Track planning support device, track planning support method, and program

Abstract

To provide an orbit planning support device which can easily create an orbit plan that can suppress occurrence of defects and shape collapse, an orbit planning support method and a program.SOLUTION: An orbit planning support device includes: a locus information acquisition part 31 which acquires locus information of a weld bead B including a target position of a path forming the weld bead B; a positional information extraction part 33 which extracts positional information of ends of the locus of the weld beads B that are proximate to each other on the basis of the locus information; an inter-end distance calculation part 35 which calculates an inter-end distance Lse, which is a distance between the ends, on the basis of the positional information; an inter-end determination part 37 which compares the inter-end distance Lse and a pre-set threshold Lth, and determines whether the inter-end distance Lse is smaller than the threshold Lth or not; and a position correction part 39 which moves at least one position of the ends along the locus of the weld bead B when it has been determined that the inter-end distance Lse is smaller than the threshold Lth, and corrects the same so that the inter-end distance Lse becomes the threshold Lth or more.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an orbital planning support device, an orbital planning support method, and a program.

Background Art

[0002] In recent years, the need for 3D printers as production means has been increasing, and in particular, research and development for practical application has been carried out in the aircraft industry and the like regarding the application to metal materials. A 3D printer using a metal material uses a heat source such as a laser or an arc to melt a metal powder or a metal wire, and laminates the molten metal to form a shaped object.

[0003] Patent Document 1 discloses that in a layer forming method of forming beads along a forming path to form a layer shape and laminating this layer shape to form a three-dimensional shape, a correction path is obtained based on the forming path and a correction width.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the above-described layer forming method, the start and end points of the trajectory of the welding bead formed along the forming path are likely to cause defects and shape collapse due to their positional relationship. Therefore, when creating an orbital plan, it is necessary to pay attention to the positional relationship between the start and end points of the trajectory of the welding bead. However, as the number of forming paths of the welding bead increases, the check and correction of the positional relationship between the start and end points of the trajectory of the welding bead become enormous, which imposes a heavy burden on the designer.

[0006] Therefore, an object of the present invention is to provide an orbital plan support device, an orbital plan support method, and a program that can easily create an orbital plan in which the occurrence of defects and shape collapse is suppressed.

Means for Solving the Problems

[0007] The present invention has the following configuration. (1) An orbital plan support device that determines the orbital plan in a laminating manufacturing apparatus that forms a welded bead by melting a welding material while moving a torch according to the orbital plan and laminates the welded beads to form a shaped object, a trajectory information acquisition unit that acquires trajectory information of the welded bead including the target position of the path for forming the welded bead; a position information extraction unit that extracts position information of ends in the trajectories of the welded beads adjacent to each other based on the trajectory information; an end-to-end distance calculation unit that calculates an end-to-end distance, which is the distance between the ends, based on the position information; an end-to-end determination unit that compares the end-to-end distance with a preset threshold value and determines whether the end-to-end distance is smaller than the threshold value; a position correction unit that, when it is determined that the end-to-end distance is smaller than the threshold value, moves the position of at least one of the ends along the trajectory of the welded bead and corrects it so that the end-to-end distance becomes equal to or greater than the threshold value; including an orbital plan support device. (2) An orbital plan support method for determining the orbital plan in a laminating manufacturing apparatus that forms a welded bead by melting a welding material while moving a torch according to the orbital plan and laminates the welded beads to form a shaped object, a trajectory information acquisition step of acquiring trajectory information of the welded bead including the target position of the path for forming the welded bead; a position information extraction step of extracting position information of ends in the trajectories of the welded beads adjacent to each other based on the trajectory information; an end-to-end distance calculation step of calculating an end-to-end distance, which is the distance between the ends, based on the position information; An end - to - end distance determination step of comparing the end - to - end distance with a preset threshold value and determining whether the end - to - end distance is less than the threshold value; A position correction step of moving at least one of the positions of the ends along the trajectory of the welding bead to correct the end - to - end distance to be equal to or greater than the threshold value when it is determined that the end - to - end distance is less than the threshold value; Including A method for assisting in trajectory planning. (3) A program for determining the trajectory plan in a laminated manufacturing apparatus that forms a welding bead by melting a welding material while moving a torch according to the trajectory plan and manufactures a shaped object on which the welding beads are laminated, Causing a computer to A trajectory information acquisition function for acquiring trajectory information of the welding bead including the target position of the path for forming the welding bead; A position information extraction function for extracting position information of ends in the trajectories of the welding beads adjacent to each other based on the trajectory information; An end - to - end distance calculation function for calculating the end - to - end distance, which is the distance between the ends, based on the position information; An end - to - end determination function for comparing the end - to - end distance with a preset threshold value and determining whether the end - to - end distance is less than the threshold value; A position correction function for moving at least one of the positions of the ends along the trajectory of the welding bead to correct the end - to - end distance to be equal to or greater than the threshold value when it is determined that the end - to - end distance is less than the threshold value; For realizing A program.

Advantages of the Invention

[0008] According to the present invention, a trajectory plan that can suppress the occurrence of defects and shape collapse can be easily created.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 5A

Figure 5B

Figure 5C

Figure 6A

Figure 6B

Figure 7

Figure 8A

Figure 8B

Figure 9A

Figure 9B

Figure 10A

Figure 10B

Figure 11

DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The additive manufacturing system shown here melts a filler material (welding wire) held by a manipulator by a heat source device to form a welding bead, and repeatedly stacks the formed welding beads into a desired shape to form a shaped object formed by stacking welding beads. The trajectory planning support device determines the trajectory plan in an additive manufacturing apparatus that forms such a shaped object.

[0011] <Configuration of Additive Manufacturing System> A configuration example of an additive manufacturing system that operates based on the trajectory plan determined by the above-described trajectory planning support device will be described. FIG. 1 is a schematic diagram showing the overall configuration of the additive manufacturing system. The additive manufacturing system 100 includes a shaping control device 15, a manipulator 17, a filler material supply device 19, a manipulator control device 21, and a heat source control device 23.

[0012] The manipulator control device 21 controls the manipulator 17 and the heat source control device 23. A controller (not shown) is connected to the manipulator control device 21 so that any operation of the manipulator control device 21 can be instructed from an operator via the controller.

[0013] The manipulator 17 is, for example, an articulated robot, and a welding filler metal M is supported by a torch 11 provided on the tip axis so as to be continuously supplied. The torch 11 holds the welding filler metal M in a state of protruding from the tip. The position and orientation of the torch 11 can be arbitrarily set three-dimensionally within the range of the degrees of freedom of the robot arm constituting the manipulator 17. The manipulator 17 preferably has six or more degrees of freedom, and preferably can arbitrarily change the axial direction of the heat source at the tip. The manipulator 17 may have various forms such as an articulated robot with four or more axes shown in FIG. 1, or a robot equipped with an angle adjustment mechanism on two or more orthogonal axes.

[0014] The torch 11 has a shield nozzle (not shown), and shield gas is supplied from the shield nozzle. The shield gas blocks the atmosphere, prevents oxidation, nitriding, etc. of the molten metal during welding, and suppresses welding defects. As the arc welding method used in this configuration, either a consumable electrode type such as covered arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG (Tungsten Inert Gas) welding or plasma arc welding may be used, and it is appropriately selected according to the shaping object. Here, gas metal arc welding will be described as an example. In the case of the consumable electrode type, a contact tip is arranged inside the shield nozzle, and the welding filler metal M to which current is supplied is held by the contact tip. The torch 11 generates an arc from the tip of the welding filler metal M in a shield gas atmosphere while holding the welding filler metal M.

[0015] The welding filler metal supply device 19 supplies the welding filler metal M toward the torch 11. The welding filler metal supply device 19 includes a reel 19a around which the welding filler metal M is wound, and a feeding mechanism 19b that feeds out the welding filler metal M from the reel 19a. The welding filler metal M is fed to the torch 11 while being sent in the forward or reverse direction as necessary by the feeding mechanism 19b. The feeding mechanism 19b is not limited to the push type arranged on the welding filler metal supply device 19 side to extrude the welding filler metal M, and may be a pull type arranged on a robot arm or the like, or a push-pull type.

[0016] The heat source control device 23 is a welding power source that supplies the power required for welding by the manipulator 17. The heat source control device 23 adjusts the welding current and welding voltage supplied during bead formation for melting and solidifying the filler material M. Also, in conjunction with welding conditions such as the welding current and welding voltage set by the heat source control device 23, the filler material supply rate of the filler material supply device 19 is adjusted.

[0017] The heat source for melting the filler material M is not limited to the arc described above. For example, other heat source methods such as a heating method that combines an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser, etc. may be adopted. When heating with an electron beam or a laser, the heating amount can be controlled more finely, the state of the bead to be formed can be maintained more appropriately, and it can contribute to further improving the quality of the laminated structure. Also, the material of the filler material M is not particularly limited, and for example, depending on the characteristics of the shaped object W, the type of filler material M used may be different, such as mild steel, high-tensile steel, aluminum, aluminum alloy, nickel, nickel-based alloy, etc.

[0018] The shaping control device 15 controls the above-described respective parts in an integrated manner.

[0019] The laminated manufacturing system 100 with the above-described configuration operates according to a manufacturing program created based on the manufacturing plan of the shaped object W. The manufacturing program is composed of a number of instruction codes and is created based on an appropriate algorithm according to various conditions such as the shape, material, and heat input amount of the shaped object. According to this manufacturing program, while moving the torch 11, the supplied filler material M is melted and solidified, and a linear welding bead B, which is a molten and solidified body of the filler material M, is formed on the base 13. That is, the manipulator control device 21 drives the manipulator 17 and the heat source control device 23 based on a predetermined program provided from the shaping control device 15. The manipulator 17 moves the torch 11 while melting the filler material M with an arc according to a command from the manipulator control device 21 to form the welding bead B. By sequentially forming and laminating the welding beads B in this way, a shaped object W with the desired shape is obtained.

[0020] Figure 2 is a functional block diagram of the shaping control device 15. The shaping control device 15 includes a trajectory information acquisition unit 31, a position information extraction unit 33, an end-to-end distance calculation unit 35, an end-to-end determination unit 37, and a position correction unit 39, and functions as a trajectory planning support device. Although the details of each unit will be described later, the general functions are as follows.

[0021] The trajectory information acquisition unit 31 acquires information on the trajectory of the welding bead B, including the target position of the path for forming the welding bead B.

[0022] The position information extraction unit 33 extracts the position information of the ends in the trajectories of the welding beads B that are close to each other, based on the trajectory information acquired by the trajectory information acquisition unit 31.

[0023] The end-to-end distance calculation unit 35 calculates the distance between the ends in the trajectory of the welding bead B, based on the position information extracted by the position information extraction unit 33.

[0024] The end-to-end determination unit 37 compares the end-to-end distance calculated by the end-to-end distance calculation unit 35 with a preset threshold value, and determines whether the end-to-end distance is smaller than the threshold value.

[0025] When the end-to-end determination unit 37 determines that the end-to-end distance is smaller than the threshold value, the position correction unit 39 corrects the position of at least one of the ends of the welding bead B along the trajectory of the welding bead B so that the end-to-end distance becomes equal to or greater than the threshold value.

[0026] The shaping control device 15 that functions as the above-described trajectory planning support device is configured by hardware using an information processing device such as a PC (Personal Computer). Each function of the shaping control device 15 is realized by a control unit (not shown) reading out a program having a specific function stored in a storage device (not shown) and executing the program. Examples of the storage device include a memory such as a RAM (Random Access Memory) which is a volatile storage area, a ROM (Read Only Memory) which is a non-volatile storage area, and a storage such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). Examples of the control unit include a processor such as a CPU (Central Processing Unit) and an MPU (Micro Processor Unit), or a dedicated circuit. In addition to the above-described form, the shaping control device 15 may be another computer remotely connected from the additive manufacturing system 100 via a network or the like.

[0027] <Procedure for Modifying Trajectory Plan> FIG. 3 is a flowchart showing a procedure for modifying a trajectory plan by the trajectory planning support device. FIGS. 4A to 4C are explanatory diagrams schematically showing how to set a bead model.

[0028] The trajectory information acquisition unit 31 acquires trajectory information of the welding bead B including the target position of the path for forming the welding bead B (step S1). The method for acquiring the trajectory information is not particularly limited. As one means, the representative position of the welding bead assigned to the object to be shaped (for example, the center of the bottom side of the welding bead) is acquired as information on the target position. The trajectory information may be acquired from the point cloud information of the partially generated trajectory from the point cloud information replicated in parallel.

[0029] As a method of allocating welding beads to a shaped object, for example, as shown in FIG. 4A, the shape of the three-dimensional shape data (such as CAD data) of the loaded shaped object is sliced by a plane 61 orthogonal to the stacking direction H of the welding beads and divided into a plurality of bead layers BL. Then, as shown in FIG. 4B, each divided bead layer BL is divided into a plurality of rectangular bead models BM0 by a plane 63 so as to correspond to the bead shape of the welding bead. And, as shown in FIG. 4C, the plurality of divided rectangular bead models BM0 are fitted to a trapezoid which is a simple geometric figure and changed to a trapezoidal bead model BM.

[0030] Based on the trajectory information, the position information extraction unit 33 extracts the position information of the ends in the trajectories of the welding beads B that are adjacent to each other based on the trajectories of the welding beads B of each path planned for the trajectory (step S2). Specifically, the start end Bs and the end end Be in the trajectories of the welding beads B that are adjacent to each other are determined, and the position information consisting of the coordinates of these start end Bs and end end Be is extracted.

[0031] Based on the position information, the end distance calculation unit 35 calculates the end distance Lse which is the distance between the start end and the end end of the welding bead B and the intersection angle θ which is the angle formed by the welding beads B (step S3). Specifically, based on the position information of the start end Bs and the end end Be of the welding bead B extracted by the position information extraction unit 33, the start end Bs and the end end Be that fall within the vicinity range are determined. The start end Bs and the end end Be that fall within this vicinity range are obtained by various methods such as the nearest neighbor search. For example, the distances of all combinations of the start end Bs and the end end Be may be calculated and it may be determined whether they are in the vicinity by comparing with a threshold value, or the space including the points on the trajectory of the welding bead B may be finely divided by a mesh of a predetermined size, and the points existing within the same mesh may be determined as the start end Bs and the end end Be within the vicinity range.

[0032] After determining the start end Bs and the end end Be that fall within the vicinity range, calculate the end-to-end distance Lse between these start end Bs and end end Be. Further, calculate the intersection angle θ in the trajectory direction between the respective welding beads B. Note that the end-to-end distance Lse between the start end Bs and the end end Be is the shortest straight-line distance. Also, the intersection angle θ is the angle formed between the vectors of the trajectories of the welding bead B including the start end Bs and the welding bead B including the end point Be.

[0033] Figures 5A to 5B show examples of two welding beads B in which the start end Ba and the end end Be are arranged within the vicinity range, respectively.

[0034] In the example shown in Figure 5A, the welding bead B having the start end Bs and the welding bead B having the end end Be are arranged on the same straight line, and these welding beads B have an intersection angle θ of approximately 180°. And, the end end Be of the other welding bead B is arranged on the extension line of one welding bead B having the start end Bs. In the examples shown in Figures 5B and 5C, the intersection angle θ between the welding bead B having the start end Bs and the welding bead B having the end end Be is the same angle. However, in the example shown in Figure 5B, the end end Be of the other welding bead B is arranged at a position deviating from the extension line of one welding bead B, and in the example shown in Figure 5C, the end end Be of the other welding bead B is arranged on the extension line of one welding bead B.

[0035] Thus, for the two welding beads B in which the start end Ba and the end end Be are arranged within the vicinity range, respectively, the end-to-end distance calculation unit 35 calculates the end-to-end distance Lse between the start end Bs and the end end Be and the intersection angle θ in the trajectory direction between the welding beads B.

[0036] The end-to-end determination unit 37 compares the end-to-end distance Lse between the start end Bs and the end end Be with a preset threshold value Lth, and determines whether the end-to-end distance Lse is smaller than the threshold value Lth (step S4).

[0037] Figures 6A and 6B are schematic diagrams for explaining the overlap of the welding bead B. Figure 7 is a graph showing the threshold value Lth considering the intersection angle θ.

[0038] As shown in FIGS. 6A and 6B, when forming a weld bead B with a starting end Bs and an ending end Be arranged within a neighboring range, even if the end-to-end distance Lse is the same, compared with the case where the intersection angle θ is large (see FIG. 6A), the smaller the intersection angle θ (see FIG. 6B), the more likely it is to ensure an excessive overlap (the dimension indicated by the symbol d in FIGS. 6A and 6B) of adjacent weld beads B. Therefore, in order to suppress an excessive overlap between the weld beads B, it is preferable to ensure the end-to-end distance Lse of the starting end Bs and the ending end Be of the weld bead B more widely as the intersection angle θ of the weld bead B is smaller.

[0039] For this reason, it is preferable that the threshold value Lth for comparing with the end-to-end distance Lse of the starting end Bs and the ending end Be is a value depending on the intersection angle θ. For example, as shown in FIG. 7, the threshold value Lth is a value that decreases as the intersection angle θ increases in the range where the intersection angle θ is 0° to 180° (0 to π rad). Note that the threshold value Lth is a value that increases as the intersection angle θ increases in the range where the intersection angle θ is 180° to 360° (π to 2π rad).

[0040] When it is determined by the end-to-end determination unit 37 that the end-to-end distance Lse is smaller than the threshold value Lth (step S4: No), the position correction unit 39 corrects the position of at least one of the starting end Bs and the ending end Be so that the end-to-end distance Lse becomes equal to or greater than the threshold value Lth (step S5).

[0041] FIG. 8A is a schematic diagram showing a state before correction of the end-to-end distance Lse in the locus of the weld bead B. FIG. 8B is a schematic diagram showing a state after correction of the end-to-end distance Lse in the locus of the weld bead B. As shown in FIG. 8A, when the start end Bs (or the end end Be) of the other welding bead B is arranged on the extension line of one welding bead B, the position correction unit 39 moves, for example, as shown in FIG. 8B, the position of the end end Be (or the start end Bs) of one welding bead B in a direction away from the start end Bs (or the end end Be) of the other welding bead B along the locus of one welding bead B. Thereby, the end-to-end distance Lse between the end end Be (or the start end Bs) of one welding bead B and the start end Bs (or the end end Be) of the other welding bead B is corrected to be equal to or greater than the threshold value Lth. In this case, the end-to-end distance Lse can be easily corrected by correcting the length of one welding bead B.

[0042] FIG. 9A is a schematic diagram showing the state before correction of the end-to-end distance Lse in the locus of the welding bead B. FIG. 9B is a schematic diagram showing the state after correction of the end-to-end distance Lse in the locus of the welding bead B. As shown in FIG. 9A, when the end end Be (or the start end Bs) of one welding bead B and the start end Bs (or the end end Be) of the other welding bead B are arranged side by side, the position correction unit 39 extends one welding bead B and contracts the other welding bead B, for example, as shown in FIG. 9B, to move the end end Be (or the start end Bs) of one welding bead B and the start end Bs (or the end end Be) of the other welding bead B. Thereby, the end-to-end distance Lse between the end end Be (or the start end Bs) of one welding bead B and the start end Bs (or the end end Be) of the other welding bead B is corrected to be equal to or greater than the threshold value Lth. In this case, the end-to-end distance Lse can be corrected while maintaining the total length of the locus of the welding bead B, and the occurrence of unwelded portions due to a decrease in the welded volume of the welding bead B can be suppressed.

[0043] For all pairs of start ends Bs and end ends Be (total number of pairs: N), the comparison of the end-to-end distance Lse with the threshold value Lth by the end-to-end determination unit 37 (step S4) and the correction of the end-to-end distance Lse as necessary (step S5) are sequentially executed (step S6).

[0044] As a result, the end positions such as the start end Bs and the end end Be of the welding beads B that are excessively close to each other can be automatically corrected, and the burden on the designer who creates the trajectory plan can be reduced. In addition, it is possible to avoid device errors such as interference of the torch 11 due to the excessive proximity of the ends such as the start end Bs and the end end Be of the welding bead B, and the shaped object W can be smoothly shaped.

[0045] In addition, in the correction of the end-to-end distance Lse by the position correction unit 39 (step S5), as the threshold value Lth used for calculating the correction amount, not only a unique value but also an allowable variation range (±δL) may be provided. That is, the position correction unit 39 may correct the end-to-end distance Lse between the start end Bs and the end end Be so as to be equal to or greater than the threshold value Lth±δL considering the allowable variation range (±δL). Since the overlap of the welding bead B is likely to become excessively large as the end-to-end distance Lse becomes narrower, as the allowable variation range, the allowable variation range (+δL) on the increasing side where the end-to-end distance Lse increases is preferable.

[0046] FIG. 10A and FIG. 10B are schematic diagrams for explaining the setting of the allowable variation range, respectively. FIG. 11 is a graph showing the allowable variation range δL considering the intersection angle θ. As shown in FIGS. 10A and 10B, when the locus of the welding bead B is extended, if the area of the corner region surrounded by the extension line of the locus of the welding bead B (the triangular region surrounded by the welding bead B and the two-dot chain line in FIGS. 10A and 10B) on the intersection side of the locus becomes too large, lack of fusion is likely to occur at the connection portion between the welding beads B. The area of the corner region on the intersection side when the locus of the welding bead B is extended increases or decreases due to the variation in the end-to-end distance Lse, and this increase or decrease in the area becomes larger as the intersection angle θ of the welding bead B becomes smaller. For example, when an allowable variation range (+δL) on the increasing side is provided for the threshold value Lth, even if this allowable variation range (+δL) is the same, as shown in FIG. 10A, when the intersection angle θ is large, the variation (increase amount) of the corner region due to the allowable variation range (+δL) is small, but as shown in FIG. 10B, when the intersection angle θ is small, the variation (increase amount) of the corner region due to the allowable variation range (+δL) becomes large, and for example, lack of fusion is likely to occur at the connection portion between the welding beads B. Similarly, when an allowable variation range (-δL) on the decreasing side is provided for the threshold value Lth, even if the allowable variation range (-δL) is the same, when the intersection angle θ is large, the variation (decrease amount) of the corner region due to the allowable variation range (-δL) becomes small, whereas when the intersection angle θ is small, the variation (decrease amount) of the corner region due to the allowable variation range (-δL) becomes large, and for example, the overlapping amount between the welding beads B becomes large.

[0047] Therefore, when an allowable variation range (±δL) is provided for the threshold value Lth, it is preferable to limit this allowable variation range (±δL). Specifically, as shown in FIG. 11, the allowable variation range (±δL) is set to a value that monotonically increases as the intersection angle θ increases in the range where the intersection angle θ is 0° to 180° (0 to π rad). Note that the allowable variation range (±δL) is set to a value that monotonically decreases as the intersection angle θ increases in the range where the intersection angle θ is 180° to 360° (π to 2π rad). In this way, by increasing or decreasing the allowable variation range (±δL) provided for the threshold value Lth according to the magnitude of the intersection angle θ, the position adjustment of the start end Bs and the end end Be can be automatically and appropriately corrected according to the intersection angle θ.

[0048] Thus, the present invention is not limited to the above-described embodiments, and it is also contemplated by the present invention that those skilled in the art can make changes and applications based on combining each configuration of the embodiments, the description in the specification, and well-known techniques, and such are included in the scope for which protection is sought.

[0049] As described above, the following matters are disclosed in this specification. (1) A trajectory planning support device for determining a trajectory plan in a laminated manufacturing apparatus that forms a welded bead by melting a welding material while moving a torch according to a trajectory plan and manufactures a shaped object in which the welded beads are laminated, a trajectory information acquisition unit that acquires trajectory information of the welded bead including a target position of a path for forming the welded bead, a position information extraction unit that extracts position information of ends in the trajectories of the welded beads that are close to each other based on the trajectory information, an end-to-end distance calculation unit that calculates an end-to-end distance that is the distance between the ends based on the position information, an end-to-end determination unit that compares the end-to-end distance with a preset threshold value and determines whether the end-to-end distance is smaller than the threshold value, a position correction unit that, when it is determined that the end-to-end distance is smaller than the threshold value, moves the position of at least one of the ends along the trajectory of the welded bead and corrects it so that the end-to-end distance becomes equal to or greater than the threshold value, A trajectory planning support device including the above. According to the trajectory planning support device having this configuration, it is possible to automatically correct the end positions such as the start end and the end end of the welded beads that are excessively close to each other, and it is possible to reduce the burden on the designer who creates the trajectory plan. Further, it is possible to avoid device errors such as torch interference due to the ends such as the start end and the end end of the welded bead being excessively close to each other, and it is possible to smoothly manufacture the shaped object.

[0050] (2) The end-to-end distance calculation unit also calculates an intersection angle between the trajectories of the welded beads including the ends, When comparing the distance between the ends with the threshold value, the end - to - end determination unit decreases the threshold value as the intersection angle increases within the range of 0° or more and 180° or less. The trajectory planning support device according to (1). According to the trajectory planning support device with this configuration, when the end - to - end determination unit compares the distance between the ends with the threshold value, the threshold value is made smaller as the intersection angle between the trajectories of the welding beads is larger, and the threshold value is made larger as the intersection angle between the trajectories of the welding beads is smaller. Thereby, the unevenness of the welding beads caused by the welding beads being too close to each other can be suppressed.

[0051] (3) The threshold value has a tolerance range that varies according to the intersection angle, Within the range where the intersection angle is 0° or more and 180° or less, the tolerance range increases as the intersection angle increases. The trajectory planning support device according to (2). According to the trajectory planning support device with this configuration, by increasing or decreasing the tolerance range of the threshold value according to the magnitude of the intersection angle, the position adjustment of the ends can be automatically and appropriately corrected according to the intersection angle.

[0052] (4) The position correction unit corrects the position of the end while keeping the total trajectory length of the welding bead constant. The trajectory planning support device according to any one of (1) to (3). According to the trajectory planning support device with this configuration, by correcting the position of the end while keeping the total trajectory length of the welding bead constant, the interval between the ends such as the start end and the end point can be appropriately adjusted without causing a shortage of the welded volume of the welding bead.

[0053] (5) A trajectory planning support method for determining the trajectory plan in a laminated manufacturing apparatus that forms a welding bead by melting a welding material while moving a torch according to a trajectory plan and manufactures a shaped object in which the welding beads are laminated, A trajectory information acquisition step of acquiring trajectory information of the welding bead including the target position of the path for forming the welding bead, A position information extraction step of extracting position information of the ends in the trajectories of the welding beads that are close to each other based on the trajectory information, An end - to - end distance calculation step of calculating an end - to - end distance, which is the distance between the ends, based on the position information; An end - to - end determination step of comparing the end - to - end distance with a preset threshold value to determine whether the end - to - end distance is smaller than the threshold value; A position correction step of moving at least one of the positions of the ends along the trajectory of the welding bead and correcting so that the end - to - end distance becomes equal to or greater than the threshold value when it is determined that the end - to - end distance is smaller than the threshold value; A trajectory planning support method including the above. According to the trajectory planning support method of this configuration, the end positions such as the start end and the end end of the welding beads that are excessively close to each other can be automatically corrected, and the burden on the designer who creates the trajectory plan can be reduced. Also, device errors such as torch interference due to the excessive proximity of the ends such as the start end and the end end of the welding bead can be avoided, and the shaped object can be shaped smoothly.

[0054] (6) A program for determining the trajectory plan in a laminated manufacturing apparatus that forms a welding bead by melting a welding material while moving a torch according to a trajectory plan and manufactures a shaped object in which the welding beads are laminated, causing a computer to have a trajectory information acquisition function of acquiring trajectory information of the welding bead including the target position of the path for forming the welding bead; have a position information extraction function of extracting position information of the ends in the trajectories of the welding beads that are close to each other based on the trajectory information; have an end - to - end distance calculation function of calculating an end - to - end distance, which is the distance between the ends, based on the position information; have an end - to - end determination function of comparing the end - to - end distance with a preset threshold value to determine whether the end - to - end distance is smaller than the threshold value; have a position correction function of moving at least one of the positions of the ends along the trajectory of the welding bead and correcting so that the end - to - end distance becomes equal to or greater than the threshold value when it is determined that the end - to - end distance is smaller than the threshold value; A program for realizing the above. According to the program with this configuration, it is possible to automatically correct the end positions such as the start and end points of welding beads that are excessively close to each other, reducing the burden on the designer who creates the trajectory plan. In addition, it is possible to avoid device errors such as torch interference caused by the excessive proximity of the ends such as the start and end of the welding bead, and the shaped object can be smoothly shaped.

Explanation of symbols

[0055] 11 Torch 15 Shaping control device (trajectory planning support device) 31 Trajectory information acquisition unit 33 Position information extraction unit 35 End-to-end distance calculation unit 37 End-to-end determination unit 39 Position correction unit B Welding bead Bs Start end (end) Be End end (end) Lse End-to-end distance Lth Threshold value W Shaped object θ Crossing angle δL Allowable variation range

Claims

1. An orbital planning support device for determining an orbital plan in a layered manufacturing apparatus that forms a weld bead by melting a welding material while moving a torch according to an orbital plan and manufactures a shaped object in which the weld beads are laminated, a trajectory information acquisition unit that acquires trajectory information of the weld bead including a target position of a path for forming the weld bead, a position information extraction unit that extracts position information of ends in the trajectories of the weld beads adjacent to each other based on the trajectory information, an end-to-end distance calculation unit that calculates an end-to-end distance that is the distance between the ends based on the position information, an end-to-end determination unit that compares the end-to-end distance with a preset threshold value and determines whether the end-to-end distance is smaller than the threshold value, a position correction unit that, when it is determined that the end-to-end distance is smaller than the threshold value, moves the position of at least one of the ends along the trajectory of the weld bead and corrects the end-to-end distance to be equal to or greater than the threshold value, including an orbital planning support device.

2. The end-to-end distance calculation unit also calculates an intersection angle between the trajectories of the weld beads including the ends, and when comparing the end-to-end distance with the threshold value, the end-to-end determination unit decreases the threshold value as the intersection angle increases within a range of 0° or more and 180° or less. The orbital planning support device according to Claim 1.

3. The threshold value has a tolerance range that varies according to the intersection angle, and within a range of 0° or more and 180° or less of the intersection angle, the tolerance range increases as the intersection angle increases. The orbital planning support device according to Claim 2.

4. The position correction unit corrects the position of the end while keeping the total trajectory length of the weld bead constant. The orbital planning support device according to any one of Claims 1 to 3.

5. An orbital planning support method for determining an orbital plan in a layered manufacturing apparatus that forms a weld bead by melting a welding material while moving a torch according to an orbital plan and manufactures a shaped object in which the weld beads are laminated, a trajectory information acquisition step of acquiring trajectory information of the weld bead including a target position of a path for forming the weld bead, a position information extraction step of extracting position information of ends in the trajectories of the weld beads adjacent to each other based on the trajectory information, an end-to-end distance calculation step of calculating an end-to-end distance that is the distance between the ends based on the position information, An end - to - end distance determination step of comparing the end - to - end distance with a preset threshold value and determining whether the end - to - end distance is smaller than the threshold value; A position correction step of moving at least one of the positions of the ends along the trajectory of the welding bead to correct the end - to - end distance to be equal to or greater than the threshold value when it is determined that the end - to - end distance is smaller than the threshold value; including A trajectory planning support method.

6. A program for determining the trajectory plan in a layered manufacturing apparatus that forms a welding bead by melting a welding material while moving a torch according to a trajectory plan and manufactures a shaped object in which the welding beads are laminated, causing a computer to have a trajectory information acquisition function of acquiring trajectory information of the welding bead including the target position of the path for forming the welding bead; have a position information extraction function of extracting position information of ends in the trajectories of the welding beads adjacent to each other based on the trajectory information; have an end - to - end distance calculation function of calculating an end - to - end distance, which is the distance between the ends, based on the position information; have an end - to - end distance determination function of comparing the end - to - end distance with a preset threshold value and determining whether the end - to - end distance is smaller than the threshold value; have a position correction function of moving at least one of the positions of the ends along the trajectory of the welding bead to correct the end - to - end distance to be equal to or greater than the threshold value when it is determined that the end - to - end distance is smaller than the threshold value; for realizing A program.

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