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

Abstract

To provide a control information generation device, a control information generation method, a program, a welding control device, and a welding device which uniformize arrangement of paths without performing complicated control, and enable stable bead formation.SOLUTION: A control information generation device 27 includes: a coordinate information acquisition part 31 for acquiring coordinate information on a plurality of passing points included in paths; a moving amount calculation part 33 for setting repulsive force loading on mutually adjacent passing points among the passing points, and calculating and determining a moving amount of the passing point from a position before loading of the repulsive force to a mechanically balanced position for the respective passing points, when the set repulsive force is loaded on the passing points; a path updating part 35 for correcting coordinates of the plurality of passing points according to the moving amount and updating the paths; and a control information output part 37 for outputting the information on the updated paths.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In recent years, there has been an increasing need for 3D printers as a production method, and research and development is underway to commercialize 3D printers using metal materials. 3D printers use heat sources such as lasers, electron beams, and arcs to melt metal powder or metal wire, and then laminate the molten metal to create objects.

[0003] As an example of such a manufacturing technique, Patent Document 1 discloses an additive manufacturing device that builds a three-dimensional shape by layering molten processing material. The additive manufacturing device moves a processing position along a manufacturing path indicated by control information, melts the processing material, and arranges beads on the processing target surface to form a layered shape, and then layers these layered shapes to form a three-dimensional shape. During manufacturing, a correction width for the bead width is calculated based on the manufacturing path and the reference width of the bead cross section, and beads are formed along a correction path based on this correction width, thereby suppressing a decrease in manufacturing quality due to bead overlap. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6647480 Summary of the Invention [Problem to be solved by the invention]

[0005] The building path used to form a desired object is composed of multiple passes arranged in parallel in various patterns. However, the more complex the shape of the object, the more likely it is that the arranged passes will have areas where they are relatively sparse and areas where they are relatively dense. If the workpieces are stacked in this state, this can cause uneven bead heights and internal unwelded areas. Therefore, it is desirable to make the pass arrangement as uniform as possible.

[0006] However, the manufacturing path modification procedure described in Patent Document 1 involves changing the bead width, which requires changing the bead formation conditions during lamination (welding conditions in the case of molten wire lamination) and complicating calculations, potentially resulting in complex control. Furthermore, there may be sections within the same path where the bead width changes significantly, and such sudden changes in conditions during manufacturing may destabilize the welding process itself. This issue is not limited to additive manufacturing, but is also a problem in ordinary fillet welding, butt welding, etc.

[0007] Therefore, an object of the present invention is to provide a control information generating device, a control information generating method, a program, a welding control device, and a welding device that can uniformly arrange passes and form stable beads without performing complicated control. [Means for solving the problem]

[0008] The present invention comprises the following configurations. (1) A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead, and forms a layer shape by stacking the layer shapes to form a three-dimensional structure, comprising: a control information generating device that generates control information for controlling the welding device, a coordinate information acquisition unit that acquires coordinate information of a plurality of passing points included in the path; a movement amount calculation unit that sets a repulsive force to be applied to adjacent passing points among the passing points, and calculates a movement amount of the passing points from a position before the repulsive force is applied to the passing points to a position where the passing points are in dynamic equilibrium when the set repulsive force is applied to the passing points; a path update unit that updates the path by correcting the coordinates of the plurality of passing points in accordance with the movement amount; a control information output unit that outputs the updated path information; A control information generating device comprising: (2) A control information generation method for a welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead to form a layer shape, and forms a three-dimensional structure by stacking the layer shapes, the method comprising: acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount that the passing points move from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A control information generation method comprising: (3) A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead to form a layer shape, and forms a three-dimensional structure by stacking the layer shapes, is a program for causing a computer to execute a control information generation procedure for generating control information for controlling the welding device, The computer, acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount of the passing points from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A program to execute. (4) The control information generating device according to (1), A welding control device comprising a control unit that performs arc welding in accordance with the results output by the control information generating device. (5) The welding control device according to (4), a welding robot that performs arc welding; A welding device comprising: [Effects of the Invention]

[0009] According to the present invention, the arrangement of passes can be made uniform without performing complicated control, and stable bead formation can be achieved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the overall configuration of the welding device. [Figure 2] FIG. 2 is a schematic functional block diagram of the control information generating device. [Figure 3] FIG. 3 is a block diagram showing a hardware configuration of the control information generating device. [Figure 4A] FIG. 4A is a schematic diagram showing a bead formed along a path created by a modeling plan. [Figure 4B] FIG. 4B is a schematic diagram showing a bead formed by changing the path of the bead shown in FIG. 4A. [Figure 5A] FIG. 5A is an explanatory diagram showing the steps of equalizing the intervals between paths. [Figure 5B] FIG. 5B is an explanatory diagram showing the steps of equalizing the intervals between paths. [Figure 5C] FIG. 5C is an explanatory diagram showing the steps of equalizing the intervals between paths. [Figure 5D] FIG. 5D is an explanatory diagram showing the steps of equalizing the intervals between paths. [Figure 6] FIG. 6 is a flowchart showing the procedure for updating the trajectory plan. [Figure 7A] FIG. 7A is a schematic explanatory diagram showing the steps of how adjacent paths are arranged evenly. [Figure 7B] FIG. 7B is a schematic explanatory diagram showing the steps until adjacent paths are evenly spaced. [Figure 7C] FIG. 7C is a schematic explanatory diagram showing the steps until adjacent paths are evenly spaced. [Figure 8] FIG. 8 is a graph showing a schematic change in the travel distance of a path over time. [Figure 9] FIG. 9 is a schematic explanatory diagram when the mathematical model is applied to each path. [Figure 10A] FIG. 10A is an explanatory diagram showing a part of the path before updating. [Figure 10B] FIG. 10B is an explanatory diagram showing the state after the path shown in FIG. 10A has been updated. [Figure 11A] FIG. 11A is an explanatory diagram showing another part of the path before update. [Figure 11B] FIG. 11B is an explanatory diagram showing the state after the path shown in FIG. 11A has been updated. [Figure 12] FIG. 12 is a reference diagram showing how each passing point of a path moves due to a repulsive force. [Figure 13] FIG. 13 is an explanatory diagram showing how each passing point of a path moves due to a repulsive force while being constrained two-dimensionally. [Figure 14A] FIG. 14A is an explanatory diagram showing how a new path is added depending on the amount of movement of a path. [Figure 14B] FIG. 14B is an explanatory diagram showing how a new path is added depending on the amount of movement of the path. DETAILED DESCRIPTION OF THE INVENTION

[0011] An example of the configuration of the present invention will be described in detail below with reference to the drawings. Here, an example will be described in which the control information generation device of the present invention is applied to additive manufacturing, which forms a three-dimensional object by layering beads formed by melting and solidifying a filler metal. However, the present invention can also be applied to general welding such as fillet welding and butt welding.

[0012] The control information generating device generates a control signal for producing a welded structure to a welding device including welding equipment such as a welding robot and a welding power source. First, the configuration of the welding device will be described. <Welding equipment> FIG. 1 is a diagram showing the overall configuration of the welding device. The welding device 100 includes a control unit 11, a welding robot 13, a robot driving unit 15, a filler metal supply unit 17, and a welding power supply unit 19, all of which are connected to the control unit 11.

[0013] Welding robot 13 is an articulated robot, and has welding torch 21 attached to its tip shaft. Robot driver 15 outputs commands to drive welding robot 13 and arbitrarily sets the position and posture of welding torch 21 three-dimensionally within the range of the degrees of freedom of the robot arm. Furthermore, a continuously supplied filler material (welding wire) M is supported at the tip of welding torch 21.

[0014] Welding torch 21 is a torch for gas metal arc welding, which has a shield nozzle (not shown) and receives shielding gas from the shield nozzle. The arc welding method 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 welding or plasma arc welding, and is selected appropriately depending on the object (welded structure) to be produced. For 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 a melting current is supplied is held by the contact tip. Welding torch 21 generates an arc from the tip of filler material M in a shielding gas atmosphere while holding the filler material M.

[0015] The filler material supply unit 17 includes a reel 23 around which the filler material M is wound. The filler material M is sent from the filler material supply unit 17 to a feeding mechanism (not shown) attached to a robot arm or the like, and is fed to the welding torch 21 while being fed in the forward and reverse directions by the feeding mechanism as needed.

[0016] Any commercially available welding wire can be used as the filler metal M. For example, welding wires specified in MAG welding and MIG welding solid wires for mild steel, high-tensile steel, and low-temperature steel (JIS Z 3312), arc welding flux-cored wires for mild steel, high-tensile steel, and low-temperature steel (JIS Z 3313), etc. can be used. Furthermore, filler metals M such as aluminum, aluminum alloys, nickel, and nickel-based alloys can also be used depending on the desired properties.

[0017] Welding power supply unit 19 supplies welding current and welding voltage to welding torch 21 to generate an arc from the tip of the torch.

[0018] According to the welding apparatus 100 having the above configuration, a molding program corresponding to the object to be manufactured is transmitted from the control unit 11 to the robot driving unit 15. The molding program is composed of a large number of command codes, and is created based on an appropriate algorithm according to various conditions such as the shape data (CAD data, etc.) of the object, the material, and the amount of heat input.

[0019] The robot driving unit 15 executes the received molding program and drives the welding robot 13, filler material supply unit 17, welding power supply unit 19, etc. to form a bead B in accordance with the molding program. In other words, the robot driving unit 15 drives the welding robot 13 to move the welding torch 21 along the trajectory (path) of the welding torch 21 set in the molding program. At the same time, the robot driving unit 15 drives the filler material supply unit 17 and the welding power supply unit 19 in accordance with the set welding conditions to melt and solidify the filler material M at the tip of the welding torch 21 by an arc. As a result, a bead B is formed on the base plate 25 along the trajectory of the welding torch 21. For example, the beads B are placed adjacent to each other to form a bead layer consisting of multiple beads B. A subsequent bead layer is layered on top of this bead layer to form a molded object W having a desired three-dimensional shape.

[0020] The control unit 11 has the function of collectively controlling each unit, such as the robot driving unit 15, the filler metal supply unit 17, and the welding power supply unit 19. A control information generating device 27 is connected to this control unit 11, and various control information for performing additive manufacturing (or various types of welding) is input. Furthermore, the control unit 11 determines a path representing the order in which beads B are formed to form a molded object, according to the input manufacturing target, manufacturing conditions, etc., and generates the above-mentioned manufacturing program.

[0021] <Control information generating device> FIG. 2 is a schematic functional block diagram of the control information generating device 27. As shown in FIG. The control information generating device 27 modifies, as necessary, a molding program for driving each unit of the welding device 100 based on a predetermined molding plan when a molded object is formed by layering multiple beads formed by melting and solidifying a filler metal M using the welding device 100. For example, by changing and adjusting the molding plan, uneven bead heights and unwelded portions (defects) within the beads, which may occur when beads are formed according to the predetermined molding plan, can be prevented. The control information generating device 27 generates control information for updating such molding plans and outputs it to the control unit 11. The control information generating device 27 includes a coordinate information acquiring unit 31, a movement amount calculating unit 33, a path updating unit 35, and a control information output unit 37, each of which will be described in detail below.

[0022] FIG. 3 is a block diagram showing the hardware configuration of the control information generator 27. As shown in FIG. Control information generating device 27 is configured by a processor 41 such as a CPU or an MPU, memory 43 such as a ROM or a RAM, storage 45 such as a HD (hard disk drive) or an SSD (solid state drive), an I / O interface 47 connected to an external device, and a computer device including an input unit 49 and an output unit 51. Each element of control information generating device 27 described above operates according to a program that is an instruction from processor 41, and performs its respective function. Control information generating device 27 may also be configured to be located separately from welding device 100 and connected to welding device 100 from a remote location via communication means such as a network.

[0023] <Outline of the process for updating the modeling trajectory> Next, an outline of a procedure for updating a path of a predetermined modeling plan will be described. Fig. 4A is a schematic diagram showing a bead formed along a path (a modeling trajectory set in a modeling program) created by a modeling plan, and Fig. 4B is a schematic diagram showing a bead formed by changing the path shown in Fig. 4A.

[0024] The bead B shown in FIG. 4A has an outer wall portion 53 formed by surrounding the outside in a rectangular shape, a rectangular inner wall portion 55 formed inside the outer wall portion 53, and a filling portion 57 formed between the outer wall portion 53 and the inner wall portion 55 and into which the bead is filled.

[0025] Among the beads B, in parallel section 59 where the beads of outer wall section 53, filling section 57, and inner wall section 55 are aligned, the spacing between paths (spacing between beads B) is irregular. In other words, when the distance between bead B of outer wall section 53 and the outer bead of filling section 57 is L1, the distance between bead B of inner wall section 55 and the inner bead of filling section 57 is L2, and the distance between beads B of filling section 57 is L3, L1 > L3 and L2 > L3 hold.

[0026] In this case, narrow portions are likely to occur between the beads in the parallel portion 59 because the intervals between the rows of beads B in the filled portion 57 are narrower than in other portions. Since the molten metal does not flow easily in the narrow portions, the molten metal does not easily fill the narrow portions when forming the beads, and cavities (defects) are likely to occur.

[0027] 4B, after changing the path, the beads B of the outer wall portion 53, the filling portion 57, and the inner wall portion 55 are arranged at equal distances in the parallel portion 59 (L1 ≒ L2 ≒ L3). This makes it difficult for narrow portions to occur, enabling the formation of a high-quality object without defects.

[0028] In this way, arranging multiple passes at equal intervals without placing them too close together is effective in improving the quality of the molded product. Four rows of beads B are formed in the parallel portion 59 shown here, and therefore, this molding plan includes four passes for forming each bead B. 5A to 5D are explanatory diagrams showing the steps of equalizing the intervals between paths. 5A, the four passes PS1, PS2, PS3, and PS4 are assumed to be irregular passes similar to the case of each bead in the aforementioned parallel portion 59. The distance between pass PS2 and pass PS3 is narrower than the distance between pass PS1 and pass PS2 and the distance between pass PS3 and pass PS4.

[0029] Therefore, as shown in Figure 5B, elastically expanding and contracting springs Sp1, Sp2, and Sp3 are virtually provided between each of the four paths PS1, PS2, PS3, and PS4. That is, spring Sp1 is provided between path PS1 and path PS2, spring Sp2 is provided between path PS2 and path PS3, and spring Sp3 is provided between path PS3 and path PS4. The spring constants of all springs are the same. Furthermore, as a constraint condition, the positions of path PS1 and path PS4 are fixed so that the shape of the molded object does not change.

[0030] Then, as shown in Fig. 5C, the elastic repulsive force of spring Sp2 between closely spaced paths PS2 and PS3 pushes path PS2 toward path PS1, and pushes path PS3 toward path PS4. As a result, paths PS2 and PS3 move to positions where springs Sp1, Sp2, and Sp3 are mechanically balanced, as shown in Fig. 5D. In this way, paths PS1, PS2, PS3, and PS4 are arranged with uniform intervals between them.

[0031] When beads are formed along the paths PS1 to PS4 determined as described above, there are no paths that are too close, the occurrence of irregularities (narrow parts) on the surface to be molded is suppressed, and a molded object with fewer defects is obtained.

[0032] <Details of the procedure for updating the orbit plan> Next, a specific procedure for updating a trajectory plan that sets a plurality of paths among the modeling plans will be described. 6 is a flowchart showing the procedure for updating a trajectory plan. The procedure for updating a trajectory plan will be described below with reference to the flowchart in FIG.

[0033] First, the coordinate information acquisition unit 31 shown in FIG. 2 reads path information representing the movement trajectory of a welding torch from a molding program representing a molding plan for manufacturing a desired object (S1). The trajectory plan for determining the path may be created by a known method, for example, by assigning a path serving as the movement trajectory of the welding torch to a shape model of a layer shape obtained by slicing a target molding shape. Alternatively, the path may be a path generated and recorded in advance. The path information to be read may include, for example, the pitch between adjacent paths, the spacing (height) between shape models of the layer shapes to be stacked, and the like, in addition to the coordinate information included in the path.

[0034] Then, in accordance with the information of each path that has been read, a repulsive force to be applied between adjacent paths is set (S2). This repulsive force corresponds to providing the above-mentioned springs Sp1, Sp2, and Sp3.

[0035] 7A to 7C are schematic explanatory diagrams showing the steps of how adjacent paths are arranged evenly. FIG. 7A shows a pair of adjacent paths PSa and PSb. Each path PSa and PSb is represented by a line connecting passing points Pi and Qj, which represent the target movement positions of the welding torch. A virtual repulsive force is applied to the passing point Pi of the path PSa and the passing point Qj of the path PSb. Here, the repulsive force is exemplified by an elastic restoring force of a spring, but is not limited to this. For example, other mechanical models such as Coulomb force, magnetic force, and pressure may also be used.

[0036] When springs are used as sources of repulsive force, the springs Sp are placed between the pass points Pi and Qj (i, j = 1 to 7). That is, it is assumed that springs are provided between the pass points P1 and Q1, between the pass points P2 and Q2, etc. The springs Sp generate a repulsive force according to the distance between the paths PSa and PSb, specifically the distance between the pass points Pi and Qj on the paths.

[0037] As shown in Figure 7B, when a repulsive force acts on the passing points Pi and Qj, the paths PSa and PSb move away from each other. This repulsive force decreases as the springs stretch and reach a mechanical equilibrium state as the paths PSa and PSb move. FIG. 8 is a graph showing a schematic change in the travel distance of a path over time. Paths PSa and PSb move due to the repulsive force, but their movement distance converges to a certain distance Lc. As a result, as shown in Figure 7C, paths PSa and PSb stop moving at a position where they are in an equilibrium state. This position is the aforementioned equalized path placement position. More specifically, the movement of the passing point is suppressed by a damping force that reduces the path movement speed, thereby achieving an equilibrium state.

[0038] Here, the above-mentioned repulsive force will be explained in more detail. Equations (1) to (3) are shown as examples of mathematical models of repulsive force. When a passing point on path PSa is Pi and a passing point on path PSb is Qj, the repulsive force Fi acting on the i-th passing point can be calculated using equations (1) to (3).

[0039]

number

[0040] Here, k is a constant, xi is the coordinate of pass point Pi on path PSa, and xj is the coordinate of pass point Qj on path PSb. Note that the coordinates shown here are uniaxial coordinates, but they may also be two-dimensional planar coordinates or three-dimensional spatial coordinates. Also, S0 is the limit distance at which the repulsive force F has an effect, and when the distance between pass points is S0 or more, it is considered that the repulsive force F has no effect from that distant position. In other words, the repulsive force Fi acting on the i-th pass point Pi is the sum of the elastic forces from the springs Sp between pass point Qj and pass point Pi in an area closer than distance S0.

[0041] FIG. 9 is a schematic explanatory diagram when the above mathematical model is applied to each of the paths PS1 to PS3. The repulsive force F acting on the passing point Pa of the intermediate path PS2 is calculated based on the above-mentioned formulas (1) to (3). That is, when the distance between the passing point Pa and the other passing points is considered two-dimensionally, a repulsive force is generated at the passing point Pa according to the distance between the passing point Pa and the other passing points Pa1, Pa2, Pa3, and Pa4 that exist within a range AR of a radius of distance S0 centered on the passing point Pa.

[0042] Furthermore, we can assume a force that converges the movement of the passing points (attenuates the movement speed) caused by the repulsive force. This force is proportional to the movement speed of each passing point when the repulsive force acts on it.

[0043]

number

[0044] Here, vector u is the velocity vector of each passing point, vector x is the position vector of each passing point, t is time, Δt is the amount of change over time, vector F is the matrix of the repulsive force, and c is the damping coefficient. For details of the above calculations, please refer to Japanese Patent Application Laid-Open No. 2015-230530 as appropriate.

[0045] The term "attenuation coefficient c" in equation (4) attenuates the movement speed of the passing point due to the repulsive force F, and stops the movement of paths PSa and PSb in FIG. 7C. This causes the amount of positional fluctuation to converge over time. This convergence may be achieved by, for example, ceasing to update the amount of movement when the amount of movement of the passing point falls below a predetermined value. The calculation of the amount of movement may also be repeated multiple times. In this case, multiple candidates for correction positions that resolve densely packed paths can be extracted.

[0046] As mentioned above, the positions of the paths that form the contour of a layer are fixed. In this way, by setting the positions of only the paths that are placed within the contour to be movable, paths can be evenly arranged within the contour without changing the shape of the contour.

[0047] As described above, a repulsive force is set to be applied to adjacent passing points among a plurality of passing points, and when the set repulsive force is applied to each passing point, the movement amount of the passing point from the position before the repulsive force is applied to the passing point to the position where the passing point is in dynamic equilibrium after the repulsive force is applied is calculated for each passing point (S3). This process is performed by the movement amount calculation unit 33 shown in FIG.

[0048] Next, the path update unit 35 updates the path position in accordance with the calculated movement amount (S4). Fig. 10A is an explanatory diagram showing a part of a path before updating, and Fig. 10B is an explanatory diagram showing the state of the path shown in Fig. 10A after updating. In FIG. 10A, the adjacent paths PS_1 and PS_2 are close to each other, but in the updated FIG. 10B, the paths PS_1 and PS_2 are spaced apart, and the intervals between the paths are made uniform.

[0049] Fig. 11A is an explanatory diagram showing another part of the path before updating, and Fig. 11B is an explanatory diagram showing the state of the path shown in Fig. 11A after updating. In Fig. 11A, path PS_3 is bent and has contacting portions, while path PS_4 has some portions arranged close to each other in a narrow area. However, after the update shown in Fig. 11B, path PS_3 no longer contacts each other, and path PS_4 no longer has any close contacting portions. In this way, the spacing between paths is made uniform overall.

[0050] The control information output unit 37 outputs information about the trajectory plan in which the path has been updated as described above to the control unit 11 shown in Fig. 1, etc. (S5). The control unit 11 corrects the printing plan based on the information about the updated trajectory plan. For example, when forming the next bead to be formed during printing or the next object to be printed, the bead is formed based on the updated trajectory plan.

[0051] As described above, the control information generating device 27 configured as described above can analytically determine the mechanical equilibrium state of paths that are arranged relatively densely among the paths in the created trajectory plan by applying a pseudo-load such as a repulsive force, and can correct the trajectory plan so that the position where this equilibrium state is achieved becomes the path position. This correction can be performed regardless of conditions such as the shape of the target object and the trajectory direction. When beads are formed based on the corrected trajectory plan, narrow spaces between beads are less likely to occur, thereby suppressing the occurrence of defects. Moreover, in this case, there is no need to change the welding conditions, and the control can be prevented from becoming complicated.

[0052] Fig. 12 is a reference diagram showing how each passing point of a path moves due to a repulsive force. Fig. 13 is an explanatory diagram showing how each passing point of a path moves due to a repulsive force while being constrained in two dimensions. Each of the pass points P1 to P4 of the path PS shown in Figure 12 moves solely due to the repulsive force with other adjacent paths (not shown). In this case, depending on the conditions of the other paths, it is possible that pass point P3 is closer to pass point P1 than pass point P2. In this case, the path PS becomes more curved, which makes it more likely that a narrow section will occur when the bead is formed. As a result, defects are more likely to occur in the formed object.

[0053] On the other hand, as shown in Fig. 13, when each of the pass points P1 to P4 of the passes PS1 to PS3 is subjected to a repulsive force from the pass points of adjacent passes and other pass points of the same pass, as described above, the movement of each of the pass points P1 to P4 is restricted two-dimensionally, and the phenomenon of the pass points being reversed as shown in Fig. 12 is unlikely to occur. This makes it less likely that narrow sections will occur when the bead is formed, and therefore less likely that defects will occur in the molded object.

[0054] 14A and 14B are explanatory diagrams showing how a new path is added depending on the amount of movement of a path. 14A, when a pair of paths PS1 and PS2 arranged a distance L apart are moved by applying a repulsive force to each passing point as described above, the distance La between paths PS1 and PS2 may become wider than a predetermined reference width depending on the conditions, as shown in Fig. 14B. In this case, a new path PSA may be added between paths PS1 and PS2, preferably at a position equidistant from paths PS1 and PS2.

[0055] In this way, when the interval between adjacent paths is wider than a predetermined reference width, the interval between the paths can be optimized by generating a new additional path between the adjacent paths.

[0056] 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.

[0057] As described above, the present specification discloses the following: (1) A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead, and forms a layer shape by stacking the layer shapes to form a three-dimensional structure, comprising: a control information generating device that generates control information for controlling the welding device, a coordinate information acquisition unit that acquires coordinate information of a plurality of passing points included in the path; a movement amount calculation unit that sets a repulsive force to be applied to adjacent passing points among the passing points, and calculates a movement amount of the passing points from a position before the repulsive force is applied to the passing points to a position where the passing points are in dynamic equilibrium when the set repulsive force is applied to the passing points; a path update unit that updates the path by correcting the coordinates of the plurality of passing points in accordance with the movement amount; a control information output unit that outputs the updated path information; A control information generating device comprising: This control information generating device can make the spacing between pass points uniform by utilizing the fact that when a repulsive force is applied between adjacent pass points, the pass points move to a position where they are mechanically balanced. This makes it difficult for narrow sections to occur even when a bead is formed along the path, thereby suppressing the occurrence of defects. In addition, since there is no need to change the welding conditions, control does not become complicated.

[0058] (2) The control information generating device according to (1), wherein the adjacent passing points include at least passing points other than passing points adjacent to each other along the path. According to this control information generating device, it is possible to widen the interval between adjacent paths and update the paths to ones that are less prone to defects.

[0059] (3) The control information generating device described in (1), wherein the movement amount calculation unit calculates the movement speed of the passing point when the repulsive force is applied to the passing point, and repeats the process of calculating the movement amount corresponding to the obtained movement speed. According to this control information generating device, the amount of movement of the passing point is calculated according to the speed of movement of the passing point due to the repulsive force.

[0060] (4) The control information generating device described in (3), wherein the movement amount calculation unit sets a damping force that reduces the movement speed of the passing point due to the repulsive force, and calculates the movement amount when the set damping force is further applied to the passing point. According to this control information generating device, the amount of movement is set to the position where the passing point moves from its initial position due to the loaded repulsive force, and then the movement of the passing point is suppressed by the damping force and reaches an equilibrium state.

[0061] (5) A control information generating device according to any one of (1) to (4), which adds a new path between the adjacent paths when the distance between the adjacent paths is wider than a predetermined reference width. According to this control information generating device, the distance between paths can be prevented from becoming too large by adding new paths.

[0062] (6) A control information generating device as described in (5), which calculates the amount of movement of a passing point included in the added path from its position before the repulsive force is applied to its position at which it is mechanically balanced when the repulsive force is applied to the passing point. According to this control information generating device, a repulsive force is also exerted on the group of passing points included in the added path, and the passing points are moved to a position where they are in equilibrium, thereby equalizing the distances between the passing points.

[0063] (7) A control information generation method for a welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead to form a layer shape, and forms a three-dimensional structure by stacking the layer shapes, the method comprising: acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount that the passing points move from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A control information generation method comprising: This control information generation method utilizes the fact that when a repulsive force is applied between adjacent pass points, the pass points move to a position where they are mechanically balanced, making it possible to equalize the spacing between the pass points. This makes it less likely that narrow sections will occur even when a bead is formed along the path, thereby suppressing the occurrence of defects. In addition, since there is no need to change the welding conditions, control is not complicated.

[0064] (8) A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead to form a layer shape, and forms a three-dimensional structure by stacking the layer shapes, is a program for causing a computer to execute a control information generation procedure for generating control information for controlling the welding device, The computer, acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount of the passing points from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A program to execute. This program makes it possible to equalize the spacing between pass points by utilizing the fact that when a repulsive force is applied between adjacent pass points, the pass points move to a position where they are mechanically balanced. This makes it less likely that narrow sections will occur even when a bead is formed along the path, suppressing the occurrence of defects. Furthermore, since there is no need to change the welding conditions, control is not complicated.

[0065] (9) A control information generating device according to any one of (1) to (6), A welding control device comprising a control unit that performs arc welding in accordance with the results output by the control information generating device. This welding control device makes it possible to easily set arc welding procedures that are less likely to cause defects.

[0066] (10) The welding control device according to (9), a welding robot that performs arc welding; A welding device comprising: This welding device allows arc welding to be performed with fewer defects. [Explanation of symbols]

[0067] 11 Control section 13 Welding robot 15 Robot drive unit 17 Filler metal supply section 19 Welding power supply unit 21 Welding torch 23 reels 25 base plate 27 Control information generator 31 Coordinate information acquisition unit 33 Movement amount calculation section 35 Path Update Section 37 Control information output section 41 processors 43 Memory 45 Storage 47 I / O interfaces 49 Input section 51 Output section 53 Exterior wall 55 Inner wall 57 Filling section 59 Parallel section 100 welding equipment M filler metal W sculpture

Claims

1. A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead, and forms a layer shape by stacking the layer shapes to form a three-dimensional structure, comprising: a control information generating device that generates control information for controlling the welding device, a coordinate information acquisition unit that acquires coordinate information of a plurality of passing points included in the path; a movement amount calculation unit that sets a repulsive force to be applied to adjacent passing points among the passing points, and calculates a movement amount of the passing points from a position before the repulsive force is applied to the passing points to a position where the passing points are in dynamic equilibrium when the set repulsive force is applied to the passing points; a path update unit that updates the path by correcting the coordinates of the plurality of passing points in accordance with the movement amount; a control information output unit that outputs the updated path information; A control information generating device comprising:

2. The adjacent passing points include at least passing points other than passing points adjacent to each other along the path. The control information generating device according to claim 1 .

3. the movement amount calculation unit repeats a process of determining a movement speed of the passing point when the repulsive force is applied to the passing point and calculating the movement amount corresponding to the obtained movement speed. The control information generating device according to claim 1 or 2.

4. the movement amount calculation unit sets a damping force that reduces a movement speed of the passing point due to the repulsive force, and calculates the movement amount when the set damping force is further applied to the passing point. The control information generating device according to claim 3 .

5. When the interval between the adjacent paths is wider than a predetermined reference width, the new path is added between the adjacent paths. The control information generating device according to any one of claims 1 to 4.

6. calculating, for each of the plurality of passing points, a movement amount of the passing point from a position before the repulsive force is applied to the passing point included in the added path to a position where the passing point is in dynamic equilibrium when the repulsive force is applied to the passing point; The control information generating device according to claim 5 .

7. A welding apparatus that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead, and forms a layer shape by stacking the layer shapes to form a three-dimensional structure, comprising: acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount that the passing points move from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A control information generation method comprising:

8. A welding device that moves a processing position along a predetermined path, adds molten processing material to a processing target surface to form a bead, and forms a layer shape by stacking the layer shapes to form a three-dimensional structure, the program causing a computer to execute a control information generation procedure for generating control information for controlling the welding device, The computer, acquiring coordinate information of a plurality of passing points included in the path; a step of assuming a repulsive force acting on adjacent passing points among the passing points, and calculating, for the plurality of passing points, a movement amount of the passing points from a position before the repulsive force is applied to a position where the passing points are in dynamic equilibrium due to the repulsive force; updating the path by correcting the coordinates of the plurality of passing points in accordance with the amount of movement; outputting the updated path information; A program to execute.

9. A control information generating device according to any one of claims 1 to 6; A welding control device comprising a control unit that performs arc welding in accordance with the results output by the control information generating device.

10. The welding control device according to claim 9 ; a welding robot that performs arc welding; A welding device comprising:

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