Additive manufacturing system, path information generation device, path information generation method, and program

Abstract

To provide a lamination molding system capable of obtaining lamination path information and cutting path information more easily than before.SOLUTION: A lamination molding system includes a common path generation unit that generates lamination path information used for lamination of a molded object and measurement path information used for measurement of a laminated object obtained by the lamination from data indicating a shape of the molded object, and a cutting path generation unit that generates cutting path information for cutting the laminated object from a measurement result obtained by the measurement and the data indicating the shape of the molded object.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an additive manufacturing system, a path information generating device, a path information generating method, and a program. [Background technology]

[0002] Conventionally, a known device configuration for WAAM (Wire Arc Additive Manufacturing) is one that uses an arc welding robot to laminate metal materials. In addition, the WAAM laminate (bead) may be subjected to cutting.

[0003] Patent Document 1 discloses a method for setting an excess pad amount in consideration of thermal shrinkage of a laminate after molding and elastic deformation due to strain relief after machining. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-097193 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in conventional cutting processes for laminates (beads), there is a problem in that the process of preparing lamination path information indicating the path of the tool (arc welding torch) that performs the lamination and cutting path information indicating the path of the tool (cutting mill) that performs the cutting can be complicated.

[0006] The present invention has been made in consideration of the above circumstances, and provides an additive manufacturing system, a path information generation device, a path information generation method, and a program that can obtain stacking path information and cutting path information more easily than conventional methods. [Means for solving the problem]

[0007] The present invention has been made to solve the above-mentioned problems, and one aspect of the present invention is an additive manufacturing system comprising: a common path information generation unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object; and a cutting path information generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results from the measurement.

[0008] Another aspect of the present invention is the above-described additive manufacturing system, wherein the common path information generation unit generates common path information used as the additive path information and the measurement path information.

[0009] Another aspect of the present invention is the above-mentioned additive manufacturing system, which includes a stacking control information generation unit that generates stacking control information from information indicating the relative position of the tool performing the stacking with respect to a robot equipped with the tool performing the stacking and the common path information, and a measurement control information generation unit that generates measurement control information from information indicating the relative position of the tool performing the measurement with respect to a robot equipped with the tool performing the measurement and the common path information.

[0010] Another aspect of the present invention is the above-mentioned additive manufacturing system, wherein the common path information generation unit uses three-dimensional model data as data indicating the shape of the object, and the cutting control information generation unit uses surface feature data as data indicating the shape of the object.

[0011] Another aspect of the present invention is a path information generation device that includes a common path generation unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object, and a cutting path generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting paths generated from the data indicating the shape of the object based on the measurement results.

[0012] Another aspect of the present invention is a path information generation method comprising the steps of: generating, from data indicating the shape of a molded object, lamination path information used to laminate the molded object and measurement path information used to measure the laminated object by laminating the molded object; and generating cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the molded object based on the measurement results from the measurement.

[0013] Another aspect of the present invention is a program for causing a computer to function as a common path generation unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object, and a cutting path generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results. [Effects of the Invention]

[0014] According to the present invention, laminating pass information and cutting pass information can be obtained more easily than in the past. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing an outline of an additive manufacturing system 100 according to an embodiment of the present invention. [Figure 2] FIG. 2 is a cross-sectional view showing an example of a laminate according to the embodiment. [Figure 3] FIG. 2 is a schematic block diagram showing the configuration of an additive manufacturing system 100 according to the embodiment. [Figure 4] 1 is a schematic block diagram showing the configurations of a path information generating device 10 and a control device 20 in the embodiment. [Figure 5] 10 is a flowchart illustrating the operation of a common path generating unit 11 in the embodiment. [Figure 6] 4 is a flowchart illustrating the operation of a cutting path generating unit 12 in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an additive manufacturing system 100 according to one embodiment of the present invention. The additive manufacturing system 100 is attached to the robot arm of a welding robot (not shown). An arc welding torch T1 for WAAM is used to build a metal laminate W1 on a rotating table R1. An inline profiler P1 and a cutting mill (cutting tool) M1 attached to the robot arm of a cutting and measurement robot (not shown) measure the laminate W1 and cut off excess material from the laminate W1, respectively. Measurement may be performed, for example, after each layer of metal is built. If the table surface of the rotating table R1 is rotated while the build is being built, measurement may be performed in parallel with the build. Cutting may be performed after the build is completed, when the build is interrupted, or when the build of a branch portion begins. The build may be interrupted based on the length of the wire used for WAAM, temperature conditions, etc. By laminating after cutting, it is possible to prevent gaps from forming inside the laminate or a decrease in the strength of the laminate due to the influence of oxide films and unevenness on the surface of the laminate.

[0017] Fig. 2 is a cross-sectional view showing an example of a laminate according to this embodiment. The laminate shown in Fig. 2 is a rotating body, and Fig. 2 is a cross-sectional view taken along a plane including the rotation axis of the rotating body. In the laminate shown in Fig. 2, excess material is generated on the inside of the wall surface of portion E2. The additive manufacturing system 100 measures the shape of the laminate (e.g., the shape of the top surface) using an inline profiler P1, determines a cutting path from the measurement results, and performs cutting using a cutting mill M1.

[0018] FIG. 3 is a schematic block diagram showing the configuration of an additive manufacturing system 100 according to this embodiment. The additive manufacturing system 100 includes a path information generating device 10, a control device 20, a welding robot 30, a swivel table 40, and a cutting / measuring robot 50. The path information generating device 10 generates lamination path information used to laminate the object, measurement path information used to measure the laminated object formed by the lamination, and cutting path information for cutting the laminated object. The additive manufacturing system 100 uses measurement results of the laminated object when generating the cutting path information. The path information indicates the posture and position of a tool for laminating, measuring, and cutting at each time. The path information may further include information indicating the relative speed of the tool with respect to the laminated object. The information indicating the relative speed may include information indicating the rotation position or rotation speed of the swivel table 40. The path information generating device 10 may be implemented by one or more computers reading and executing a program.

[0019] As will be described later, in this embodiment, the posture and position of the arc welding torch T1, which is the tool that performs the lamination, and the in-line profiler P1 that performs the measurement are basically the same, and the path information generating device 10 generates common path information that is used as lamination path information and measurement path information, but the lamination path information and the measurement path information may also be generated separately.

[0020] Here, the phrase "basically the same" is used to describe the posture and position of the arc welding torch T1 and the in-line profiler P1. For example, assume that the welding robot 30 and the cutting / measuring robot 50 are positioned 180 degrees apart around the rotation axis of the swivel table 40, with the swivel table 40 sandwiched between them. In this case, the phrase "basically the same" means that the posture and position of the arc welding torch T1 relative to the laminate W1 when the swivel table 40 is at a certain rotation position θ1 are the same as the posture and position of the in-line profiler P1 relative to the laminate W1 when the swivel table 40 is at a rotation position θ1+180 degrees.

[0021] The control device 20 generates stacking control information indicating the control details of the welding robot 30 and the swivel table 40 when stacking, based on the stacking path information. Similarly, the control device 20 generates measurement control information indicating the control details of the cutting / measuring robot 50 and the swivel table 40 when measuring, based on the measurement path information, and generates cutting control information indicating the control details of the cutting / measuring robot 50 and the swivel table 40 when cutting, based on the cutting path information. The control device 20 may be realized by one or more computers reading and executing a program.

[0022] Welding robot 30 is a robot equipped with arc welding torch T1, which is a tool for performing lamination, and includes control unit 31, arm unit 32, and welding unit 33. Control unit 31 controls arm unit 32, welding unit 33, and swivel table 40 according to lamination control information, measurement control information, or cutting control information. Arm unit 32 is a robot arm and has, for example, six axes. Welding unit 33 is arc welding torch T1 attached to the tip of arm unit 32. Welding unit 33 may be controlled by control unit 31 or by control device 20. Welding unit 33 may be removably attached to a tool mounting mount at the tip of arm unit 32.

[0023] The rotating table 40 is a table on whose surface the materials are stacked, and the table surface rotates around a vertical axis under the control of the control unit 31.

[0024] The cutting and measuring robot 50 is equipped with an inline profiler P1, a measurement tool, and a cutting mill M1, a cutting tool. The cutting and measuring robot 50 includes a control unit 51, an arm unit 52, a cutting unit 53, and a measurement unit 54. The control unit 51 controls the arm unit 52, the cutting unit 53, and the measurement unit 54 according to measurement control information or cutting control information. The control unit 51 also acquires measurement results from the measurement unit 54 and transmits them to the path information generating device 10. The control unit 51 may transmit the measurement results from the measurement unit 54 to the path information generating device 10 via the control device 20. The measurement results from the measurement unit 54 may also be transmitted to the path information generating device 10 without going through the control unit 51. The arm unit 52 is a robot arm with, for example, six axes. The cutting unit 53 is a cutting mill M1 attached to the tip of the arm unit 52. The measuring unit 54 is an in-line profiler P1 attached to the tip of the arm unit 52. The cutting unit 53 may be removably attached to a mount for attaching a tool at the tip of the arm unit 52. Similarly, the measuring unit 54 may be removably attached to a mount for attaching a tool at the tip of the arm unit 52.

[0025] The swivel table 40 may be controlled by the control unit 51 or the control device 20.

[0026] 4 is a schematic block diagram showing the configuration of the path information generating device 10 and the control device 20 in this embodiment. The path information generating device 10 includes a common path generating unit 11 and a cutting path generating unit 12. The control device 20 includes a stacking control information generating unit 21, a measurement control information generating unit 22, and a cutting control information generating unit 23.

[0027] The common path generation unit 11 generates, from data indicating the shape of the object, lamination path information used to laminate the object and measurement path information used to measure the laminated object formed by the lamination. The data indicating the shape of the object may be, for example, an STL (Stereolithography) file or a STEP (Standard for the Exchange of Product Data) file. The common path generation unit 11 may generate common path information used as the lamination path information and the measurement path information.

[0028] The cutting path generation unit 12 generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results obtained by the above-mentioned measurement. Note that the common path generation unit 11 may use 3D model data as the data indicating the shape of the object, and the cutting path generation unit 12 may use surface feature data as the data indicating the shape of the object. The lamination path information, measurement path information, common path information, and cutting path information may be G-code.

[0029] The layering control information generator 21 generates layering control information from the layering path information and information indicating the relative position of the arc welding torch T1 with respect to the welding robot 30. The layering control information is information for controlling the arm unit 32, the welding unit 33, and the swivel table 40. The measurement control information generation unit 22 generates measurement control information from measurement path information and information indicating the relative position of the inline profiler P1 with respect to the cutting and measuring robot 50. The measurement control information is information for controlling the arm unit 52 and the measurement unit 54. The cutting control information generator 23 generates cutting control information from cutting path information and information indicating the relative position of the cutting mill M1 with respect to the cutting and measuring robot 50. The cutting control information is information for controlling the arm unit 52, the cutting unit 53, and the swivel table 40.

[0030] 5 is a flowchart illustrating the operation of the common path generation unit 11 in this embodiment. First, the common path generation unit 11 generates data representing the surface and interior of the object from edge and surface information of a 3D model (data representing the shape of the object) (step Sa1). Here, the data representing the interior is data representing a portion to be laminated between laminations based on data representing one surface and laminations based on data representing the other surface. For example, when laminations are performed on a wall surface 5 cm wide using an arc welding torch T1 whose laminated product in one lamination is 1 cm wide, surface data corresponds to the laminations that will become one wall surface and the laminations that will become the other wall surface, and interior data corresponds to the laminations that will become the one wall surface and the 3 cm wide portion between the laminations that will become the other wall surface.

[0031] Next, the common path generating unit 11 divides the shaped object into equal intervals from bottom to top based on the data indicating the surface and the interior (step Sa2). The division intervals need only correspond to the height of one layer stack, and do not have to be equal intervals. Next, the common path generating unit 11 calculates a surface path and an internal path for each layer divided in step Sa2, using data indicating the surface and the internal portion (step Sa3). Next, the common path generating unit 11 generates common path information by concatenating the paths calculated in step Sa3 in the order in which they are stacked (step Sa4).

[0032] 6 is a flowchart illustrating the operation of the cutting path generating unit 12 in this embodiment. First, the cutting path generating unit 12 generates data representing the surface of the object from information on surface features (data representing the shape of the object) (step Sb1). Next, the cutting path generator 12 divides the shaped object into equal intervals from bottom to top based on the data representing the surface generated in step Sb1 (step Sb2). The intervals of the divisions need only correspond to the width of one cutting operation and do not have to be equal intervals. Next, the cutting path generator 12 calculates a cutting path for the surface for each layer divided in step Sb2 (step Sb3). The cutting path for the surface is, for example, a path for moving the cutting mill M1 along the surface indicated by the data representing the shape of the object.

[0033] Next, the cutting path generator 12 calculates the amount of excess material in the laminate from the measurement results by the measurement unit 54, and re-plans the cutting paths calculated in step Sb3 (step Sb4). This re-planning may include, for example, omitting cutting of portions without excess material, or may include adjusting the number of cuts or the relative speed of the cutting mill M1 with respect to the laminate according to the amount of excess material (e.g., the thickness of the excess material). More specifically, if the thickness of the excess material exceeds a threshold, the cutting path generator 12 may perform multiple cuts, for example, cutting 1 mm of thickness three times to cut 3 mm of excess material. Next, the cutting path generating unit 12 connects the cutting paths re-planned in step Sb4 to generate cutting path information (step Sb5).

[0034] The present invention may be embodied as follows. (1) One embodiment of the present invention is an additive manufacturing system that includes a common path generation unit that generates, from data indicating the shape of the object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object, and a cutting path generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results from the measurement.

[0035] This makes it possible to obtain laminating pass information and cutting pass information more easily than before.

[0036] (2) Another embodiment of the present invention is the additive manufacturing system described in (1), in which the common path generation unit generates common path information used as the additive path information and the measurement path information.

[0037] This makes it possible to obtain lamination path information and measurement path information more easily than before.

[0038] (3) Another embodiment of the present invention is an additive manufacturing system as described in (2), comprising a stacking control information generation unit that generates stacking control information from information indicating the relative position of the tool performing the stacking with respect to a robot equipped with the tool performing the stacking and the common path information, and a measurement control information generation unit that generates measurement control information from information indicating the relative position of the tool performing the measurement with respect to a robot equipped with the tool performing the measurement and the common path information.

[0039] This makes it possible to obtain information for controlling a robot equipped with a tool for stacking and information for controlling a robot equipped with a tool for measurement more easily than before.

[0040] (4) Another embodiment of the present invention is an additive manufacturing system described in any one of (1) to (3), wherein the common path generation unit uses three-dimensional model data as data indicating the shape of the object, and the cutting path generation unit uses surface feature data as data indicating the shape of the object.

[0041] This allows the common path generation unit to use the data format that has traditionally been used for additive manufacturing (e.g., WAAM), and the cutting path generation unit to use the data format that has traditionally been used for cutting (e.g., NC machine tools).

[0042] (5) Another embodiment of the present invention is a path information generation device that includes a common path generation unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object, and a cutting path generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results from the measurement.

[0043] This makes it possible to obtain laminating pass information and cutting pass information more easily than before.

[0044] (6) Another embodiment of the present invention is a path information generation method including the steps of: generating, from data indicating the shape of a molded object, lamination path information used to laminate the molded object and measurement path information used to measure the laminated object by laminating the molded object; and generating cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the molded object based on the measurement results from the measurement.

[0045] This makes it possible to obtain laminating pass information and cutting pass information more easily than before.

[0046] (7) Another embodiment of the present invention is a program for causing a computer to function as a common path generation unit that generates, from data indicating the shape of a molded object, lamination path information used to laminate the molded object and measurement path information used to measure the laminated object by laminating the molded object, and a cutting path generation unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the molded object based on the measurement results.

[0047] This makes it possible to obtain laminating pass information and cutting pass information more easily than before.

[0048] 3 may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed to realize the path information generating device 10 and the control device 20. Note that the term "computer system" here includes hardware such as an OS and peripheral devices.

[0049] Furthermore, if a WWW system is used, the "computer system" also includes the homepage provision environment (or display environment). "Computer-readable recording media" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. Furthermore, "computer-readable recording media" also includes devices that dynamically store programs for a short period of time, such as communication lines used when transmitting programs over networks like the Internet or over communication lines like telephone lines, and devices that store programs for a fixed period of time, such as volatile memory within computer systems that serve as servers or clients. The programs may also be programs that implement some of the aforementioned functions, or may be programs that can realize the aforementioned functions in combination with programs already stored in the computer system.

[0050] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0051] 10. Path information generation device 11 Common path generation unit 12 Cutting path generation unit 20 Control device 21 Stacking control information generation unit 22 Measurement control information generation unit 23 Cutting control information generation unit 30 Welding robot 31, 51 Control unit 32, 52 Arm section 33 Welded section 40 Swivel table 50 Cutting and measuring robots 53 Cutting part 54 Measurement section

Claims

1. a common path generating unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object; a cutting path generating unit that generates cutting path information for cutting the laminated object by re-planning a cutting path generated from data indicating the shape of the object based on the measurement results; An additive manufacturing system comprising:

2. The layered manufacturing system according to claim 1 , wherein the common path generation unit generates common path information used as the layering path information and the measurement path information.

3. a stacking control information generating unit that generates stacking control information from information indicating a relative position of the tool that performs the stacking with respect to a robot to which the tool that performs the stacking is attached and the common path information; a measurement control information generating unit that generates measurement control information from information indicating a relative position of the tool that performs the measurement with respect to a robot to which the tool that performs the measurement is attached and the common path information; The additive manufacturing system of claim 2 , comprising:

4. the common path generation unit uses three-dimensional model data as data representing the shape of the object, the cutting path generation unit uses data of surface features as data indicating the shape of the object; The additive manufacturing system according to any one of claims 1 to 3.

5. a common path generating unit that generates, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object; a cutting path generating unit that generates cutting path information for cutting the laminated object by re-planning a cutting path generated from data indicating the shape of the object based on the measurement results; A path information generating device comprising:

6. generating, from data indicating the shape of an object, lamination path information used to laminate the object and measurement path information used to measure the laminated object by laminating the object; generating cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the object based on the measurement results; The path information generating method includes the steps of:

7. Computer, a common path generating unit that generates, from data indicating the shape of a model, lamination path information used to laminate the model and measurement path information used to measure the laminated product obtained by laminating the model; a cutting path generating unit that generates cutting path information for cutting the laminated object by re-planning the cutting path generated from the data indicating the shape of the shaped object based on the measurement result obtained by the measurement; A program to function as a

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