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

Abstract

To form a bead having a uniform lamination height without causing an underfill in a narrow part formed by the bead.SOLUTION: Design information related to shapes of paths and beads is acquired, bead models BM for beads which are formed in a bead layer are obtained on the basis of the design information, and a first overlap distribution which predicts regions 59A, 59B in which the bead models MB overlap with each other is obtained. A narrow part 65 in which overlap of the bead models BM is insufficient is determined from the first overlap distribution, and an amount of additional fusing of a processing material for complementing the insufficiency of overlap to the narrow part 65 is calculated. Control information is corrected according to the amount of additional fusing. The amount of additional fusing is defined as a total sum of an amount of underfill complementation for filling an underfill part 61 and an amount of height adjustment complementation for aligning a fusing surface which is formed by fusing of some of the beads with a surface height of a periphery of the underfill part.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a control information correction method, a control information correction device, and a program for a layered manufacturing device that layer-by-layer manufactures a shaped object. [Background technology]

[0002] In recent years, there has been an increasing need to use 3D printers as a production method, and research and development is being conducted toward the practical application of molding technologies using metal materials, in particular. However, in additive manufacturing using weld beads, for example, if the bead formation path is formed into a sharp bent corner, a gap will occur between the bent corner path and the path inside it, making it difficult to fill the entire inside of the bend with a weld bead. For example, Patent Document 1 proposes a method for improving molding quality by correcting the path to reduce bead overlap inside the bend, thereby eliminating the gap. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Chinese Patent Application Publication No. 110899905 Summary of the Invention [Problem to be solved by the invention]

[0004] One reason for the above-mentioned gaps is that the outer edge of the bead formed by a bent-angle pass is rounded, while the inner edge is sharp. Therefore, it is possible to increase the amount of bead deposition to fill the gap (underfill) at the bead edge. However, when adding passes to a narrow area, if the welding conditions are not properly adjusted, excessive material will be supplied, increasing the bead buildup height compared to other areas. The same applies to T-shaped passes, where one bead butts against another on the side, and gaps will form at the intersections where the beads butt against each other, causing the same problem as above. As such, there is a need to establish technology that can create narrow areas, such as corners where the path is bent or T-shaped intersections, with a uniform height while preventing underfill.

[0005] An object of the present invention is to provide a control information correction method, a control information correction device, and a program that can form beads of a uniform build-up height without causing underfill in narrow portions formed by beads. [Means for solving the problem]

[0006] The present invention comprises the following configurations. (1) A control information correction method for an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by stacking the bead layers, the method comprising: acquiring design information relating to the shape of the path and the bead; obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; Identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; modifying the control information in accordance with the additional deposition amount; The process includes the steps of: the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification method. (2) A control information correction method for correcting control information for controlling an additive manufacturing device that, while moving a processing position along a path, forms beads by welding a molten processing material to a processing target surface, by overlapping adjacent beads to form bead layers, and forms a three-dimensional object by stacking the bead layers, the method comprising: acquiring design information relating to the shape of the path and the bead; measuring the shape of the bead of the bead layer formed based on the design information; According to the measurement results of the shape of the bead, an additional deposition amount is calculated, which is the sum of an underfill complement amount of the processing material for filling the underfill portion caused by the bead in the bead layer and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion with the surface height around the underfill portion; modifying the control information in accordance with the additional deposition amount; Control information modification method. (3) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, a control information modifying device that modifies control information for controlling the additive manufacturing device, a design information acquisition unit that acquires design information relating to the shape of the path and the bead; an overlap prediction unit that obtains a bead model of the bead formed in the bead layer based on the design information and obtains a first overlap distribution that predicts an overlap region where the bead models overlap each other; an additional amount calculation unit that identifies a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution and calculates an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; an information correcting unit that corrects the control information in accordance with the additional welding amount; Equipped with the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification device. (4) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, a control information modifying device that modifies control information for controlling the additive manufacturing device, a design information acquisition unit that acquires design information relating to the shape of the path and the bead; a shape measurement unit that measures the shape of the bead of the bead layer formed based on the design information; an additional amount calculation unit that calculates an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; an information correcting unit that corrects the control information in accordance with the additional welding amount; A control information modifying device comprising: (5) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, the program executing a procedure for correcting control information for controlling the additive manufacturing device, On the computer, acquiring design information relating to the path and the shape of the bead; a step of obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; a step of identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; a step of correcting the control information in accordance with the additional deposition amount; Execute the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. program. (6) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, the program executing a procedure for correcting control information for controlling the additive manufacturing device, On the computer, acquiring design information relating to the path and the shape of the bead; measuring the shape of the bead of the bead layer formed based on the design information; a step of calculating an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; a step of correcting the control information in accordance with the additional deposition amount; A program for executing. [Effects of the Invention]

[0007] According to the present invention, even if a narrow portion occurs in the bead to be formed, it is possible to correct the control information for the additive manufacturing device so as to form a weld bead of uniform height without causing underfill. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the overall configuration of an additive manufacturing device. [Figure 2A] FIG. 2A is an explanatory diagram showing a procedure for determining the path of a weld bead that constitutes a laminate, in a cross section perpendicular to the longitudinal direction of the weld bead. [Figure 2B] FIG. 2B is an explanatory diagram showing the procedure for determining the path of the weld bead that constitutes the laminate, in a cross section perpendicular to the longitudinal direction of the weld bead. [Figure 2C] FIG. 2C is an explanatory diagram showing a procedure for determining the path of the weld bead that constitutes the laminate, in a cross section perpendicular to the longitudinal direction of the weld bead. [Figure 3] FIG. 3 is an explanatory diagram showing an example of a model that takes into consideration overlap between adjacent beads. [Figure 4] FIG. 4 is an explanatory diagram showing a model that reproduces the shape of the weld metal hanging down to the layer side. [Figure 5] FIG. 5 is a functional block diagram of a first configuration example of a control information modifying device. [Figure 6] FIG. 6 is a flowchart showing the procedure of the control information modification method. [Figure 7] FIG. 7 is an explanatory diagram showing a part of the distribution of weld beads within a layer. [Figure 8] FIG. 8 is a partial enlarged view showing the bent portion of FIG. [Figure 9] FIG. 9 is an explanatory diagram showing a continuous overlapping region at a bent portion corresponding to FIG. [Figure 10] FIG. 10 is an explanatory diagram that schematically shows the predicted distribution of the stack height at the bend of the bead model. [Figure 11A] FIG. 11A is an explanatory diagram showing a path formed in a spiral shape. [Figure 11B]FIG. 11B is an explanatory diagram showing a spiral bead model formed by the path shown in FIG. 11A. [Figure 12] FIG. 12 is an enlarged view showing the details of the path termination portion of FIG. 11B. [Figure 13] FIG. 13 is a functional block diagram of a second configuration example of the control information modifying device. [Figure 14] FIG. 14 is a schematic diagram showing a shape sensor provided on a welding torch. [Figure 15] FIG. 15 is a graph showing a shape profile that is a measurement result obtained by the shape sensor. [Figure 16] FIG. 16 is an explanatory diagram showing another example of the operation of moving the processing position. [Figure 17] FIG. 17 is an explanatory diagram showing another example of the operation of moving the processing position. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an example of the configuration of the present invention will be described in detail with reference to the drawings. Here, an example of an additive manufacturing apparatus that manufactures a shaped object by layering weld beads by arc welding will be described, but the manufacturing method of the shaped object and the configuration of the apparatus for additive manufacturing are not limited to this.

[0010] <Configuration of additive manufacturing equipment> FIG. 1 is a diagram showing the overall configuration of an additive manufacturing apparatus. The additive manufacturing apparatus 100 includes a manufacturing unit 11 and a control device 13. The additive manufacturing apparatus 100 moves a processing position along a path representing a manufacturing route, depositing molten processing material on a processing target surface to form a weld bead (also referred to as a bead) B, thereby manufacturing a three-dimensional object Wk. The control device 13 outputs various control information to the manufacturing unit 11 and comprehensively controls the operation of the manufacturing unit 11. Note that the movement of the processing position described above is not limited to changing the formation position of the weld bead B by driving a manipulator 15 (described later) included in the manufacturing unit 11, but can take various forms depending on the configuration of the additive manufacturing apparatus (described later).

[0011] A control information correction device 200 that corrects control information for controlling the additive manufacturing apparatus 100 is connected to the control device 13. The control information correction device 200 may be connected to the control device 13 and form part of the additive manufacturing apparatus 100, or may be provided separately from the additive manufacturing apparatus 100 and connected to the control device 13 via communication such as a network or a storage medium.

[0012] The modeling unit 11 includes a manipulator 15, a manipulator control unit 17, a filler metal supply unit 19, and a heat source control unit 21.

[0013] The manipulator control unit 17 controls the manipulator 15 and the heat source control unit 21. A controller (not shown) is connected to the manipulator control unit 17, and an operator can instruct any operation to the manipulator control unit 17 via the controller.

[0014] The manipulator 15 is, for example, an articulated robot, and a welding torch 23 attached to the tip shaft is supported so that filler material M can be continuously supplied. The welding torch 23 holds the filler material (also called welding wire) M protruding from the tip. The position and posture of the welding torch 23 can be set arbitrarily in three dimensions within the range of the degrees of freedom of the robot arm constituting the manipulator 15. The manipulator 15 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 15 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 for two or more orthogonal axes.

[0015] The welding torch 23 has a shield nozzle (not shown), through which shielding gas is supplied. The shielding gas blocks the atmosphere and prevents oxidation, nitridation, etc. 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 welding torch 23 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 welding torch 23. 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 welding torch 23 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 disposed 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 disposed on a robot arm or the like.

[0017] The heat source control unit 21 is a welding power source that supplies the power required for welding by the manipulator 15. The heat source control unit 21 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 set by the heat source control unit 21, such as the welding current and welding voltage.

[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 Wk, and may be, for example, mild steel, high-tensile steel, aluminum, aluminum alloy, nickel, or nickel-based alloy.

[0019] The control device 13 controls the above-mentioned units in an integrated manner. The control device 13 is configured by hardware using an information processing device such as a PC (Personal Computer).

[0020] The additive manufacturing apparatus 100 configured as described above operates according to a manufacturing program created based on a lamination plan for the object Wk. The manufacturing program is composed of numerous 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 Wk. According to this manufacturing program, the welding torch 23 is moved while the supplied filler material M is melted and solidified, forming a linear weld bead B, which is a molten solid of the filler material M, on the base 25. That is, the manipulator control unit 17 drives the manipulator 15 and the heat source control unit 21 based on a predetermined manufacturing program provided by the control device 13. In response to commands from the manipulator control unit 17, the manipulator 15 moves the welding torch 23 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 Wk is obtained.

[0021] Next, a stacking plan for a model to be manufactured by the layered manufacturing apparatus 100 will be described. The lamination plan is determined based on a predetermined algorithm in accordance with conditions such as the shape of the object to be formed and the specifications of each part constituting the additive manufacturing apparatus 100. Specifically, the lamination plan includes information on the trajectory (hereinafter also referred to as "path") along which the welding torch 23 is moved, information on the welding conditions for forming the weld bead, etc. The specific procedure for determining the lamination plan is well known, and therefore a description thereof will be omitted here.

[0022] <Design plans and models> 2A, 2B, and 2C are explanatory diagrams showing the procedure for determining the path of the weld beads that form the laminate, in cross sections perpendicular to the longitudinal direction of the weld beads. First, the shape of the object is obtained from shape data such as CAD data. Then, as shown in Fig. 2A, the target shape So of the object to be produced is sliced ​​into multiple layers L1, L2, L3, and L4 according to the bead height H of a predetermined weld bead. The number of divided layers and the bead height can be set arbitrarily, and the specific method for dividing the shape is not particularly limited, and any known method can be used.

[0023] 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 Figure 2B. 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.

[0024] The divided rectangular bead models BM0 are fitted to a semicircular shape, which is a simple geometric figure shown as an example, as shown in Figure 2C. Here, each rectangular bead model BM0 is changed to a semicircular bead model BM having a base 31 and an arc 33, and which is close to the shape of an actual weld bead. The shape of the fitted bead model BM is arbitrary, but if the relationship between the welding conditions and the bead shape is managed in advance as a database, a model of an appropriate shape may be set by referring to the database.

[0025] Then, for example, the midpoint of the base 31 is set as the target position P of the weld bead as a representative position of the obtained semicircular bead model BM. The target position P, which is the midpoint, is a line that forms a group of points along the longitudinal direction of the bead model BM that continues in the depth direction of FIG. 2C, and this line becomes the path PS that forms the weld bead. A path PS is set for each of the multiple bead models BM. The path PS includes information on the target position where the weld bead is formed and information on the planned height (bead height H) of the weld bead. Note that in addition to finding the path PS by fitting the bead model BM to the entire printing shape, it is also possible to find the path PS for the entire printing shape by duplicating the path PS that partially generates part of the printing shape in parallel.

[0026] Here, examples of other shapes of the bead model BM will be described. FIG. 3 is an explanatory diagram showing an example of a model that takes into account the overlap between adjacent beads. FIG. 3 shows three model shapes in a cross section perpendicular to the longitudinal direction of the weld bead. For each model, the cross-sectional shape of model BM1 of the reference pass P1 is a trapezoid. Model BM2 of pass PS2 is located adjacent to model BM1, and model BM3 of pass PS3 is located adjacent to model BM2. Models BM2 and BM3 partially overlap the model located on the left side of FIG. 3. Specifically, models BM2 and BM3 basically have the same trapezoidal shape as model BM1, but the base of the trapezoid is tilted by rotating it clockwise a predetermined angle around one end of the base of the trapezoid opposite to model BM1 while maintaining the cross-sectional shape. The portion of model BM2 that overlaps with model BM1 is included in the area of ​​model BM1, and the lower area of ​​model BM2 that is not included in model BM1 is included in the area of ​​model BM2. Similarly, the area where model BM3 overlaps with model BM2 is defined as the area of ​​model BM2, and the area below model BM3 that is not included in model BM2 is included in the area of ​​model BM3.

[0027] As a result, the shape of model BM2 becomes a polygonal shape (pentagon) that is close to one of the hypotenuses of model BM1, and the shape of model BM3 becomes a polygonal shape (pentagon) that is close to one of the hypotenuses of model BM2. In this way, each of BM1, BM2, and BM3 becomes a shape that more closely resembles the cross-sectional shape of an actual weld bead.

[0028] Fig. 4 is an explanatory diagram showing a model that reproduces the shape of weld metal sagging to the lower layer side. Fig. 4 also shows the model shape in a cross section perpendicular to the longitudinal direction of the weld bead. Among model BM1, which has a trapezoidal cross section and models BM2, BM3, . . . , BMn (n is an integer) layered above model BM1, the upper trapezoidal bead models BM2, BM3, . . . , BMn have downwardly extending sagging portions 37a, 37b added to both ends of base 35. The cross-sectional shape of each sagging portion 37a, 37b is a triangle with one side equal to the end of base 35, and the shape and area are set according to the welding conditions and pass of the weld bead described above. Sagging portions 37a and 37b may have the same shape or different shapes. Furthermore, instead of providing a pair of sagging portions 37a, 37b, they may be provided at only one end of base 35 of the trapezoidal model.

[0029] By setting models BM2, BM3, ..., BMn with sagging portions 37a, 37b as bead models for forming planning, the bead height of the weld bead is affected by the sagging of molten metal that occurs in the weld bead. This makes it easier to match the predicted shape of the weld bead contour with the actual shape, even under conditions where the molten metal of the weld bead is likely to sag, such as in overhanging portions.

[0030] The shape of the model can also be determined according to welding conditions, such as welding current, welding voltage, torch movement speed (rod running speed), and filler metal feed speed.

[0031] For example, the bead height H from the base surface on which the bead is formed to the top of the weld bead may be calculated using equation (1), and the bead width LW in the direction perpendicular to the longitudinal direction of the weld bead may be calculated using equation (2). H = C1 + C2 W f +C3T s +C4W f 2 +C5T s 2 +C6W f T s ...Equation (1) LW=D1+D2W f +D3T s +D4W f 2 +D5T s 2 +D6W f T s ...Equation (2) T s : Torch movement speed W f :Filler feed rate C1~C6: Coefficients D1 to D6: Coefficients

[0032] The model shape is not particularly limited and may be any of various shapes such as the semicircular shape, trapezoid, or a shape close to a trapezoid, as described above, as well as a polygonal shape, an elliptical shape, etc. Alternatively, a model shape that is closest to the set welding conditions may be determined by searching for it from a database that stores welding conditions in association with parameters such as the weld cross-sectional area, bead height, and bead width. Furthermore, an approximation formula may be created based on the database, and the model shape may be determined using the approximation formula.

[0033] <First Configuration Example of Control Information Modifying Device> 5 is a functional block diagram of a first configuration example of the control information modifying device 200. The control information modifying device 200 includes a design information acquiring unit 41, an overlap predicting unit 43, an additional amount calculating unit 45, and an information modifying unit 47.

[0034] The control information modifying device 200, like the control device 13, is configured by hardware using an information processing device such as a PC (Personal Computer). The control function of the control information modifying device 200 is realized by a control device (not shown) reading out a program having a specific function stored in a storage device and executing the program. Examples of the control device include a processor such as a CPU (Central Processing Unit), an MPU (Micro Processor Unit), or a GPU (Graphics Processing Unit), or a dedicated circuit. Examples of the storage device include memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0035] The details of each unit of the control information modifying device 200 will be described later, but the general functions are as follows. The design information acquisition unit 41 acquires design information related to the shapes of the paths and weld beads. The overlap prediction unit 43 obtains a bead model formed within the bead layer based on the acquired design information and calculates the distribution of overlapping areas where beads overlap within the bead layer. The additional amount calculation unit 45 identifies narrow areas where the overlap between beads is insufficient from the distribution of the obtained overlapping areas and calculates the additional deposition amount of processing material (weld beads) to compensate for the insufficient overlap in the narrow areas. The information correction unit 47 corrects the control information according to the calculated additional deposition amount.

[0036] Next, a control information correction method will be described. Here, it is assumed that a stacking plan or a modeling program for controlling the additive manufacturing apparatus 100 to manufacture a model has been prepared, or that corresponding information corresponding to the stacking plan or modeling program has been prepared in advance. This control information correction method corrects the prepared stacking plan, modeling program, or corresponding information.

[0037] 6 is a flowchart showing the steps of the control information correction method. The design information acquisition unit 41 reads information such as a prepared stacking plan or a modeling program, and acquires design information including information on the planned modeling path and the shape of the weld bead, i.e., information on the welding conditions (S1). Examples of welding conditions include parameters such as the welding current, welding voltage, filler metal feed rate, and welding speed.

[0038] Next, overlap prediction unit 43 obtains a bead model of the weld bead determined according to the acquired path and welding conditions, and predicts the intra-layer distribution of the weld bead formed during manufacturing using the bead model. Then, the distribution of overlapping areas between the bead models is obtained from the predicted intra-layer distribution of the bead model (S2). This distribution of overlapping areas is defined as a first overlap distribution.

[0039] FIG. 7 is an explanatory diagram showing a portion of the intralayer distribution of weld beads. Shown here are bent path PS1 and bead model BM1 formed by path PS1, where the weld bead is bent at an angle, and path PS2 and bead model BM2 formed by path PS2, which are located on the inside of the bend. Path P1 bends at bend point Pb1, and the inner path P2 bends at bend point Pb2. The bend angle θ1 of path P1 and the bend angle θ2 of path P2 are acute angles and are approximately equal to each other. While the bend angles θ1 and θ2 of paths P1 and P2 shown here are acute angles, they may also be right angles or obtuse angles.

[0040] The outer bead model BM1 has an outer edge 51 in the bead width direction, which is perpendicular to the bead longitudinal direction, and an outer edge protrusion 51a at bending point Pb1 that is formed in an arc shape. The inner edge 53 has an inner edge recess 53a at bending point Pb1 that is formed in a slightly curved shape. Similarly, the inner bead model BM2 has an outer edge 55 in the bead width direction, and an outer edge protrusion 55a at bending point Pb2 that is formed in an arc shape. The inner edge 57 has an inner edge recess 57a at bending point Pb2 that is formed in a slightly curved shape.

[0041] Fig. 8 is a partially enlarged view showing the bent portion of Fig. 7. The bead model BM1 and the bead model BM2 are arranged with overlapping regions 59A and 59B where adjacent sides partially overlap. The overlapping regions 59A and 59B are not formed in the region that becomes the peak of each bend, and are divided into overlapping region 59A along the linear paths PS1 and PS2 on the left side of Fig. 8 and overlapping region 59B along the linear paths PS1 and PS2 on the right side. In other words, at the bend between the bead model BM1 and the bead model BM2, an underfill portion 61 where no weld bead is formed is formed between the inside of the bead model BM1 and the outside of the bead model BM2.

[0042] FIG. 9 is an explanatory diagram showing a continuous overlap region 59R at a bent portion corresponding to FIG. 7. In additive manufacturing, it is desirable that the overlap regions of passes PS1 and PS2 are formed continuously along each pass PS1, PS2 at the bent portion of each pass, to obtain a uniform overlap state. By forming a uniform overlap region at the bent portion similar to that at the straight portion, the stack height at the bent portion can be made uniform. Such an ideal overlap region 59R having a continuous overlap width along passes PS1, PS2 is defined as the second overlap distribution.

[0043] Comparing the ideal overlap region (second layer distribution) 59R shown in FIG. 9 with the overlap regions (first layer distributions) 59A, 59B between the bead models BM1 and BM2 shown in FIG. 8, the difference between the two is the presence of an underfill portion 61 where no weld bead is formed and an insufficient overlap portion 63 where no overlap with the existing bead model BM1 is formed around the underfill portion 61. The combined region of the underfill portion 61 and the insufficient overlap portion 63 is referred to as a "narrow portion 65." By supplementing this narrow portion 65 with an additional deposition amount corresponding to the shortfall from the ideal overlap region (second layer distribution) 59R, the combined region including the underfill portion 61 filled with the additional deposition amount and the original overlap regions 59A, 59B can approximate the ideal overlap region 59R. More preferably, the two can be made equal. In this way, it is preferable to calculate the additional deposition amount based on the difference between the first overlap distribution and the second overlap distribution.

[0044] The additional amount calculation unit 45 identifies the narrow portion 65 from the information on the first overlap distribution and calculates the additional deposition amount of the weld bead to fill the underfill and overlap in the narrow portion 65 (S3). To identify the narrow portion 65, the area where the overlap regions (first overlap distributions) 59A and 59B are discontinuous is determined by referencing the bead models BM1 and BM2 based on the paths PS1 and PS2. Alternatively, the narrow portion 65 may be identified from the location where a difference occurs between the first overlap distribution and the second overlap distribution. In this case, the narrow portion can be easily extracted by simply comparing the overlap distributions.

[0045] The additional amount calculation unit 45 calculates the amount of processing material (weld bead) required to fill the underfill portion 61 in the bead model within the bead layer as the underfill amount. When a weld bead of this underfill amount is formed in the underfill portion 61, a fused surface is formed in which the weld bead formed according to the underfill amount fuses with a portion of the weld bead corresponding to the bead models BM1 and BM2 surrounding the underfill portion 61, i.e., a molten and solidified surface of the weld bead. The additional amount calculation unit 45 calculates the amount of processing material (weld bead) to add to align the fused surface to the surface height of the weld bead surrounding the underfill portion 61. The additional amount calculation unit 45 then sets the sum of the calculated underfill amount and the height adjustment complement amount as the additional deposition amount. Note that, while "aligning the surface height of the fused surface" here preferably means making it a flat surface with a uniform height, it is not necessarily a flat surface and may refer to a degree of flatness that ensures the shape precision of the object to be additively manufactured.

[0046] Furthermore, the insufficient overlap amount in the narrow portion 65 is preferably calculated by geometric calculation on the plane shown in FIG. 8. In this case, the additional deposition amount can be calculated easily without requiring complex three-dimensional volume calculations. Furthermore, corrections may be made to the above geometric calculations to take into account the three-dimensional unevenness and other characteristics of the actual weld bead surface. For example, corrections can be made by using a three-dimensional bead model with a simple shape that simulates the shape of the actual weld bead. In this case, the amount of volume calculation can be reduced, and the additional deposition amount can be calculated with higher accuracy.

[0047] Furthermore, it is also possible to prepare a plurality of types of additional deposition amounts as table values ​​in advance, calculate the difference between the overlap amount after adding each additional deposition amount and the ideal overlap amount of the weld metal, and select the additional deposition amount that minimizes the difference. In this way, the additional deposition amount can be determined relatively easily with a single calculation, without separately calculating the underfill portion 61 and the insufficient overlap portion 63.

[0048] Next, the information correcting unit 47 corrects the above-mentioned design information in accordance with the obtained additional deposition amount (S4). That is, the overlapping region between the bead models BM1 and BM2 is made closer to or equal to the ideal overlapping region 59R.

[0049] Specific examples of the modification of the control information according to the additional deposition amount include, for example, locally increasing the deposition amount in the inner pass PS2 shown in Figure 8 by reducing the welding speed near the corner of the bend or increasing the filler metal feed rate.

[0050] Furthermore, at the bending point Pb2 of the path PS2, the path may be extended toward the outside of the bending (toward the bending point Pb1). In this case, the stacking height of the overlapping region between the bead models BM1 and BM2 may be predicted by a separate calculation, and the stacking height of the overlapping region may be compared with the stacking height of the surrounding area, and the extension direction and amount of the path may be adjusted to achieve a uniform height.

[0051] 10 is an explanatory diagram schematically illustrating the predicted distribution of stack heights at the bends of the bead models BM1 and BM2. As shown here, it is preferable to correct the design information so that not only the region Ak of ​​the narrow portion 65 but also the region Aw other than the overlap region around the narrow portion 65 has a uniform height distribution.

[0052] This correction of the design information is performed so that the difference in stack height at the narrow portion 65 falls within a predetermined range. If the difference in stack height does not fall within the predetermined range after one correction, the correction can be repeated until it falls within the range. This reliably suppresses bias in the height distribution of the weld beads, enabling a molded object of the desired stack height to be manufactured with high precision.

[0053] As described above, according to this control information correction method, the overlapping area between bead models obtained from the design information is obtained, narrow portions are identified from the distribution of this overlapping area, and the additional welding amount to be added to the narrow portions is calculated as the sum of the underfill amount for the underfill portion and the height adjustment amount for aligning the height of the fusion surface. By correcting the control information of the additive manufacturing device according to this additional welding amount, Therefore, even when the bead to be formed has a narrow portion 65, the control information for the additive manufacturing device can be corrected so that a weld bead of uniform height can be formed without underfill. Therefore, even in a portion where the path for forming the weld bead has a bent corner, for example, a weld bead of uniform height can be formed without underfill.

[0054] The narrow portion 65 where the overlap between the beads is insufficient occurs not only at the bending point of the path but also at the position where the paths butt together in a T-shape. 11A is an explanatory diagram showing a pass formed in a spiral shape. FIG. 11B is an explanatory diagram showing a spiral bead model formed by the pass shown in FIG. 11A. The pass PS shown in FIG. 11A is a linear pass formed continuously in a spiral shape from the outside to the inside along the welding direction WD. The bead models BM corresponding to this pass PS are arranged such that a bead model BM formed by the inner pass PS and a bead model BM formed by the outer pass PS have an overlapping region 59. Then, as shown in FIG. 11B, the bead model BM formed at the inner pass end PSe is arranged so as to fill the inside of the wall portion surrounded by the bead models BM.

[0055] 12 is an enlarged view showing details of the pass end PSe in FIG. 11B. The outer edge of the tip of the weld bead that is actually formed is curved. On the other hand, if the previously formed weld bead is a straight pass PS, the inner edge of the weld bead is straight, and as mentioned above, the inner edge tends to be straight at the bend. Therefore, at the pass end PSe, the weld bead with a curved tip abuts in a T-shape against the side of the straight weld bead formed in the rectangular dead end.

[0056] 12 shows the predicted shape of such a weld bead using a bead model BM. A leading edge 67 at the end of the bead model BM is curved to simulate the leading edge shape of the weld bead. Even if a portion of the curved leading edge 67 is brought close enough to the opposing bead model BM to create an overlap region 59C, undercut portions 61 will be created on both sides of the leading edge of the bead model BM in the bead width direction.

[0057] The overlapping gaps in underfilled areas 61 can be compensated for in the same manner as described above. In this case, a first overlap distribution where beads overlap within a bead layer is first determined based on the design information. Next, narrow areas (underfilled areas 61) where the overlapping gap is insufficient are identified from this first overlap distribution, and the amount of additional weld bead deposition required to compensate for the insufficient overlapping gap in the identified narrow areas is calculated. The control information is then modified based on the calculated amount of additional deposition. This reduces the occurrence of underfilled areas in the narrow areas, allowing weld beads to be formed with a uniform buildup height.

[0058] <Second Configuration Example of Control Information Modifying Device> Next, a second configuration example of the control information modifying device will be described. FIG. 13 is a functional block diagram of a second configuration example of the control information modifying device 300. As shown in FIG. The control information modifying device 300 includes a shape measuring unit 49 instead of the overlap prediction unit 43 in the control information modifying device 200 of the first configuration example shown in Fig. 5. Output information from a shape sensor 71 provided in the modeling unit 11 is input to the shape measuring unit 49 via the control device 13.

[0059] FIG. 14 is a schematic diagram showing a shape sensor 71 provided on welding torch 23. Shape sensor 71 can be, for example, a laser sensor that acquires height information from the reflected light of an irradiated laser beam. Alternatively, a camera for three-dimensional shape measurement can be used as shape sensor 71. For example, when measuring the shape using the light-section method, a slit light is irradiated onto the measurement target surface from the irradiation unit of the laser sensor, and the reflected light from the measurement target surface is detected by the detection unit to obtain a shape profile. By repeating this process while changing the irradiation position, a three-dimensional height distribution of the measurement target surface can be obtained.

[0060] FIG. 15 is a graph showing a shape profile that is a measurement result obtained by shape sensor 71. The surface shape of two rows of weld beads B shown in FIG. 14 is detected by shape sensor 71 as a shape profile Prf having two convex portions. Shape sensor 71 is fixed integrally to welding torch 23, and by moving welding torch 23 in welding direction WD, it is possible to measure the height distribution on a plane simultaneously with bead formation. Note that the location of shape sensor 71 is not limited to welding torch 23, and it may also be near the tip axis of a manipulator.

[0061] According to this control information correcting device 300, the bead shape can be measured while the weld beads are being deposited, and the measurement results can be used to calculate the additional deposition amount described above. That is, design information acquisition unit 41 acquires design information related to the shape of the path and the weld bead. Shape measurement unit 49 uses shape sensor 71 to measure the bead shape of the bead layer formed by control device 13 controlling forming unit 11 based on the design information. Then, based on the measurement results of the formed bead shape, additional amount calculation unit 45 calculates a fill-in amount of processed material (weld bead) to fill any underfill that may occur in the bead layer due to the weld bead. It also calculates a height adjustment compensation amount to align the fusion surface of the weld metal formed by fusing the weld bead corresponding to the fill-in amount and a portion of the weld bead surrounding the underfill with the surface height surrounding the underfill. The fill-in amount and height adjustment compensation amount are calculated based on the overlap distribution, which is calculated from the measurement results of the bead shape and a bead model based on the design information.

[0062] Then, additional amount calculation unit 45 calculates an additional deposition amount, which is the sum of the calculated underfill amount and height adjustment amount. Information correction unit 47 corrects control information (layering conditions) for forming a weld bead adjacent to the measured weld bead, according to the calculated additional deposition amount.

[0063] The bead shape measurement may be performed simultaneously with the formation of the weld bead, or may be performed after the formation of the weld bead is completed. For example, the bead shape of the weld bead formed by pass PS1 shown in Figure 7 may be measured, and the conditions for forming the weld bead in the subsequent pass PS2 may be changed depending on the shape of the weld bead in pass PS1. In this case, because the shape measurement results of the existing weld bead are used, it is possible to take into account the meandering of the weld bead, and the amount of deposition to be added can be calculated more accurately.

[0064] The present invention is not limited to the above-described embodiments, and it is also intended that the various components of the embodiments be combined with one another, and that modifications and applications be made 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. The operation of moving the processing position described above is not limited to an operation performed by driving the manipulator 15 of the additive manufacturing apparatus 100 shown in Fig. 1. For example, as shown in Fig. 16, in a case where the manipulator 15 is disposed on a slider 73 that can move on a horizontal plane and the cylindrical base 25A is supported by a positioner 75 that can be driven to rotate, the operation of moving the processing position may include an operation of moving the formation position of the weld bead by driving at least one of the slider 73 and the positioner 75. Furthermore, as shown in Fig. 17, in a case where the base 25B is supported by a positioner 77 that can be driven to rotate and move linearly, and an object Wk is formed on the base 25B, the operation of moving the processing position may include an operation of moving the formation position of the weld bead by driving the positioner 77.

[0065] As described above, the present specification discloses the following: (1) A control information correction method for an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by stacking the bead layers, the method comprising: acquiring design information relating to the shape of the path and the bead; obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; Identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; modifying the control information in accordance with the additional deposition amount; The process includes the steps of: the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification method. According to this control information correction method, the overlapping areas between bead models obtained from design information are determined, narrow areas are identified from the distribution of these overlapping areas, and the additional welding amount to be added to the narrow areas is calculated as the sum of the underfill amount for the underfilled areas and the height adjustment supplement amount for aligning the height of the fusion surfaces. By correcting the control information of the additive manufacturing device according to this additional welding amount, it is possible to suppress the occurrence of underfilled areas when manufacturing a model and make the stacking height of the beads uniform.

[0066] (2) based on the path information, a second overlap distribution is calculated in which the overlap width between adjacent bead models in the bead layer is set to a continuous overlap width along the path; The control information correction method according to (1), wherein the additional deposition amount is calculated according to a difference between the first overlap distribution and the second overlap distribution. According to this control information correction method, the additional welding amount is calculated based on the difference between the first overlap distribution and the second overlap distribution. This means that the volume of the underfill portion and the area surrounding the underfill portion do not need to be calculated separately, and only one calculation is required, making it relatively easy to calculate the additional welding amount.

[0067] (3) based on the path information, determining a second overlap distribution in which the overlap between adjacent bead models in the bead layer is set to a continuous overlap width along the path; The control information correction method according to (1), wherein the narrow portion is identified from a portion where a difference occurs between the first overlap distribution and the double overlap distribution. According to this control information correction method, a narrow portion can be easily identified from the difference between the first overlap distribution and the second overlap distribution.

[0068] (4) calculating the stack height of the narrow portion to which the additional welding amount has been added and the stack height around the narrow portion; The control information correction method according to (1), wherein the control information is corrected so that the difference between the stack height of the narrow portion and the stack height around the narrow portion falls within a predetermined range. According to this control information correction method, by keeping the difference between the stack height in the narrow portion and the stack height around the narrow portion within a specified range, it is possible to accurately form an object with a desired stack height.

[0069] (5) A control information correction method for correcting control information for controlling an additive manufacturing device that, while moving a processing position along a path, forms beads by welding a molten processing material to a processing target surface, by overlapping adjacent beads to form bead layers, and forms a three-dimensional object by stacking the bead layers, comprising: acquiring design information relating to the shape of the path and the bead; measuring the shape of the bead of the bead layer formed based on the design information; According to the measurement results of the shape of the bead, an additional deposition amount is calculated, which is the sum of an underfill complement amount of the processing material for filling the underfill portion caused by the bead in the bead layer and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion with the surface height around the underfill portion; modifying the control information in accordance with the additional deposition amount; Control information modification method. According to this control information correction method, the amount of additional welding is calculated using the shape measurement results of the existing weld bead, so that it is possible to take into account the meandering of the actual bead, which cannot be obtained from the bead model, and the amount of additional welding can be calculated more accurately.

[0070] (6) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, a control information modifying device that modifies control information for controlling the additive manufacturing device, a design information acquisition unit that acquires design information relating to the shape of the path and the bead; an overlap prediction unit that obtains a bead model of the bead formed in the bead layer based on the design information and obtains a first overlap distribution that predicts an overlap region where the bead models overlap each other; an additional amount calculation unit that identifies a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution and calculates an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; an information correcting unit that corrects the control information in accordance with the additional welding amount; Equipped with the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification device. According to this control information correction device, the overlap prediction unit calculates the overlapping area between bead models based on the design information acquired by the design information acquisition unit. The additional amount calculation unit identifies narrow areas from the distribution of these overlapping areas and calculates the additional welding amount to be added to the narrow areas as the sum of the underfill amount for underfilled areas and the height adjustment amount for aligning the height of the fusion surfaces. The information correction unit corrects the control information of the additive manufacturing device based on this additional welding amount, thereby suppressing the occurrence of underfilled areas when manufacturing a model and achieving a uniform bead stack height.

[0071] (7) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, a control information modifying device that modifies control information for controlling the additive manufacturing device, a design information acquisition unit that acquires design information relating to the shape of the path and the bead; a shape measurement unit that measures the shape of the bead of the bead layer formed based on the design information; an additional amount calculation unit that calculates an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; an information correcting unit that corrects the control information in accordance with the additional welding amount; A control information modifying device comprising: According to this control information correction device, the additional amount calculation unit calculates the additional welding amount using the shape measurement results of the existing weld bead, so that it is possible to take into account the meandering of the actual bead, which cannot be obtained from the bead model, and the amount of welding to be added can be calculated more accurately.

[0072] (8) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, the program executing a procedure for correcting control information for controlling the additive manufacturing device, On the computer, acquiring design information relating to the path and the shape of the bead; a step of obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; a step of identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; a step of correcting the control information in accordance with the additional deposition amount; Execute the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. program. This program calculates the overlapping areas between bead models obtained from design information, identifies narrow areas from the distribution of these overlapping areas, and calculates the additional welding amount to be added to the narrow areas as the sum of the underfill amount for underfilled areas and the height adjustment amount for aligning the height of the fusion surfaces. By correcting the control information of the additive manufacturing device according to this additional welding amount, it is possible to suppress the occurrence of underfilled areas when manufacturing a model and make the stacked height of the beads uniform.

[0073] (9) In an additive manufacturing device that moves a processing position along a path, beads that deposit molten processing material on a processing target surface are formed by overlapping portions of adjacent beads to form bead layers, and a three-dimensional object is manufactured by stacking the bead layers, the program executing a procedure for correcting control information for controlling the additive manufacturing device, On the computer, acquiring design information relating to the path and the shape of the bead; measuring the shape of the bead of the bead layer formed based on the design information; a step of calculating an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; a step of correcting the control information in accordance with the additional deposition amount; A program for executing. This program calculates the amount of additional welding using the shape measurement results of the existing weld bead, so it can take into account things like the meandering of the actual bead that cannot be obtained from the bead model, allowing for a more accurate calculation of the amount of additional welding to be performed. [Explanation of symbols]

[0074] 11 Modeling Department 13 Control device 15 Manipulator 17 Manipulator control unit 19 Filler metal supply section 19a Reel 19b Feeding mechanism 21 Heat source control unit 23 Welding Torch 25, 25A, 25B, 27 base 31 Bottom 33 Arc 35 Bottom 37a, 37b Hanging part 41 Design information acquisition section 43 Overlap prediction section 45 Additional amount calculation section 47 Information correction department 49 Shape measurement section 51 outer edge 51a Outer edge convex part 53 Common-law marriage 53a Inner edge recess 55 outer edge 55a Outer edge convex part 57 Common-law marriage 57a Inner edge recess 59, 59A, 59B, 59C overlapping area (first overlap distribution) 59R Overlap area (double distribution) 61 Missing part 63 Insufficient overlap 65 Narrow area 67 Tip edge 71 Shape Sensor 73 Slider 75,77 Positioner 100 Additive manufacturing equipment 200,300 Control information modification device Ak,Aw area B Weld bead (bead) BM bead model BM0 Rectangular bead model BM1, BM2, BM3, BMn models L1, L2, L3, L4 layers M filler metal P Target position PS, P1, P2, P3 pass Pb1,Pb2 bending point PSe Path Termination WD welding direction Wk sculpture

Claims

1. A control information correction method for an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material onto a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by laminating the bead layers, comprising the steps of: acquiring design information relating to the shape of the path and the bead; obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; Identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; modifying the control information in accordance with the additional deposition amount; The process includes the steps of: the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification method.

2. Based on the path information, a second overlap distribution is calculated in which the overlap between adjacent bead models in the bead layer is set to a continuous overlap width along the path; calculating the additional deposition amount according to a difference between the first overlap distribution and the second overlap distribution; The control information modifying method according to claim 1 .

3. Based on the path information, a second overlap distribution is calculated in which the overlap between adjacent bead models in the bead layer is set to a continuous overlap width along the path; The narrow portion is identified from a portion where a difference occurs between the first overlap distribution and the double overlap distribution. The control information modifying method according to claim 1 .

4. Calculating a stacking height of the narrow portion to which the additional welding amount has been added and a stacking height around the narrow portion; correcting the control information so that a difference between a stacking height at the narrow portion and a stacking height around the narrow portion falls within a predetermined range; The control information modifying method according to claim 1 .

5. A control information correction method for an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material onto a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by laminating the bead layers, comprising the steps of: acquiring design information relating to the shape of the path and the bead; measuring the shape of the bead of the bead layer formed based on the design information; According to the measurement results of the shape of the bead, an additional deposition amount is calculated, which is the sum of an underfill complement amount of the processing material for filling the underfill portion caused by the bead in the bead layer and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion with the surface height around the underfill portion; modifying the control information in accordance with the additional deposition amount; Control information modification method.

6. A control information correcting device for correcting control information for controlling an additive manufacturing device in an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by laminating the bead layers, comprising: a design information acquisition unit that acquires design information relating to the shape of the path and the bead; an overlap prediction unit that obtains a bead model of the bead formed in the bead layer based on the design information and obtains a first overlap distribution that predicts an overlap region where the bead models overlap each other; an additional amount calculation unit that identifies a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution and calculates an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; an information correcting unit that corrects the control information in accordance with the additional welding amount; Equipped with the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. Control information modification device.

7. A control information correcting device for correcting control information for controlling an additive manufacturing device in an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby forming a three-dimensional object by laminating the bead layers, comprising: a design information acquisition unit that acquires design information relating to the shape of the path and the bead; a shape measurement unit that measures the shape of the bead of the bead layer formed based on the design information; an additional amount calculation unit that calculates an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; an information correcting unit that corrects the control information in accordance with the additional welding amount; A control information modifying device comprising:

8. A program for executing a procedure to modify control information for controlling an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby manufacturing a three-dimensional object by laminating the bead layers, the program comprising: On the computer, acquiring design information relating to the path and the shape of the bead; a step of obtaining a bead model of the bead formed in the bead layer based on the design information, and obtaining a first overlap distribution that predicts an overlap region where the bead models overlap each other; a step of identifying a narrow portion where the overlap between the bead models is insufficient from the first overlap distribution, and calculating an additional deposition amount of the processing material to compensate for the insufficient overlap in the narrow portion; a step of correcting the control information in accordance with the additional deposition amount; Execute the additional deposition amount is the sum of a filling amount of the processing material for filling a filling portion caused by the bead model in the bead layer, and a height adjustment filling amount for aligning a fusion surface formed by fusing the filling amount of the processing material with a part of the bead corresponding to the bead model around the filling portion, with the surface height around the filling portion. program.

9. A program for executing a procedure to modify control information for controlling an additive manufacturing device that moves a processing position along a path, deposits beads of molten processing material on a processing target surface, and forms bead layers by overlapping adjacent beads to form bead layers, thereby manufacturing a three-dimensional object by laminating the bead layers, the program comprising: On the computer, acquiring design information relating to the path and the shape of the bead; measuring the shape of the bead of the bead layer formed based on the design information; a step of calculating an additional deposition amount, which is the sum of an underfill complement amount of the processing material for filling an underfill portion caused by the bead in the bead layer, and a height adjustment complement amount for aligning a fusion surface formed by fusing the underfill complement amount of the processing material with a part of the bead around the underfill portion, with the surface height around the underfill portion, according to the measurement result of the shape of the bead; a step of correcting the control information in accordance with the additional deposition amount; A program for executing.

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