target position TRR and TRL.

[0098]

[0099] Here, Vj is a unit vector in the direction from the target position of the current layer to the target position of the next layer. The angle between Vj and the horizontal plane is acute. Without such target position updates, sometimes an arc cannot be correctly generated at the front end of the stacked weld bead, the arc becomes unstable, or errors occur in the welding power source, causing the equipment to stop.

[0100] In this embodiment, as an example of a correction unit that corrects the planned value of the target position when depositing multiple weld beads in a layer to a specific position of each shape contour of multiple shape contours, the stacking condition correction unit 68 is provided with this function.

[0101] The control program update unit 69 updates the control program using the correction amount calculated by the stacking condition correction unit 68. The weld beads to be updated are the weld beads at both ends of the gap. In particular, if the deposition amount is adjusted independently, the shape of the left and right weld beads is prone to become uneven (asymmetrical). Therefore, the correction amount of welding speed or feed speed derived from equation (1) is applicable to the stacking of weld beads at both ends of the gap. On the other hand, the correction amount for the target position can be adjusted separately on the left and right sides of the gap. For example, when the solder 14 bends from the tip of the welding torch 13 in a specified direction, the way the offset value matching the bending direction is assigned can be different at the weld bead stacked on the left side of the gap and at the weld bead stacked on the right side of the gap.

[0102] It should be noted that the control program update unit 69 can also correct the posture of the welding robot 10 along with the correction of the target position and the amount of weld deposition.

[0103] (The operation of the cascaded planning device)

[0104] Figure 8 This is a flowchart illustrating an example of the operation of the stacking planning device 30 in the first embodiment.

[0105] As shown in the figure, in the stacked planning device 30, firstly, the CAD data acquisition unit 41 acquires three-dimensional CAD data from the CAD device 20 (step 301).

[0106] Next, the CAD data segmentation unit 42 segments the three-dimensional CAD data obtained in step 301 into multiple layers and generates layer shape data (step 302).

[0107] Next, the stacking plan generation unit 43 generates a stacking plan based on the layer shape data generated in step 302 (step 303).

[0108] Next, the stacking plan output unit 44 outputs the stacking plan generated in step 303 to the recording medium 70 (step 304).

[0109] (The operation of the control device)

[0110] In the control device 50, firstly, the overlay plan acquisition unit 61 acquires the overlay plan from the recording medium 70, stores the control program contained in the overlay plan in the control program storage unit 62, and stores the plan value contained in the overlay plan in the plan value storage unit 64. Then, the control program execution unit 63 reads the control program stored in the control program storage unit 62 and executes the control program, thereby initiating the execution of the modeling control processing in the first embodiment.

[0111] Figure 9 This is a flowchart representing the content of such shape control processing.

[0112] As shown in the figure, firstly, the control program execution unit 63 sets the layer index i to 1 (step 501).

[0113] Next, the control program execution unit 63 increments the layer index i by 1 successively until the layer number n, and performs the following processing on each index i.

[0114] That is, the control program execution unit 63 controls the welding robot 10 in a manner that shapes the i-th layer of the stacked model 100 (step 502).

[0115] Next, the control program execution unit 63 determines whether the index i of the layer has reached the layer number n (step 503).

[0116] As a result, if it is determined that the index i of the layer has not reached the layer number n, the shape contour receiving unit 65 receives the shape contour from the shape measuring device 15 (step 504).

[0117] Next, the gap width derivation unit 66 derives the actual value of the gap width and the new target position of the next layer based on the planned value stored in the planned value storage unit 64 and the shape profile received in step 504 (step 505).

[0118] Next, the stacking condition correction unit 68 compares the planned value of the gap width stored in the planned value storage unit 64 with the actual value of the gap width derived in step 505, and corrects the stacking condition in a way that reduces its offset (step 506). Specifically, the stacking condition correction unit 68 calculates a correction amount corresponding to the offset and corrects the stacking condition by the amount corresponding to the correction amount.

[0119] Next, the stacking condition correction unit 68 compares the planned value of the target position stored in the planned value storage unit 64 with the new target position of the next layer derived in step 505, and corrects the target position of the next layer (step 507). Specifically, the stacking condition correction unit 68 calculates the correction amount for the target position and corrects the target position by the amount corresponding to the correction amount.

[0120] Next, the control program update unit 69 updates the control program being executed by the control program execution unit 63 based on the correction amount obtained in steps 506 and 507 (step 508).

[0121] Then, the control program execution unit 63 increments the index i of the layer by 1 (step 509) and returns the process to step 502.

[0122] On the other hand, if it is determined that the index i of the layer has reached the layer number n, the control program execution unit 63 controls the welding robot 10 in a way that closes the gap (step 510) and ends the process.

[0123] (Effect)

[0124] In the first embodiment, when shaping an object with gaps formed by multiple weld beads, the stacking conditions of the multiple weld beads are corrected in a way that minimizes the deviation between the planned and actual values ​​of the gap width. This allows the gap width to be controlled within an appropriate range.

[0125] [Second Implementation]

[0126] (summary)

[0127] The control based on the control device 50 in the first embodiment can be combined with other controls. For example, in the second embodiment, the control based on the gap width in the first embodiment is combined with the control based on the weld growth amount (hereinafter referred to as "growth amount").

[0128] For example, in a circular arch-shaped stacked structure 100, the layers that constitute the majority of the height of the stacked structure 100 are the first half of the layers (layers 1, 2, 3, ..., m-1). Therefore, from the perspective of managing the stack height, it is preferable to control the growth amount in the first half of the layers. In the second half of the layers (layers m, m+1, ..., n), even as the number of layers increases, the increase in stack height is small, and the left and right weld spacing varies more significantly in each layer compared to the stack height. Therefore, by treating the left and right weld spacing as gap width and switching to gap width-based control, the spacing between weld walls can be adjusted to an appropriate amount, easily ensuring the quality of closed welds. Conversely, if the spacing between weld walls is not appropriate, it may lead to poor formation of back welds, perforations caused by burn-through of weld metal, and other defects.

[0129] Figure 10 This is a diagram illustrating an outline of other controls based on the control device 50 in the second embodiment.

[0130] As shown in the figure, firstly, the control device 50 causes the welding robot 10 to execute the control program obtained from the stacking planning device 30, and uses the welding torch 13 to shape the first layer of the flow path (S21).

[0131] Next, the control device 50 uses the shape measuring device 15 to measure the shape of the cross section of the first layer of the flow path and obtains the measurement result of the cross section shape, i.e., the shape profile (S22).

[0132] Next, the control device 50 derives the growth amount and the target position of the next layer based on the shape profile obtained in S22 (S23).

[0133] Next, the control device 50 compares the planned values ​​for growth amount and target position with the values ​​derived in S23, and corrects the stacking conditions and target position based on the comparison results (S24).

[0134] Next, the control device 50 updates the control program based on the stacking conditions and target position corrected in S24 (S25).

[0135] Subsequently, the control device 50 repeatedly performs S21 to S25 (S26) from the second layer to the m-th layer. During this time, the control device 50 causes the welding robot 10 to execute the control program updated in S25 during S21. Furthermore, in the figure, for convenience, it is shown that S22 to S25 are also executed on the m-th layer. However, since control based on the gap width is performed after shaping the flow path on the m-th layer, strictly speaking, S22 to S25 can be performed on the m-th layer instead of S22 to S25. Figure 3 S12~S15.

[0136] (Functional structure of the cascaded planning device)

[0137] The functional structure of the stacking planning device 30 in the second embodiment is the same as that in the first embodiment, so the description is omitted.

[0138] (Functional structure of the control device)

[0139] Figure 11 This is a diagram illustrating an example of the functional structure of the control device 50 in the second embodiment. As shown, the control device 50 in the second embodiment includes a stacking plan acquisition unit 61, a control program storage unit 62, a control program execution unit 63, a plan value storage unit 64, a shape profile receiving unit 65, a gap width exporting unit 66, a growth amount exporting unit 67, a stacking condition correction unit 68, and a control program updating unit 69.

[0140] The descriptions of the stacking plan acquisition unit 61, control program storage unit 62, control program execution unit 63, plan value storage unit 64, shape profile receiving unit 65, and gap width exporting unit 66 are omitted as they are the same as in the first embodiment.

[0141] The growth amount deriving unit 67 derives the growth amount and the target position of the next layer based on the shape profile received by the shape profile receiving unit 65 and the planned value stored in the planned value storage unit 64.

[0142] The cascading condition correction unit 68 performs the following operations on layers m-1 from the first layer. Specifically, the cascading condition correction unit 68 compares the actual growth value derived by the growth amount derivation unit 67 and the new target position with the planned growth amount and target position stored in the planned value storage unit 64. Then, the cascading condition correction unit 68 sets the offset between the planned value of the growth amount stored in the planned value storage unit 64 and the actual value of the growth amount derived by the growth amount derivation unit 67 to ε, and updates the cascading conditions using the same formula as in equation (1). Furthermore, the cascading condition correction unit 68 updates the target position of the next layer using the same formula as in equation (2).

[0143] In this embodiment, as an example of a correction unit of a first correction method that performs a method to correct the stacking conditions in such a way as to reduce the offset between the planned value of the growth amount in the stacking direction of each of the multiple weld beads and the actual value of the growth amount derived from the shape profile, the stacking condition correction unit 68 is provided with this function.

[0144] In addition, the stacking condition correction unit 68 performs the same operation on layers m to n as in the first embodiment.

[0145] In this embodiment, as an example of a correction unit that performs a second correction method to correct the stacking conditions in a way that reduces the offset between the planned value of the gap width and the actual value of the gap width, the stacking condition correction unit 68 is provided with this function.

[0146] Furthermore, in this embodiment, as an example of a correction unit that switches the correction method for correcting the stacking conditions from a first correction method to a second correction method in accordance with the progress of stacking, a stacking condition correction unit 68 is provided.

[0147] Regarding the control program update unit 69, since it is the same as in the first embodiment, the description is omitted.

[0148] (The operation of the cascaded planning device)

[0149] The operation example of the stacking planning device 30 in the second embodiment is the same as that in the first embodiment, so the description is omitted.

[0150] (The operation of the control device)

[0151] In the control device 50, firstly, the overlay plan acquisition unit 61 acquires the overlay plan from the recording medium 70, and stores the control program contained in the overlay plan in the control program storage unit 62, and stores the plan value contained in the overlay plan in the plan value storage unit 64. Then, the control program execution unit 63 reads the control program stored in the control program storage unit 62 and executes the control program, thereby starting the execution of the modeling control processing in the second embodiment.

[0152] Figure 12 This is a flowchart illustrating the content of such shape control processing.

[0153] As shown in the figure, firstly, the control program execution unit 63 sets the layer index i to 1 (step 551).

[0154] Next, the control program execution unit 63 increments the layer index i by 1 successively until the layer number n, and performs the following processing on each index i.

[0155] That is, the control program execution unit 63 controls the welding robot 10 in a manner that shapes the i-th layer of the stacked model 100 (step 552).

[0156] Next, the control program execution unit 63 determines whether the index i of the layer has reached the layer number n (step 553).

[0157] As a result, if it is determined that the index i of the layer has not reached the layer number n, the shape profile receiving unit 65 receives the shape profile from the shape measuring device 15 (step 554).

[0158] Next, the shape contour receiving unit 65 determines whether the index i of the layer has reached the layer number m (step 555).

[0159] As a result, if it is determined that the index i of the layer has not reached the layer number m, the growth amount derivation unit 67 derives the actual value of the growth amount and the new target position of the next layer based on the planned value stored in the planned value storage unit 64 and the shape profile received in step 554 (step 556).

[0160] Next, the stacking condition correction unit 68 compares the planned value of the growth amount stored in the planned value storage unit 64 with the actual value of the growth amount derived in step 556, and corrects the stacking condition in a way that reduces the offset (step 557). Specifically, the stacking condition correction unit 68 calculates a correction amount corresponding to the offset and corrects the stacking condition by the amount corresponding to the correction amount.

[0161] On the other hand, if it is determined that the index i of the layer has reached the layer number m, the gap width derivation unit 66 derives the actual value of the gap width and the new target position of the next layer based on the planned value stored in the planned value storage unit 64 and the shape profile received in step 554 (step 558).

[0162] Next, the stacking condition correction unit 68 compares the planned value of the gap width stored in the planned value storage unit 64 with the actual value of the gap width derived in step 558, and corrects the stacking condition in such a way that the offset decreases (step 559). Specifically, the stacking condition correction unit 68 calculates a correction amount corresponding to the offset and corrects the stacking condition by the amount corresponding to the correction amount.

[0163] Next, the stacking condition correction unit 68 compares the planned value of the target position stored in the planned value storage unit 64 with the new target position of the next layer derived in step 556 or step 558, and corrects the target position of the next layer (step 560). Specifically, the stacking condition correction unit 68 calculates the correction amount for the target position and corrects the target position by the amount corresponding to the correction amount.

[0164] Next, the control program update unit 69 updates the control program being executed by the control program execution unit 63 based on the correction amount obtained in steps 557 and 560, or steps 559 and 560 (step 561).

[0165] Then, the control program execution unit 63 increments the index i of the layer by 1 (step 562) and returns the process to step 552.

[0166] On the other hand, if it is determined that the index i of the layer has reached the layer number n, the control program execution unit 63 controls the welding robot 10 in a way that closes the gap (step 563) and ends the process.

[0167] (Effect)

[0168] In the second embodiment, when shaping an object with gaps formed by multiple weld beads, the stacking conditions of the multiple weld beads are corrected in the first half to reduce the deviation between the planned and actual growth values, and in the second half to reduce the deviation between the planned and actual gap width values. This allows the height and width of the object to be satisfied, and the gap width to be controlled within an appropriate range.

[0169] This application claims priority to Japanese Patent Application No. 2023-216840, filed on December 22, 2023. Japanese Patent Application No. 2023-216840 is incorporated herein by reference.

[0170] This disclosure may include the following schemes.

[0171] (Option 1)

[0172] A control method for a layered molding device, wherein the layered molding device shapes an object by layering and depositing weld beads using a welding torch, wherein...

[0173] The control method for the layered molding device includes:

[0174] The step involves obtaining a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object.

[0175] The measurement step involves measuring the multiple shape contours corresponding to the multiple weld beads stacked based on the stacking plan.

[0176] The export step involves deriving the actual value of the gap width based on the plurality of shape contours; and

[0177] The correction step is to adjust the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

[0178] (Option 2)

[0179] According to the control method of the layered molding device described in Scheme 1, wherein,

[0180] In the export step, the distance between specific positions of each of the plurality of shape contours is exported as the actual value of the width of the gap.

[0181] (Option 3)

[0182] According to the control method of the layered molding device described in Scheme 2, wherein,

[0183] The specific position is the front end position of each of the plurality of shape contours protruding in the direction of the gap.

[0184] (Option 4)

[0185] According to the control method of the layered molding device according to any one of Schemes 1 to 3, wherein,

[0186] In the export step, the front end position of each of the plurality of weld beads protruding in the direction of the gap is estimated based on the specific position of each of the plurality of shape contours, and the distance between the front end positions is exported as the actual value of the width of the gap.

[0187] (Option 5)

[0188] According to the control method of the layered molding device described in Scheme 4, wherein...

[0189] The specific position is the front end position of each of the plurality of shape contours protruding in the direction of the gap.

[0190] (Option 6)

[0191] According to the control method of the layered molding device according to any one of Schemes 1 to 5, wherein,

[0192] In the correction step, the stacking condition is corrected by adding a correction term to at least one of the proportional, differential, and integral terms corresponding to the offset, based on the standard setting value of the stacking condition.

[0193] (Option 7)

[0194] According to the control method of the layered molding device described in Scheme 6, wherein,

[0195] In the correction step, the correction form that does not add the integral term to the standard setting of the stacking condition is switched to the correction form that adds the integral term to the standard setting of the stacking condition, in accordance with the progress of the stacking.

[0196] (Option 8)

[0197] The control method of the layered molding device according to any one of Schemes 1 to 7, wherein,

[0198] In the correction step, the planned value of the target position of each of the plurality of weld beads when stacked in the next layer is corrected to the specific position of each of the plurality of shape contours.

[0199] (Option 9)

[0200] According to the control method of the layered molding device described in Scheme 8, wherein,

[0201] The specific position is the position where the planned value of the target position is extended in the stacking direction and intersects with the contours of each shape.

[0202] (Option 10)

[0203] According to the control method of the layered molding device described in Scheme 1, wherein,

[0204] In the correction step, the correction method for correcting the stacking conditions is switched from a first correction method to a second correction method in accordance with the progress of the stacking.

[0205] The first correction method is a method of correcting the stacking conditions in such a way as to reduce the offset between the planned value of the growth amount in the stacking direction of each of the plurality of weld beads and the actual value of the growth amount derived based on the shape profile.

[0206] The second correction method is a method of correcting the stacking conditions in such a way as to reduce the offset between the planned value of the gap width and the actual value of the gap width.

[0207] (Option 11)

[0208] A control device for a layered molding apparatus, wherein the layered molding apparatus shapes an object by layering and depositing weld beads using a welding torch, wherein...

[0209] The control device for the layered molding apparatus includes:

[0210] The acquisition unit obtains a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object.

[0211] The measurement unit measures the multiple shape profiles corresponding to the multiple weld beads stacked based on the stacking plan.

[0212] The derivation section derives actual values ​​of the width of the gap based on the plurality of shape contours; and

[0213] The correction unit corrects the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

[0214] (Option 12)

[0215] A program for enabling the control device of a stacking molding apparatus that shapes an object by depositing weld beads using a welding torch:

[0216] The function is to obtain a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object;

[0217] The measurement function measures the multiple shape contours corresponding to the multiple weld beads stacked based on the stacking plan.

[0218] The export function exports the actual value of the gap width based on the multiple shape contours; and

[0219] The correction function adjusts the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

[0220] Explanation of reference numerals in the attached figures

[0221] 1…Metal stacking modeling system; 10…Welding robot; 13…Welding torch; 15…Shape measuring instrument; 20…CAD device; 30…Stacking planning device; 41…CAD data acquisition unit; 42…CAD data segmentation unit; 43…Stacking plan generation unit; 44…Stacking plan output unit; 50…Control device; 61…Stacking plan acquisition unit; 62…Control program storage unit; 63…Control program execution unit; 64…Plan value storage unit; 65…Shape contour receiving unit; 66…Gap width derivation unit; 67…Growth amount derivation unit; 68…Stacking condition correction unit; 69…Control program update unit; 70…Recording medium.

Claims

1. A control method for a layered molding device, wherein the layered molding device shapes an object by layering and depositing weld beads using a welding torch, wherein, The control method for the layered molding device includes: The step involves obtaining a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object. The measurement step involves measuring the multiple shape contours corresponding to the multiple weld beads stacked based on the stacking plan. The export step involves deriving the actual value of the gap width based on the plurality of shape contours; and The correction step is to adjust the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

2. The control method for the layered molding device according to claim 1, wherein, In the export step, the distance between specific positions of each of the plurality of shape contours is exported as the actual value of the width of the gap.

3. The control method for the layered molding device according to claim 2, wherein, The specific position is the front end position of each of the plurality of shape contours protruding in the direction of the gap.

4. The control method for the layered molding device according to claim 1, wherein, In the export step, the front end position of each of the plurality of weld beads protruding in the direction of the gap is estimated based on the specific position of each of the plurality of shape contours, and the distance between the front end positions is exported as the actual value of the width of the gap.

5. The control method for the layered molding device according to claim 4, wherein, The specific position is the front end position of each of the plurality of shape contours protruding in the direction of the gap.

6. The control method for the layered molding device according to claim 1, wherein, In the correction step, the stacking condition is corrected by adding a correction term to at least one of the proportional, differential, and integral terms corresponding to the offset, based on the standard setting value of the stacking condition.

7. The control method for the layered molding device according to claim 6, wherein, In the correction step, the correction form that does not add the integral term to the standard setting of the stacking condition is switched to the correction form that adds the integral term to the standard setting of the stacking condition, in accordance with the progress of the stacking.

8. The control method for the layered molding device according to claim 1, wherein, In the correction step, the planned value of the target position of each of the plurality of weld beads when stacked in the next layer is corrected to the specific position of each of the plurality of shape contours.

9. The control method for the layered molding device according to claim 8, wherein, The specific position is the position where the planned value of the target position is extended in the stacking direction and intersects with the contours of each shape.

10. The control method for the layered molding device according to claim 1, wherein, In the correction step, the correction method for correcting the stacking conditions is switched from a first correction method to a second correction method in accordance with the progress of the stacking. The first correction method is a method of correcting the stacking conditions in such a way as to reduce the offset between the planned value of the growth amount in the stacking direction of each of the plurality of weld beads and the actual value of the growth amount derived based on the shape profile. The second correction method is a method of correcting the stacking conditions in such a way as to reduce the offset between the planned value of the gap width and the actual value of the gap width.

11. A control device for a layered molding apparatus, wherein the layered molding apparatus shapes an object by layering and depositing weld beads using a welding torch, wherein... The control device for the layered molding apparatus includes: The acquisition unit obtains a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object. The measurement unit measures the multiple shape profiles corresponding to the multiple weld beads stacked based on the stacking plan. The derivation section derives the actual value of the width of the gap based on the plurality of shape contours; as well as The correction unit corrects the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

12. A program for enabling the control device of a stacking molding apparatus for shaping an object by stacking weld beads using a welding torch: The function is to obtain a planned value for the width of the gap formed by multiple weld beads from the stacking plan of the process of shaping the object; The measurement function measures the multiple shape contours corresponding to the multiple weld beads stacked based on the stacking plan. The export function exports the actual value of the width of the gap based on the multiple shape contours; as well as The correction function adjusts the stacking conditions of the plurality of weld beads in such a way that the offset between the planned value of the gap width and the actual value of the gap width is reduced.

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