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

Abstract

To generate control information for controlling a laminate molding apparatus so as to allow efficient laminate molding to be performed, by restricting an increase in the number of layers and in the number of paths regardless of a shape of a molded article.SOLUTION: A control information generating device 200 includes: a shape acquiring section 31 for acquiring information of a three-dimensional shape of a molded part; a point group generating section 33 for generating a plurality of feature points along a specific direction in a layer, on lamellar bodies respectively obtained by dividing a three-dimentional shape into a plurality of layers; a molding path setting section 35 for connecting a plurality of feature points generated on the same lamellar body, and a plurality of feature points generated on another lamellar body neighboring that lamellar body, in order to set a line connecting the connected feature points with each other to a molding path; and an output section 37 for outputting control information containing information of the set molding path.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a control information generating device, a control information generating method, and a program. [Background technology]

[0002] In recent years, there has been an increasing need for parts manufacturing through additive manufacturing using 3D printers, and research and development is underway to put additive manufacturing using metal materials into practical use. For example, Patent Document 1 discloses a technology that disassembles a three-dimensional model to determine the manufacturing path for forming a weld bead, and then performs additive manufacturing based on that information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 6,274,839 Summary of the Invention [Problem to be solved by the invention]

[0004] In general, in three-dimensional modeling, a geometric model based on three-dimensional CAD data is sliced, a modeling path (hereinafter also referred to as a "trajectory" or "path") for forming a weld bead for each sliced ​​layer is planned, and a bead layer is formed by moving a torch along the planned path. A desired object is formed by stacking these bead layers.

[0005] Various styles of paths for forming weld beads are known, including raster, polygonal line, grid, and concentric circle patterns. However, the more complex the shape of the object, the more difficult it is to generate the paths themselves. For example, in the case of an object W that follows the outer surface of a semi-cylindrical channel and also follows the undulations of the channel, as shown in FIG. 13A, efficient manufacturing is possible by setting the paths PS for forming the object W along the channel's longitudinal direction. However, generating such paths PS for the entire object W requires complex calculations, which is often difficult in practice. On the other hand, if paths are calculated for such a shape using the technology described in Patent Document 1, the object is mechanically sliced ​​along a cross section perpendicular to the stacking direction (the longitudinal direction of the channel), as shown in FIG. 13B, and paths are generated within each of the resulting layers Ly. While this method allows for easy generation of paths within a layer with a relatively small area, it significantly increases the number of layers and paths, which is undesirable from the perspective of productivity.

[0006] Therefore, the present invention aims to provide a control information generation device, a control information generation method, and a program for controlling an additive manufacturing device to suppress an increase in the number of layers and passes regardless of the shape of the object, thereby enabling efficient additive manufacturing. [Means for solving the problem]

[0007] The present invention comprises the following configurations. (1) A control information generation device for generating control information for controlling an additive manufacturing device in an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, comprising: a shape acquisition unit that acquires information about a three-dimensional shape of the object; a point cloud generation unit that generates a plurality of feature points along a specific direction in each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that connects the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and sets a line connecting the connected feature points to the modeling path; an output unit that outputs the control information including information on the set modeling path; A control information generating device comprising: (2) A control information generation method for generating control information for controlling an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, the method comprising: acquiring information about the three-dimensional shape of the object; generating a plurality of feature points along a specific direction within each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; outputting the control information including information on the set modeling path; Control information generation method. (3) In an additive manufacturing device that moves a processing position along a manufacturing path, adds molten processing material to a processing target surface to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, the program generating control information for controlling the additive manufacturing device, On the computer, acquiring information about the three-dimensional shape of the object; a step of dividing the three-dimensional shape into a plurality of layers and generating a plurality of feature points along a specific direction within each layer in each layer; a step of connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; a step of outputting the control information including information on the set modeling path; A program to execute. [Effects of the Invention]

[0008] According to the present invention, it is possible to control an additive manufacturing device so as to suppress an increase in the number of layers and the number of passes regardless of the shape of the object, and to perform efficient additive manufacturing. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an additive manufacturing apparatus. [Figure 2] FIG. 2 is a functional block diagram of the control information generating device. [Figure 3] FIG. 3 is a flowchart showing a procedure for generating control information. [Figure 4A] FIG. 4A is an explanatory diagram showing how a bead model is generated by dividing the three-dimensional shape of a shaped object. [Figure 4B] FIG. 4B is an explanatory diagram showing how a bead model is generated by dividing the three-dimensional shape of a shaped object. [Figure 5A] FIG. 5A is an explanatory diagram showing, in a stepwise manner, a procedure for dividing an elongated target shape into layers to generate a plurality of feature points, and connecting the feature points in the division direction of each layer. [Figure 5B] FIG. 5B is an explanatory diagram showing, in a stepwise manner, a procedure for dividing an elongated target shape into layers to generate a plurality of feature points, and connecting the feature points in the division direction of each layer. [Figure 5C] FIG. 5C is an explanatory diagram showing, in a stepwise manner, a procedure for dividing an elongated target shape into layers to generate a plurality of feature points, and connecting the feature points in the division direction of each layer. [Figure 5D] FIG. 5D is an explanatory diagram showing, in a stepwise manner, a procedure for dividing an elongated target shape into layers to generate a plurality of feature points, and connecting the feature points in the division direction of each layer. [Figure 6] FIG. 6 is an explanatory diagram showing a plan view of the bottom surface regions of the six unit models shown in FIG. 5D. [Figure 7]FIG. 7 is an explanatory diagram showing how a new path is generated by reconnecting the group of feature points shown in FIG. 6 from the direction along the layer to the division direction of each layer. [Figure 8] FIG. 8 is an explanatory diagram showing the generated new path in correspondence with FIG. 5C. [Figure 9] FIG. 9 is an explanatory diagram showing a method for determining whether a generated path is appropriate. [Figure 10] FIG. 10 is an explanatory diagram that schematically shows the generated curved path. [Figure 11A] FIG. 11A is a graph showing a curve based on a sine function in the xy plane. [Figure 11B] FIG. 11B is a graph showing the curvature distribution of the sine curve of FIG. 11A. [Figure 12A] FIG. 12A is a graph showing the result of adding together sine functions with different periods and amplitudes. [Figure 12B] FIG. 12B is a graph showing the curvature distribution of the curve shown in FIG. 12A. [Figure 13A] FIG. 13A is an explanatory diagram showing an ideal molding path of a conventional object having a semi-cylindrical flow channel. [Figure 13B] FIG. 13B is an explanatory diagram showing an actual modeling path of a conventional object having a semi-cylindrical flow channel. 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 device shown here uses a heat source device to melt a filler material (welding wire) held by a manipulator to form a weld bead based on a predetermined manufacturing plan, and repeatedly stacks the formed weld beads into a desired shape to manufacture a molded object made up of multiple stacked weld beads. The control information generation device determines a manufacturing path for the weld beads when manufacturing a molded object using the additive manufacturing device, and outputs a control signal for driving the additive manufacturing device.

[0011] <Configuration of additive manufacturing equipment> An example of the configuration of an additive manufacturing device that operates based on the control information generated by the control information generating device will be described. 1 is a schematic diagram showing the overall configuration of an additive manufacturing apparatus. The additive manufacturing apparatus 100 includes a manufacturing control unit 11 and a manufacturing unit 13. The control information generating device 200 may be connected to the manufacturing control unit 11 to form part of the additive manufacturing apparatus 100, or may be provided separately from the additive manufacturing apparatus 100 and connected to the manufacturing control unit 11 via communication such as a network or a storage medium.

[0012] The molding unit 13 includes a manipulator 17, a filler metal supply unit 19, a manipulator control unit 21, and a heat source control unit 23.

[0013] The manipulator control unit 21 controls the manipulator 17 and the heat source control unit 23. A controller (not shown) is connected to the manipulator control unit 21, and any operation from the manipulator control unit 21 can be instructed by the operator via the controller.

[0014] The manipulator 17 is, for example, an articulated robot, and a torch 25 attached to the tip shaft supports the filler material M so that it can be continuously supplied. The torch 25 holds the filler material M protruding from the tip. The position and posture of the torch 25 can be set arbitrarily in three dimensions within the range of the degrees of freedom of the robot arm constituting the manipulator 17. The manipulator 17 preferably has six or more degrees of freedom, and is preferably one that can arbitrarily change the axial direction of the heat source at the tip. The manipulator 17 may be in various forms, such as a four- or more-axis articulated robot as shown in FIG. 1, or a robot equipped with angle adjustment mechanisms on two or more orthogonal axes.

[0015] The torch 25 has a shield nozzle (not shown), through which shielding gas is supplied. The shielding gas blocks the atmosphere and prevents oxidation and nitridation of the molten metal during welding, thereby suppressing welding defects. The arc welding method used in this configuration may be either a consumable electrode type such as shielded metal arc welding or carbon dioxide gas arc welding, or a non-consumable electrode type such as TIG (Tungsten Inert Gas) welding or plasma arc welding, and is selected appropriately depending on the object to be formed. Here, gas metal arc welding will be used as an example. In the case of a consumable electrode type, a contact tip is disposed inside the shield nozzle, and a filler material M to which current is supplied is held by the contact tip. The torch 25 holds the filler material M and generates an arc from the tip of the filler material M in a shielding gas atmosphere.

[0016] The filler material supply unit 19 supplies the filler material M toward the torch 25. The filler material supply unit 19 includes a reel 19a around which the filler material M is wound, and a payout mechanism 19b that pays out the filler material M from the reel 19a. The filler material M is fed to the torch 25 by the payout mechanism 19b while being sent in the forward or reverse direction as needed. The payout mechanism 19b is not limited to a push type that is arranged on the filler material supply unit 19 side and pushes out the filler material M, but may also be a pull type or a push-pull type that is arranged on a robot arm or the like.

[0017] The heat source control unit 23 is a welding power source that supplies the power required for welding by the manipulator 17. The heat source control unit 23 adjusts the welding current and welding voltage supplied when forming a bead by melting and solidifying the filler material M. In addition, the filler material supply speed of the filler material supply unit 19 is adjusted in conjunction with the welding conditions such as the welding current and welding voltage set by the heat source control unit 23.

[0018] The heat source for melting the filler material M is not limited to the arc described above. Other heat sources may be used, such as a heating method that combines an arc and a laser, a heating method that uses plasma, or a heating method that uses an electron beam or a laser. Heating with an electron beam or a laser allows for more precise control of the amount of heat, which can maintain the state of the formed bead more appropriately and contribute to further improving the quality of the laminated structure. The material of the filler material M is also not particularly limited. The type of filler material M used may vary depending on the characteristics of the object W, such as mild steel, high-tensile steel, aluminum, aluminum alloy, nickel, or nickel-based alloy.

[0019] The forming control unit 11 controls the above-mentioned units in an integrated manner.

[0020] The additive manufacturing apparatus 100 configured as described above operates in accordance with a manufacturing program created based on a manufacturing plan for the object W. The manufacturing program is composed of a large number of command codes and is created based on an appropriate algorithm depending on various conditions, such as the shape, material, and heat input of the object. According to this manufacturing program, the torch 25 is moved to melt and solidify the supplied filler material M, thereby forming a linear weld bead B, which is a molten solid of the filler material M, on the base 27. That is, the manipulator control unit 21 drives the manipulator 17 and the heat source control unit 23 based on a predetermined program provided by the manufacturing control unit 11. In response to a command from the manipulator control unit 21, the manipulator 17 moves the torch 25 while melting the filler material M with an arc to form the weld bead B. By sequentially forming and stacking the weld beads B in this manner, a desired object W is obtained.

[0021] <Configuration of the control information generating device> 2 is a functional block diagram of the control information generating device 200. The control information generating device 200 includes a shape acquiring unit 31, a point cloud generating unit 33, a printing path setting unit 35, and an output unit 37. The control information generating device 200 may further include a first determining unit 39 and a second determining unit 41. Details of each unit will be described later, but the general functions of each unit are as follows.

[0022] The shape acquisition unit 31 acquires information about the three-dimensional shape to be modeled. The point cloud generation unit 33 divides the acquired three-dimensional shape into multiple layers and generates multiple feature points along a specific direction within each layer in each layered body obtained by the division. The modeling path setting unit 35 connects multiple feature points generated in the same layered body to multiple feature points generated in other layered bodies adjacent to that layered body. Then, a line connecting the connected feature points is set as a modeling path. In other words, multiple feature points within a layer are connected to connect the layered bodies, and the connecting line is set as a modeling path. The output unit 37 outputs control information including information about the set modeling path. The first determination unit 39 and the second determination unit 41 each determine whether the connection of the set modeling path is successful under different conditions. In this way, since the connecting lines are connected along the surfaces of the modeled object, a modeling path that matches the curved surfaces of even a curved object can be obtained.

[0023] The control information output from the control information generating device 200 is output to, for example, the modeling control unit 11 shown in Fig. 1, and the modeling control unit 11 generates a modeling program based on the modeling plan updated to the newly set modeling path. The modeling control unit 11 controls the driving of the modeling unit 13 based on this modeling plan, thereby enabling the manufacturing of a modeled object in a more appropriate and efficient procedure.

[0024] The control information generating device 200 is configured by hardware using an information processing device such as a PC (Personal Computer). Each function of the control information generating device 200 is realized by a control unit (not shown) reading and executing a program having a specific function stored in a storage device (not shown). Examples of the control unit include a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit), or a dedicated circuit. Examples of the storage device include memory such as RAM (Random Access Memory), which is a volatile storage area, ROM (Read Only Memory), which is a non-volatile storage area, and storage such as HDD (Hard Disk Drive) or SSD (Solid State Drive).

[0025] In addition to the above-described configuration, the control information generating device 200 may be configured by another computer connected to the formation control unit 11 from a remote location via a network or the like, as described above.

[0026] Next, a procedure for generating control information by the control information generating device 200 will be described in detail. 3 is a flowchart showing a procedure for generating control information. First, the shape acquisition unit 31 acquires information about the three-dimensional shape of an object to be formed from shape data such as CAD data (S1). The shape acquisition unit 31 outputs the acquired information about the three-dimensional shape to the point cloud generation unit 33. The point cloud generation unit 33 slices the input three-dimensional shape into layers and generates a point cloud in each layer (S2).

[0027] 4A and 4B are explanatory diagrams showing how a bead model is generated by dividing the three-dimensional shape of an object. As shown in FIG. 4A, the acquired shape of the object is set as the target shape So of the object to be produced, and this target shape So is sliced ​​into multiple layers L1, L2, L3, and L4 corresponding to the bead height H of a predetermined weld bead. The number of layers, the division direction, and the bead height can be set arbitrarily. Furthermore, the specific method for dividing the target shape So is not particularly limited, and known methods can be used. Here, the target shape So is divided into multiple layers in the vertical direction, but it may also be divided along the longitudinal direction of the target shape So, as shown in FIG. 13B.

[0028] Each of the divided layers L1, L2, L3, and L4 is divided into a plurality of rectangular bead models BM0 so as to correspond to the cross-sectional shape of the weld bead, as shown in Fig. 4B. As a result, each of the layers L1, L2, L3, and L4 is divided into a plurality of rectangular bead models BM0. When dividing the rectangular bead models BM0, conditions may be specified, such as making the bead cross-sectional area in a cross section orthogonal to the bead longitudinal direction constant for each rectangular bead model BM0.

[0029] Next, the divided rectangular bead models BM0 are fitted to simple geometric shapes such as trapezoids, polygons, and semicircles, and the target position of the weld bead is determined from the geometric shape to find the torch movement trajectory. This determines the path to be taken when additively manufacturing the weld bead object.

[0030] The basic path setting procedure described above is suitable for a molded object W that has a shape extending vertically on the base 27, as shown in FIG. 1. However, if the target shape So is, for example, an elongated shape extending horizontally as shown in FIG. 13A, dividing the target shape So into layers in the vertical direction increases the area of ​​each layer, making the process of dividing each layer into bead models cumbersome. Therefore, as shown in FIG. 13B, it is preferable to divide the target shape So into layers in a direction perpendicular to the horizontal direction to reduce the area of ​​each layer, but this shortens the length of the weld bead in each divided layer. As a result, bead formation must be frequently interrupted, which is not necessarily an efficient molding procedure.

[0031] For this reason, in the control information generating device 200 configured as above, the target shape So is first divided into layers of small area, and each layer is temporarily divided into bead models. Then, feature points of the bead model of each layer are extracted and these feature points are connected in the division direction of each layer. If the connection line of the feature points obtained in this way is set as the path for forming the weld bead, i.e., the path for forming the target shape So, the path along the longitudinal direction of the target shape So can be easily obtained.

[0032] 5A to 5D are explanatory diagrams showing, step by step, the procedure for dividing an elongated target shape So into layers to generate multiple feature points and linking the feature points in the division direction of each layer. As shown in FIG. 5A, the target shape So is assumed to be an elongated shape that continues from the front side to the back side. As shown in FIG. 5B, this target shape So is divided into multiple layered bodies along the longitudinal direction of the target shape So. Here, an example is shown in which the target shape So is divided into layers L1, L2, L3, and L4. Then, as shown in FIG. 5C, each divided layer is further divided into multiple bead models. Here, the bead models BMa and BMb are divided into two upper and lower bead models BMa and BMb. The bead formation directions of each bead model BMa and BMb are Da and Db, respectively, as indicated by arrows, and the bead cross section perpendicular to the bead formation direction is approximated by the shaded area shown in FIG. 5C.

[0033] Next, as shown in Fig. 5D, multiple feature points are generated for the bead models BMa and BMb along the bead forming directions Da and Db. Here, feature points are generated at each vertex of the model divided into three equal parts along the bead forming direction. Although not shown in the figure, multiple feature points are generated for each of the layers L2 to L4 in a similar manner.

[0034] As described above, the point cloud generation unit 33 generates a point cloud consisting of a plurality of feature points along a specific direction (bead formation direction Db). Next, the modeling path setting unit 35 reconnects the connecting lines of the feature points in a direction along the plurality of layers L1, L2, L3, and L4, i.e., in the division direction of the bead model described above.

[0035] For simplicity of explanation, the path recombination will be explained focusing on layers L1 and L2. Fig. 6 is an explanatory diagram showing a plan view of the bottom surface region Ab shown by dot hatching in Fig. 5D. In Fig. 6, each feature point is regarded as a point on a grid coordinate system, and each intersection of the grid lines is represented using an index specified by (i, j, k, l). Here, the indexes i and j are indexes representing the coordinates in the bottom surface region Ab, the index k is an index (second index) representing the stacking order of multiple rows of bead models, and the index l is an index (first index) representing the chronological order in which the torch passes through one bead model from the start to the end of stacking.

[0036] That is, point (1,1,1,1) is a feature point at the left corner of the bead model BMb of layer L1. Point (1,2,1,2) is a feature point located one position to the right of the left corner of the bead model BMb of layer L1. Point (2,1,2,1) is a feature point at the left corner of the bead model of layer L2.

[0037] As such, index i represents the vertical position in Figure 6, and index j represents the horizontal position in Figure 6. Feature points with the same index k are feature points included in the same bead model, i.e., feature points on the same path. Index l represents the modeling order along the progression direction of paths with the same index k.

[0038] Therefore, in FIG. 6, the feature points (1,1,1,1), (1,2,1,2), (1,3,1,3), and (1,4,1,4) on layer L1 are arranged in this order, and the connecting line connecting these feature points in this order is path PS1. Similarly, the connecting line connecting the feature points (2,1,2,1), (2,2,2,2), (2,3,2,3), and (2,4,2,4) arranged in this order on layer L2 is path PS2. Similarly, the connecting line connecting the feature points (3,1,3,1), (3,2,3,2), (3,3,3,3), and (3,4,3,4) is path PS3. The above-mentioned paths PS1, PS2, and PS3 are all oriented along the bead-forming direction Db shown in FIG. 5C, which is perpendicular to the longitudinal direction of the target shape So (the arrangement direction of the index i).

[0039] FIG. 7 is an explanatory diagram showing how a new path is generated by reconnecting the point clouds of feature points shown in FIG. 6 from the direction along the layer (bead formation direction Db) to the division direction of each layer. Here, the values ​​of the index k and index l of the feature points of each unit model are interchanged. As a result, feature points having the same index k are feature points on the same path, and the index l indicates the modeling order along the progression direction of the paths having the same index k. Therefore, path PS1 with index k=1, path PS2 with k=2, path PS3 with k=3, and path PS4 with k=4 all become new paths along the longitudinal direction of the target shape So (the arrangement direction of the index i). In other words, new paths are generated by connecting point clouds of different layers (S3).

[0040] By swapping the index k and the index l as described above and connecting each feature point based on the updated k and l, a line is generated along the division direction of the layered body (layers L1, L2, L3, L4) divided into multiple layers. This line is set as a new path.

[0041] FIG. 8 is an explanatory diagram showing the generated new paths in correspondence with FIG. 5C. Paths PS1 to PS4 shown in FIG. 8 are all paths along the aforementioned layer division direction that intersects with the bead formation directions Da and Db shown in FIG. 5C. When weld beads are formed along paths PS1 to PS4 shown here, the formed weld beads become the bottom layer that forms the target shape So. Then, by forming (stacking) further weld beads on the bottom bead layer in the same manner, a molded object having the target shape So can be efficiently manufactured.

[0042] In this way, the original path shown in Fig. 6 can be easily changed to a path that intersects with the original path as shown in Fig. 7 without any complicated calculations. Therefore, no special operations are required, such as slicing the target shape So finely or slicing while changing the division direction, but it is sufficient to simply change the connection partners of the feature points and reconnect them.

[0043] Note that the feature points shown here are merely examples and are not limited to these. For example, geometrically distinctive points, such as vertices that form corners in the set path, may be set as feature points. The number of feature points may be adjusted according to the area of ​​each layer, or according to the path length. Furthermore, the index assigned to each feature point may be used to count the number of feature points generated in each layer. The index may be used not only to identify each feature point in a layer, but also to separately identify information about the order in which the torch is moved along the path and the connections between paths.

[0044] Furthermore, instead of determining the linking direction of feature points using the indices k and l described above, the indices i and j themselves may be used as indices for setting paths. In this case, only two indices, i and j, are required for each feature point. The distances between feature points on different layers may then be calculated, and the pair with the smallest sum may be set as the destination of the feature points. For example, if the distance between adjacent feature points is shorter in the arrangement direction of index j than in the arrangement direction of index i, the feature points are linked along the arrangement direction of index j. By performing the above processing, even if the object has a curved surface, a smooth path can be generated that follows the curved surface.

[0045] The control information including the generated new path information is output from the output unit 37 to the modeling control unit 11 shown in FIG. 1, etc. The modeling control unit 11 creates a lamination plan based on the new path information to model an object using a path along its longitudinal direction. This enables the modeling control unit 11 to drive the modeling unit 13 to efficiently model an object of a desired shape.

[0046] A step of determining whether the feature points are appropriately connected to each other may be carried out for the path generated by rearranging the feature points as described above. 9 is an explanatory diagram showing a method for determining whether a generated path is appropriate. For example, when a path PS is generated by the printing path setting unit 35 along the longitudinal direction of the target shape So, the path length of the path PS is set to Ln1, and the start point P of the path PS is set to st and the end point P edThe length of the straight line connecting the feature points is defined as Ln2. If the distance Ln1 is shorter than the distance Ln2, the first determination unit 39 shown in FIG. 2 determines that a break has occurred along the path PS. If the distance Ln1 is longer than the distance Ln2 by a predetermined difference or more, the first determination unit 39 determines that the path PS is not smoothly connected and that the combination of the connected feature points is inappropriate. In other words, the first determination unit 39 calculates the path length of the path set by the modeling path setting unit 35 and determines whether the feature points have been successfully connected based on the path length.

[0047] If the first determination unit 39 determines that the connection between feature points is inappropriate, the modeling path setting unit 35 changes the conditions as appropriate and rearranges the connection between feature points again. This process is repeated until the connection becomes appropriate. This allows the success or failure of the connection to be determined mechanically, eliminating the need for detailed manual checks.

[0048] Alternatively, instead of the first determination unit 39, or in parallel with the first determination unit 39, the second determination unit 41 may determine whether or not the connection has been successful. The second determination unit 41 calculates the curvature distribution of the path set by the modeling path setting unit 35, and determines whether or not the connection between the feature points has been successful based on the curvature distribution.

[0049] FIG. 10 is an explanatory diagram that shows a schematic diagram of the generated path PS. Part of this path PS has discontinuous irregularities 43, 45. Such local irregularities 43, 45, paths that meander over a short section, or paths with irregular shapes are prone to defects and are unsuitable for laminating weld beads. Therefore, it is desirable to correct such paths.

[0050] Therefore, the second determination unit 41 calculates the curvature distribution and compares the slope of the curvature with a predetermined threshold. Specific methods for calculating the path curvature distribution are well known, and therefore a detailed description thereof will be omitted here. If the slope exceeds the threshold, it is determined that the reconnected path is not smooth, vibrates, or is not properly connected. This determination may be based not only on the slope of the curvature but also on, for example, the number of maximum and minimum values ​​in the curvature distribution. The number of maximum and minimum peaks may be determined by comparing the number with an appropriate threshold based on the outer surface shape of the object or experience, and the success or failure of connection may be determined.

[0051] The above-described determination based on the curvature distribution enables a determination that more accurately reflects the shape of the path. Fig. 11A is a graph showing a curve of a sine function on the xy plane. Fig. 11B is a graph showing the curvature distribution of the sine curve of Fig. 11A. As the curvature distribution of Fig. 11B shows, even for a simple curve, the shapes of its maximum and minimum values ​​appear as prominent features.

[0052] Fig. 12A is a graph showing the result of adding together sine functions with different periods and amplitudes. Fig. 12B is a graph showing the curvature distribution of the curve shown in Fig. 12A. As shown by the curvature distribution in Fig. 12B, when the curve contains minute irregularities, the curvature fluctuates greatly due to the irregularities.

[0053] As described above, judgment based on curvature distribution can easily detect subtler changes in shape compared to directly evaluating the shape of the path PS, and therefore can reliably extract irregular meandering, vibration, twisting, etc. of the path, thereby improving judgment accuracy.

[0054] As such, the present invention is not limited to the above-described embodiments, and the present invention also contemplates the mutual combination of the various components of the embodiments, as well as modifications and applications by those skilled in the art based on the description in the specification and well-known techniques, and these modifications and applications are included in the scope of protection sought.

[0055] As described above, the present specification discloses the following: (1) A control information generation device for generating control information for controlling an additive manufacturing device in an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, comprising: a shape acquisition unit that acquires information about a three-dimensional shape of the object; a point cloud generation unit that generates a plurality of feature points along a specific direction in each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that connects the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and sets a line connecting the connected feature points to the modeling path; an output unit that outputs the control information including information on the set modeling path; A control information generating device comprising: According to this control information generation device, the three-dimensional shape of the acquired object is divided into multiple layers, and multiple feature points are generated along a specific direction within the layers of the obtained layered body. Next, the multiple feature points are connected between feature points of adjacent layered bodies, and this connected line is set as the modeling path. As a result, even for an object that is formed to extend in one direction, the modeling path is set along the longitudinal direction of the object. Therefore, it is possible to control the additive manufacturing device to suppress an increase in the number of layers and passes regardless of the shape of the object, and to perform efficient additive manufacturing.

[0056] (2) The modeling path setting unit assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; The control information generating device according to (1), wherein a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second index is set as the modeling path. According to this control information generating device, the reconnection can be performed mechanically by a simple process of linking feature points having the same first index in the order of their second indexes.

[0057] (3) The control information generating device described in (1), wherein the specific direction is the longitudinal direction of the weld bead when each shape of the layered body is formed by a single weld bead or when each shape is formed by multiple weld beads. According to this control information generating device, the specific direction is the longitudinal direction of the weld bead that is assumed when the layered body is divided into the shape of the weld bead, and therefore the line connecting along the dividing direction of the layered body is the longitudinal direction of the shaped object that extends in one direction. This allows for the determination of a shaping path for forming a weld bead along the longitudinal direction of the shaped object that is formed to extend in one direction.

[0058] (4) The control information generating device according to (1), further comprising: a first determination unit that calculates a path length of the modeling path set by the modeling path setting unit, and determines whether or not the feature points are connected to each other based on the path length. According to this control information generating device, if the combination of connected feature points is inappropriate, it is possible to rearrange the connections between other feature points.

[0059] (5) The control information generation device according to (1), further comprising: a second determination unit that calculates a curvature distribution of the modeling path set by the modeling path setting unit and determines whether or not the feature points are connected to each other based on the curvature distribution. According to this control information generating device, if a combination of connected feature points is inappropriate for laminating weld beads, the connections between other feature points can be rearranged.

[0060] (6) A control information generation method for generating control information for controlling an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, the method comprising: acquiring information about the three-dimensional shape of the object; generating a plurality of feature points along a specific direction within each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; outputting the control information including information on the set modeling path; Control information generation method. According to this control information generation method, the three-dimensional shape of the acquired object is divided into multiple layers, and multiple feature points are generated along a specific direction within the layers of the acquired layered body. Next, the multiple feature points are connected between feature points of adjacent layered bodies, and this connected line is set as the modeling path. As a result, even for an object that is formed to extend in one direction, the modeling path is set along the longitudinal direction of the object. Therefore, regardless of the shape of the object, it is possible to suppress an increase in the number of layers and passes, and to control the additive manufacturing device to perform efficient additive manufacturing.

[0061] (7) The setting of the modeling path includes: assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; (6) The control information generating method according to (6), further comprising a step of setting, as the modeling path, a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second index. According to this control information generation method, the reconnection can be performed mechanically by a simple process of linking feature points having the same first index in the order of their second indexes.

[0062] (8) The control information generation method described in (6), wherein the specific direction is the longitudinal direction of the weld bead when each shape of the layered body is formed by a single weld bead or when each shape is formed by multiple weld beads. According to this control information generation method, the specific direction is the longitudinal direction of the weld bead that is expected when the layered body is divided into the shape of the weld bead, and therefore the line connecting along the dividing direction of the layered body is the longitudinal direction of the shaped object that extends in one direction. This allows for the determination of a shaping path for forming a weld bead along the longitudinal direction of the shaped object that is formed to extend in one direction.

[0063] (9) The control information generating method according to (6), further comprising: calculating a path length of the modeling path; and determining whether or not the feature points are connected to each other based on the path length. According to this control information generation method, if the combination of connected feature points is inappropriate, the connections between other feature points can be rearranged again.

[0064] (10) The control information generating method according to (6), further comprising: calculating a curvature distribution of the modeling path; and determining whether or not the feature points are connected to each other based on the curvature distribution. According to this control information generation method, if a combination of connected feature points is inappropriate for laminating weld beads, the connections between other feature points can be rearranged.

[0065] (11) In an additive manufacturing device that moves a processing position along a manufacturing path, adds molten processing material to a processing target surface to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, the program generating control information for controlling the additive manufacturing device includes: On the computer, acquiring information about the three-dimensional shape of the object; a step of dividing the three-dimensional shape into a plurality of layers and generating a plurality of feature points along a specific direction within each layer in each layer; a step of connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; a step of outputting the control information including information on the set modeling path; A program to execute. According to this program, the three-dimensional shape of the acquired object is divided into multiple layers, and multiple feature points are generated along a specific direction within the layers of the obtained layered body. Next, the multiple feature points are connected between feature points of adjacent layered bodies, and this connected line is set as the modeling path. As a result, even for an object that is formed to extend in one direction, the modeling path is set along the longitudinal direction of the object. Therefore, regardless of the shape of the object, it is possible to suppress an increase in the number of layers and passes, and to control the additive manufacturing device to perform efficient additive manufacturing.

[0066] (12) The procedure for setting the modeling path includes: assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; and setting, as the modeling path, a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second index. According to this program, the reconnection can be mechanically performed by a simple process of linking feature points having the same first index in the order of their second indexes.

[0067] (13) The program described in (11), wherein the specific direction is the longitudinal direction of the weld bead when each shape of the layered body is formed by one weld bead or when each shape is formed by multiple weld beads. According to this program, the specific direction is the longitudinal direction of the weld bead that is expected when the layered body is further divided into the shape of the weld bead, and the line connecting the layered body along the dividing direction becomes the longitudinal direction of the shaped object that extends in one direction. This allows for the determination of a shaping path for forming a weld bead along the longitudinal direction of the shaped object that is formed extending in one direction.

[0068] (14) To the computer, The program according to (11), further comprising a step of calculating a path length of the modeling path and determining whether the feature points are connected to each other based on the path length. According to this program, if the combination of connected feature points is inappropriate, the connections between other feature points can be rearranged.

[0069] (15) To the computer, The program according to (11), further causing the program to execute a procedure of calculating a curvature distribution of the modeling path and determining whether or not the feature points are connected to each other based on the curvature distribution. According to this program, if a combination of connected feature points is inappropriate for laminating weld beads, the connections between other feature points can be rearranged. [Explanation of symbols]

[0070] 11 Modeling control section 13 Modeling Department 17 Manipulator 19 Filler metal supply section 19a Reel 19b Feeding mechanism 21 Manipulator control unit 23 Heat source control unit 25 Torch 27 Base 31 Shape acquisition section 33 Point cloud generator 35 Modeling path setting section 37 Output section 39 First Judgment Department 41 Second judgment section 43,45 Unevenness 100 Additive manufacturing equipment 200 Control information generating device Ab bottom area B Weld bead BM0 Rectangular bead model BMa, BMb bead model Da,Db Bead formation direction H bead height L1, L2, L3, L4 layers Ln1, Ln2 distance M filler metal PS, PS1, PS2, PS3, PS4 Pass P st starting point P ed the last stop So target shape W sculpture

Claims

1. A control information generation device for generating control information for controlling an additive manufacturing device in an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, comprising: a shape acquisition unit that acquires information about a three-dimensional shape of the object; a point cloud generation unit that generates a plurality of feature points along a specific direction in each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that connects the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and sets a line connecting the connected feature points to the modeling path; an output unit that outputs the control information including information on the set modeling path; Equipped with a first determination unit that calculates a path length of the modeling path set by the modeling path setting unit, and determines whether or not the feature points are connected to each other based on the path length; Control information generating device.

2. In an additive manufacturing device that moves a processing position along a manufacturing path, adds molten processing material to a processing target surface to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, a control information generation device that generates control information for controlling the additive manufacturing device, a shape acquisition unit that acquires information about a three-dimensional shape of the object; a point cloud generation unit that generates a plurality of feature points along a specific direction in each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; a modeling path setting unit that connects the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and sets a line connecting the connected feature points to the modeling path; an output unit that outputs the control information including information on the set modeling path; Equipped with a second determination unit that calculates a curvature distribution of the modeling path set by the modeling path setting unit, and determines whether or not the feature points are connected to each other based on the curvature distribution, Control information generating device.

3. The modeling path setting unit includes: assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second indexes is set as the modeling path; The control information generating device according to claim 1 or 2.

4. The specific direction is a longitudinal direction of the weld bead when each shape of the layered body is formed by one weld bead or when each shape of the layered body is formed by a plurality of weld beads. The control information generating device according to claim 1 or 2.

5. 1. A control information generation method for an additive manufacturing apparatus that generates control information for controlling the additive manufacturing apparatus, the method comprising: adding molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape; and stacking the layer shapes to form a three-dimensional object; acquiring information about the three-dimensional shape of the object; generating a plurality of feature points along a specific direction within each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; outputting the control information including information on the set modeling path; calculating a path length of the modeling path, and determining whether the feature points are connected to each other based on the path length; Control information generation method.

6. A control information generation method for generating control information for controlling an additive manufacturing device that creates a layer shape using a weld bead formed by adding molten processing material to a processing target surface while moving a processing position along a manufacturing path, and then stacks the layer shapes to create a three-dimensional object, the method comprising: acquiring information about the three-dimensional shape of the object; generating a plurality of feature points along a specific direction within each layer in a layered body obtained by dividing the three-dimensional shape into a plurality of layers; connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; outputting the control information including information on the set modeling path; calculating a curvature distribution of the modeling path, and determining whether the feature points are connected to each other based on the curvature distribution; Control information generation method.

7. The setting of the modeling path includes: assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; and setting, as the modeling path, a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second index.

7. The control information generating method according to claim 5 or 6.

8. The specific direction is a longitudinal direction of the weld bead when each shape of the layered body is formed by one weld bead or when each shape of the layered body is formed by a plurality of weld beads.

7. The control information generating method according to claim 5 or 6.

9. A program for generating control information for controlling an additive manufacturing device that generates control information for controlling the additive manufacturing device, the program comprising: an additive manufacturing device that adds molten processing material to a processing target surface while moving a processing position along a manufacturing path to form a weld bead to form a layer shape; and a program for generating control information for controlling the additive manufacturing device; On the computer, acquiring information about the three-dimensional shape of the object; a step of dividing the three-dimensional shape into a plurality of layers and generating a plurality of feature points along a specific direction within each layer in each layer; a step of connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; a step of outputting the control information including information on the set modeling path; Execute On the computer, a step of calculating a path length of the modeling path and determining whether or not the feature points are connected based on the path length; program.

10. In an additive manufacturing device that moves a processing position along a manufacturing path, adds molten processing material to a processing target surface to form a weld bead to form a layer shape, and stacks the layer shapes to form a three-dimensional object, the program generating control information for controlling the additive manufacturing device, On the computer, acquiring information about the three-dimensional shape of the object; a step of dividing the three-dimensional shape into a plurality of layers and generating a plurality of feature points along a specific direction within each layer in each layer; a step of connecting the plurality of feature points generated on the same layered body to the plurality of feature points generated on another layered body adjacent to the layered body, and setting a line connecting the connected feature points to the modeling path; a step of outputting the control information including information on the set modeling path; Execute On the computer, a step of calculating a curvature distribution of the modeling path and determining whether the feature points are connected to each other based on the curvature distribution; program.

11. The procedure for setting the modeling path includes: assigning independent first indices to the plurality of feature points in order along the specific direction in the layered body, and assigning independent second indices to the plurality of feature points in order along a division direction of the plurality of layered bodies; a step of setting, as the modeling path, a line connecting feature points having the same assigned first index among the plurality of feature points in the order of the second index, The program according to claim 9 or 10.

12. The specific direction is a longitudinal direction of the weld bead when each shape of the layered body is formed by one weld bead or when each shape of the layered body is formed by a plurality of weld beads. The program according to claim 9 or 10.

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