Robot Remote Teaching and High-Temperature Component Additive Manufacturing 3D Printing Control System Using Digital Twin-based Simulation System

Abstract

The present invention provides a control system for a multi-joint robot for high-temperature additive manufacturing of parts, comprising: a multi-joint robot that grasps a material stacking stage and fixes or moves the position of the material stacking stage according to teaching data for each 3D printing manufacturing process; a 3D printing system that performs a 3D printing manufacturing process in a powder additive method on a material stacking stage whose position is fixed by the multi-joint robot; and a teaching data generation system that generates virtual work environment 3D modeling information in which the multi-joint robot and the 3D printing system are constructed, generates respective teaching data for performing 3D printing manufacturing processes of the multi-joint robot and the 3D printing system within the virtual work environment 3D modeling information, simulates the generated respective teaching data to verify whether there is a collision between the multi-joint robot and the 3D printing system, and transmits the verified respective teaching data to the multi-joint robot and the 3D printing system.

Description

Technology Field

[0001] The present invention relates to a control system for a multi-joint robot for 3D printing of high-temperature components using a digital twin-based simulation system, and more specifically, to a control system for a multi-joint robot for 3D printing using a digital twin-based simulation system that can perform remote teaching of the multi-joint robot and control of 3D printing based on verified teaching data, thereby ensuring precision and accuracy in the manufacturing and repair / regeneration of high-temperature components used in industrial fields such as power generation gas turbines, and significantly improving the efficiency of the manufacturing process. Background Technology

[0003] Recently, as customized production and small-batch, multi-product manufacturing methods have increased in the manufacturing industry, manufacturing processes requiring high precision and accuracy are becoming increasingly important. In particular, in industrial fields such as power generation gas turbines, manufacturing with superalloys is essential as they rotate at ultra-high speeds of 3,600 revolutions per minute at high temperatures exceeding 1,300°C, and precise manufacturing process control is being emphasized even more.

[0004] In addition, when repair and remanufacturing is performed to repair damaged or broken high-temperature parts, conventionally, this process had to be carried out simply as a manual one, which necessitated skilled welding technicians and presented the problem of requiring an additional separate manual process for bead shape control.

[0005] Accordingly, 3D printing technology utilizing collaborative multi-joint robots is attracting attention, but existing technology had problems with reduced manufacturing accuracy and efficiency due to the difficulty of precise position control or real-time control.

[0006] Meanwhile, among existing 3D printing technologies, additive manufacturing (AM) is a method of stacking materials in three dimensions using a high-density heat source, and has the advantage of being able to realize shape complexity, hierarchical complexity, functional complexity, and material complexity.

[0007] However, 3D printing using additive manufacturing methods based on conventional technology frequently experiences quality issues such as surface roughness and internal voids during the additive manufacturing process, and it is difficult to detect and control these in real time. Consequently, there was a problem with significantly reduced reliability when used in the manufacturing and repair / regeneration of high-temperature components used in industrial fields such as power generation gas turbines.

[0008] In other words, conventional 3D printing systems have limitations in that they lack precise position control and layering precision of the material, making it difficult to secure the high level of precision and quality required in the aforementioned industrial fields, as well as making precise linkage and collaboration between the articulated robot and the 3D printing system difficult.

[0009] In addition, there were persistent problems such as the inability to verify in advance potential issues like product interference or collisions between equipment that could occur during the manufacturing process, and the difficulty of real-time control during the manufacturing process.

[0010] Accordingly, teaching data for multi-joint robots is generated to control their operation based on this data; however, conventional methods involved manually inputting or adjusting data at the actual site, which resulted in reduced work efficiency and a problem in that potential errors during the manufacturing process could not be sufficiently verified in advance.

[0011] The background technology or prior art mentioned herein is intended only to aid in understanding the technical significance of the present invention and does not refer to technology widely known in the technical field to which this invention belongs prior to the filing of the present invention. Prior art literature

[0013] Republic of Korea Published Patent No. 10-2025-0049487 Republic of Korea Published Patent No. 10-2025-0062448 The problem to be solved

[0014] In order to solve such problems, the present invention is conceived based on the aforementioned background technology, and aims to provide a control system for a high-temperature component additive manufacturing 3D printing multi-joint robot with a digital twin-based simulation system applied, which can perform remote teaching of a multi-joint robot and control of 3D printing based on verified teaching data by applying a digital twin-based simulation system, thereby ensuring precision and accuracy in the manufacturing and repair / regeneration fields of high-temperature components used in industrial fields such as power generation gas turbines, and significantly improving the efficiency of the manufacturing process.

[0015] In addition, the present invention aims to provide a control system for a high-temperature additive manufacturing 3D printing multi-joint robot that applies a digital twin-based simulation system, which can verify and modify remote teaching data of a multi-joint robot in real time through digital twin-based simulation, thereby enabling precise control of the multi-joint robot's operations without on-site visits, thus minimizing the need for on-site visits and ensuring the safety of the operator.

[0016] However, the purpose of the present invention is not limited thereto, and it goes without saying that any purpose or effect that can be understood from the means of solving the problem or the embodiments, even if not explicitly mentioned, is also included. means of solving the problem

[0018] According to one embodiment of the present invention for achieving such objectives, the invention comprises: a multi-joint robot that grasps a material stacking stage and fixes or moves the position of the material stacking stage according to 3D printing manufacturing processes based on teaching data; a 3D printing system that performs a 3D printing manufacturing process using a powder additive method on a material stacking stage whose position is fixed by the multi-joint robot; and a teaching data generation system that generates virtual work environment 3D modeling information in which the multi-joint robot and the 3D printing system are constructed, generates respective teaching data for performing 3D printing manufacturing processes of the multi-joint robot and the 3D printing system within the virtual work environment 3D modeling information, simulates the generated respective teaching data to verify whether there is a collision between the multi-joint robot and the 3D printing system, and transmits the verified respective teaching data to the multi-joint robot and the 3D printing system.

[0019] According to one embodiment of the present invention, the teaching data generation system comprises: an environment building module that generates virtual work environment 3D modeling information; a teaching unit that generates simulation 3D modeling information based on the virtual work environment 3D modeling information, including first teaching data including coordinate values ​​for the movement position of the multi-joint robot, axis-specific joint rotation angle values ​​for the joints of the multi-joint robot, and fixed position and rotation angle values ​​of a material deposition stage, and second teaching data including position values ​​of a 3D printing nozzle and a 3D printing machine of the 3D printing system, configured to display the generated first and second teaching data to enable selection, and applying the selected first and second teaching data to the virtual work environment 3D modeling information to enable simulation; and a simulation unit that performs a simulation based on the simulation 3D modeling information using a digital twin method to verify whether there is a collision between the multi-joint robot and the 3D printing system that perform a 3D printing manufacturing process based on the generated teaching data.

[0020] According to one embodiment of the present invention, the teaching data generation system further comprises: a teaching providing unit that transmits teaching data, including verified first and second teaching data, to the multi-joint robot and 3D printing system, respectively; an example data generation unit that generates a plurality of example teaching data that enable the multi-joint robot and 3D printing system to stably perform a 3D printing manufacturing process by analyzing verified teaching data and collision occurrence teaching data regarding a collision occurrence point; and a display unit that displays the virtual work environment 3D modeling information, the first and second teaching data, and the example teaching data.

[0021] According to one embodiment of the present invention, the teaching unit is characterized by generating first teaching data including coordinate values ​​for the movement position of the multi-joint robot, axis-wise joint rotation angle values ​​for the joints, and fixed position values ​​for each 3D printing manufacturing process step of the gripper unit and the material additive stage, and second teaching data including coordinate values ​​for the movement position of the 3D printing nozzle and the 3D printing machine of the 3D printing system.

[0022] According to one embodiment of the present invention, the environment construction module is characterized by being configured so that the field work environment and the virtual work environment can be matched 1:1 when generating the virtual work environment 3D modeling information.

[0023] According to one embodiment of the present invention, the teaching unit is configured such that when teaching modification request information is received from the simulation unit, it analyzes the teaching modification request information to generate modified coordinate values ​​for a collision point, modified joint rotation angle values ​​of the multi-joint robot, or modified position movement values ​​of the 3D printing system, updates the database, and transmits the updated teaching data to the simulation unit so that re-simulation can be performed.

[0024] According to one embodiment of the present invention, the simulation unit is characterized by using virtual work environment 3D modeling information and teaching data to visualize the operation of the multi-joint robot and 3D printing system at each manufacturing process step of the 3D printing manufacturing process within the work environment, and performing a simulation based on the visualized information.

[0025] According to one embodiment of the present invention, the simulation unit is characterized by generating teaching completion information and transmitting it to the teaching unit when the robot stably completes the task without a collision.

[0026] According to one embodiment of the present invention, the simulation unit visualizes the point where the collision occurred when a collision occurs, and generates teaching modification request information including the visualized image information, coordinate values ​​for the point, and coordinate values ​​of the multi-joint robot and the 3D printing system, and transmits it to the teaching unit.

[0027] According to one embodiment of the present invention, the 3D printing system comprises: a 3D printing nozzle that deposits material powder onto the surface of the material deposition stage; a 3D printing machine that moves the position of the 3D printing nozzle based on teaching data provided from the teaching data generation system; a printing control unit that receives and stores the teaching data and controls the operation of the 3D printing machine based on the received teaching data; and a vision inspection unit that inspects the quality of the manufactured object.

[0028] According to one embodiment of the present invention, the vision inspection unit is characterized by including a position measuring sensor that detects physical errors occurring during the 3D printing manufacturing process and transmits the detected error value to the teaching data generation system. Effects of the invention

[0030] According to an embodiment of the present invention, by applying a digital twin-based simulation system, remote teaching of a multi-joint robot and control of 3D printing based on verified teaching data can be performed, thereby ensuring precision and accuracy in the manufacturing and repair / regeneration of high-temperature components used in industrial fields such as power generation gas turbines, and significantly improving the efficiency of the manufacturing process.

[0031] According to an embodiment of the present invention, remote teaching data of a multi-joint robot can be verified and modified in real time through digital twin-based simulation, thereby enabling precise control of the multi-joint robot's operations without on-site visits, which has the effect of minimizing the need for on-site visits and ensuring the safety of the operator.

[0032] Furthermore, the various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention. Brief explanation of the drawing

[0034] FIG. 1 is a schematic diagram showing a control system for a high-temperature component additive manufacturing 3D printing multi-joint robot to which a digital twin-based simulation system according to one embodiment of the present invention is applied. FIG. 2 is a block diagram schematically showing a 3D printing system according to one embodiment of the present invention, FIG. 3 is a schematic block diagram showing a teaching data generation system according to an embodiment of the present invention. FIG. 4 is a block diagram schematically showing the database of a teaching data generation system according to one embodiment of the present invention, FIG. 5 is an exemplary diagram showing a state in which a virtual work environment 3D model is displayed through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to an embodiment of the present invention. FIG. 6 is an exemplary diagram showing a state in which the position of a material deposition stage is fixed through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to an embodiment of the present invention. FIG. 7 is an exemplary diagram showing the state of performing a 3D printing process on a fixed-position material deposition stage through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to an embodiment of the present invention. FIG. 8 is an exemplary diagram showing the state of changing the position of a material additive manufacturing stage after primary processing is completed through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to an embodiment of the present invention. FIG. 9 is an exemplary diagram showing a state in which the position of a material deposition stage is secondarily fixed through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to an embodiment of the present invention. FIG. 10 is an exemplary diagram showing the state of performing a secondary 3D printing process through a multi-joint robot control system for high-temperature component additive manufacturing 3D printing according to an embodiment of the present invention. FIG. 11 is an exemplary diagram showing the state of performing a boiling point inspection on an object that has been manufactured through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to one embodiment of the present invention. FIG. 12 is an exemplary diagram showing the state of loading an object and a material stacking stage that has completed inspection through a high-temperature component additive manufacturing 3D printing multi-joint robot control system according to one embodiment of the present invention. Specific details for implementing the invention

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings.

[0036] Furthermore, it should be noted that technical terms used in describing the present invention are used merely to describe specific embodiments and are not intended to limit the invention. Detailed descriptions of related known components or functions are omitted if it is determined that such descriptions could obscure the essence of the invention. Additionally, general terms used in describing the present invention should be interpreted according to their prior definitions or the context, and should not be interpreted in an overly narrow sense. If a technical term is incorrect and fails to accurately express the concept of the invention, it should be replaced with a technical term that can be correctly understood by a person skilled in the art.

[0037] Furthermore, in describing the present invention, terms such as "comprising," "composing," or "having" mean that the relevant components may be inherent unless specifically stated otherwise, and should not be interpreted as necessarily including all of the various components or steps, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included; and all terms, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains, unless otherwise defined.

[0038] In addition, identification symbols such as 1, 2, A, B, (a), (b), etc. may be used to describe the components of the present invention. These identification symbols are intended to distinguish the components from other components and are used only for convenience of explanation; they do not limit the essence, order, or sequence of the components.

[0039] Furthermore, the suffixes "module" and "part" for components used in this specification are assigned or used interchangeably solely for the sake of ease of drafting the specification, and do not inherently possess distinct meanings or roles.

[0040] Additionally, each system described in each embodiment of the present invention may be a system implemented by a computer device or a plurality of computer devices that communicates with a terminal, device, or device through a network to provide commands, code, files, content, services, etc., and may include memory, a processor, a communication interface, an input / output interface, and a database.

[0041] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0042] As described above, the 3D printing multi-joint robot control system to which the digital twin-based simulation system of the present invention is applied comprises: a multi-joint robot (100) that grasps a material stacking stage (120) and fixes or moves the position of the material stacking stage (120) according to 3D printing manufacturing processes based on teaching data; a 3D printing system (200) that performs a 3D printing manufacturing process in a powder additive manner on the material stacking stage (120) whose position is fixed by the multi-joint robot (100); a virtual work environment 3D modeling information to generate teaching data for the multi-joint robot (100) and the 3D printing system (200); each teaching data for performing the 3D printing manufacturing process of the multi-joint robot (100) and the 3D printing system (200); a simulation of the generated teaching data to verify whether there is a collision between the multi-joint robot (100) and the 3D printing system (200); and a verification completed It is configured to include a teaching data generation system (300) that transmits teaching data to a control unit of a multi-joint robot (100) and a 3D printing system (200), respectively.

[0043] The multi-joint robot (100) can be configured with a virtual 3D model created through an environment building module (310) of a teaching data generation system (300), and is configured to be able to move and rotate at various positions and angles on the virtual work environment 3D model information, and includes a gripper part (130) that grips a material stacking stage (120).

[0044] The movement of each joint and the gripper part (130) of the multi-joint robot (100) can be precisely controlled based on verified teaching data through the control unit (110).

[0045] That is, the multi-joint robot (100) is implemented on virtual work environment 3D modeling information generated through the teaching data generation system (300) described later, and holds a material stacking stage (120) so that 3D printing can be performed based on the teaching data, moves the position of the held material stacking stage (120) toward the 3D printing system (200), and then rotates and fixes the material stacking stage (120) by a certain angle according to the shape of the object to be manufactured by 3D printing for each 3D printing manufacturing process.

[0046] In other words, when a 3D printing process is performed within a virtual 3D modeling environment, the multi-joint robot (100) of the present invention performs joint movements in accordance with the fixed position and fixed angle of the material stacking stage (120) based on teaching data in which the material is stacked.

[0047] Here, the control unit (110) is connected to the multi-joint robot (100) via a wired or wireless network and may be a control terminal including a teach pendant for inputting and storing teaching data, or a multi-joint robot (100) control unit configured in the multi-joint robot (100), and receives and stores teaching data, particularly first teaching data to be described later, from the teaching providing unit (340) of the teaching data generation system (300), and controls the operation of the multi-joint robot (100) (1000) based on the first teaching data.

[0048] Such a multi-joint robot (100) may be composed of a multi-joint robot (100) with 5 or more axes, but is not limited thereto.

[0049] Meanwhile, the material stacking stage (120) is configured to be manufactured by stacking a material that forms an object including a high-temperature component used in industrial fields such as a gas turbine for power generation through a 3D printing system (200), and is gripped by a gripper configured in the entry part of a multi-joint robot (100), and is configured so that the stacking of the material can be performed while the position is fixed based on the teaching data of the gripper.

[0050] The material stacking stage (120) is configured to be equipped with a damaged or broken object, such as a blade or vane used in an industrial field like a gas turbine for power generation, and to allow material to be stacked on the surface of the damaged or broken part of the object.

[0051] The fixed position and rotation angle values ​​of the material stacking stage (120) can correspond to the position and rotation angle values ​​of the 3D printing manufacturing process stage of the gripper part (130) of the multi-joint robot (100).

[0053] The 3D printing system (200) can be configured with a virtual 3D model created through an environment building module (310) of the teaching data generation system (300), and is configured so that the manufacturing of an object can be performed in a powder layering manner on a material layering stage (120) whose position is fixed on the virtual work environment 3D modeling information created through the environment building model (310) of the teaching data generation system (300).

[0054] This 3D printing system (200) may be configured to include a 3D printing nozzle (210) that deposits material powder onto the surface of a material deposition stage (120) whose position is fixed by a multi-joint robot (100), a 3D printing machine (220) that includes a 3D printing drive unit that moves the position of the 3D printing nozzle (210) based on teaching data provided by a teaching provider (340) of a teaching data generation system (300), a printing control unit (230) that receives and stores teaching data from the teaching data generation system (300) and controls the operation of the 3D printing machine (220) based on the received teaching data, and a vision inspection unit (240) that inspects the quality of the manufactured object.

[0055] Here, the 3D printing nozzle (210) is configured so that a material forming an object, i.e., a high-temperature part, can be deposited on the material deposition stage (120).

[0056] However, it is not limited to this, and it may also be configured so that the high-temperature part requiring repair can be regenerated by depositing material powder on the surface of the high-temperature part.

[0057] The printing control unit (230) can control the operation of the 3D printing machine (220) by receiving second teaching data from the teaching data generation system (300) to be described later.

[0058] The vision inspection unit (240) is configured to photograph the shape and surface condition of the object to be manufactured in real time so as to detect and correct defects that may occur during the lamination process at an early stage.

[0059] Additionally, the vision inspection unit (240) monitors in real time whether the material stacked on the material stacking station (120) is accurately stacked at the position and shape set by the teaching data, and if an abnormality is detected, it generates an abnormality detection signal and transmits it to the simulation unit (350) of the teaching data generation system (300).

[0060] Meanwhile, the vision inspection unit (240) of the present invention may include a position measurement sensor (242).

[0061] The position measuring sensor (242) is configured to accurately measure the position of the material stacking stage (120) on which the material is stacked and the gripper part (130) of the multi-joint robot (100) to detect physical errors such as minute position changes or vibrations that occur during the 3D printing manufacturing process, and to transmit the detected error value to the simulation part (350) of the teaching data generation system (300) so that the error value can be corrected.

[0063] The teaching data generation system (300) is configured to include an environment building module (310), a teaching unit (320), an example data generation unit (330), a teaching provision unit (340), a simulation unit (350), a display unit (360), and a database (370).

[0064] The environment construction module (310) is a component for constructing a virtual work environment, and is configured to construct a multi-joint robot (100) and a 3D printing system (200) in a virtual environment and to generate teaching data for performing a 3D printing manufacturing process of the multi-joint robot (100) and the 3D printing system (200), and is a component for generating virtual work environment 3D modeling information so that a simulation can be performed by the generated teaching data.

[0065] This environment construction module (310) collects 3D modeling data to construct a virtual work environment as a 3D model, generates virtual work environment 3D modeling information including a multi-joint robot (100) and a 3D printing system (200) based on the collected 3D modeling data as shown in FIG. 5, and transmits and stores the generated virtual work environment 3D modeling information in a database (370).

[0066] At this time, the environment construction module (310) creates a virtual work environment on the site and a virtual work environment by matching them 1:1 so that the simulation unit (350), which will be described later, can perform a simulation based on a digital twin method when generating virtual work environment 3D modeling information.

[0067] In addition, when collecting 3D modeling information, the environment construction module (310) is connected via a wireless network to a server built in a factory where the actual 3D printing manufacturing process will take place, or to a manager terminal held by the factory manager, to request 3D modeling information, and receives the requested 3D modeling information and stores it in a database (370), specifically in the modeling DB (372) of the database (370).

[0069] The teaching unit (320) is connected to the display unit (360) and is configured to generate teaching data for each of the multi-joint robot (100) and the 3D printing system (200) based on virtual work environment 3D modeling information displayed through the display unit (360), and to allow verification of the generated teaching data.

[0070] That is, the teaching unit (320) is connected to the teaching DB (374) of the database (370) via a network to generate first teaching data including coordinate values ​​for the movement position of a multi-joint robot (100) built within a virtual work environment, axis-wise joint rotation angle values ​​for the joints of the multi-joint robot (100), and fixed position values ​​for each 3D printing manufacturing process stage of the gripper unit (130) and the material layering stage (120), and second teaching data including coordinate values ​​for the movement position of the 3D printing nozzle (210) of the 3D printing system (200) and coordinate values ​​for the movement position of the 3D printing machine (220).

[0071] Additionally, the teaching unit (320) is configured to display teaching data including the generated first and second teaching data through the display unit (360), and is configured so that a simulation can be performed by selecting the teaching data displayed by the user and applying it to the virtual work environment 3D modeling information.

[0072] This teaching unit (320) is configured to output virtual work environment 3D modeling information stored in the modeling DB (372) of the database (370) through the display unit (360), and as shown in FIG. 5, is configured to visualize a coordinate system for generating coordinate values ​​on the virtual work environment 3D modeling information displayed through the display unit (360).

[0073] Here, the teaching unit (320) is configured to set coordinate values ​​for the position movement of the multi-joint robot (100) by moving a visualized coordinate system using a conventional input device, such as a keyboard connected to the teaching unit (320), when setting the coordinate values ​​of the first teaching data, and when the setting of coordinate values ​​is completed, the rotation angle values ​​for each axis joint of the multi-joint robot (100) are calculated so that the movement of the multi-joint robot (100) can be achieved with the set coordinate values.

[0074] At this time, the teaching unit (320) calculates the rotation angle value for the joint of the gripper unit (130) configured at the end of the multi-joint robot (100) to grasp the material stacking stage (120).

[0075] Additionally, the teaching unit (320) is configured to set coordinate values ​​by moving the visualized coordinate system using the aforementioned input device when setting the coordinate values ​​of the second teaching data, thereby setting coordinate values ​​by position movement of the 3D printing system (200), and when the setting of coordinate values ​​is completed, it calculates the position movement values ​​of the 3D printing nozzle (210) and the 3D printing machine (220) of the 3D printing system (200) so that the 3D printing system (200) can move to the set coordinate values.

[0076] In this way, when the teaching unit (320) selects a coordinate value set through an input device, it can output and display example teaching data stored in the teaching DB (374) on the display unit (360).

[0077] Accordingly, the user can select multiple example teaching data displayed on the display unit (360) and apply them to the 3D modeling information of the multi-joint robot (100) and 3D printing system (200) included in the virtual work environment 3D modeling information, thereby enabling the generation of simulation 3D modeling information to be simulated.

[0078] That is, the teaching unit (320) merges the selected teaching data with virtual work environment 3D modeling information to generate simulation 3D modeling information, and transmits the generated simulation 3D modeling information to the simulation unit (350).

[0079] The teaching unit (320) can be configured such that when teaching completion information including teaching data verified through simulation is received from the simulation unit (350), it is stored in the teaching DB (374), and when teaching modification request information is received from the simulation unit (350), it analyzes the teaching modification request information to generate modified coordinate values ​​for collision points, modified joint rotation angle values ​​of the multi-joint robot (100), or modified position movement values ​​of the 3D printing system (200), updates the teaching DB (374), and transmits the updated teaching data to the simulation unit (350) so that re-simulation can be performed.

[0080] Meanwhile, the display unit (360) displays virtual work environment 3D modeling information generated by the environment construction module (310) and displays teaching data input into this virtual work environment 3D modeling information.

[0082] The example data generation unit (330) analyzes verified teaching data and collision occurrence teaching data for collision occurrence points to generate multiple example teaching data that enable the multi-joint robot (100) and 3D printing system (200) to perform tasks stably, and stores the generated example teaching data in the teaching DB (374).

[0083] At this time, the example data generation unit (330) can compare and analyze the verification teaching data in which the simulation is completed and the collision-causing teaching data that needs to be modified because a collision occurred during the simulation, and generate information on the allowable range of work that allows the multi-joint robot (100) and the 3D printing system (200) to perform work stably without collision.

[0084] Here, the work tolerance information may be information about the space and may consist of multiple coordinate values ​​for each point in this space.

[0086] The teaching provider (340) transmits the first teaching data among the verified teaching data stored in the teaching DB (374) to the control terminal (112) of the multi-joint robot (100) or the robot control unit (114) of the multi-joint robot (100).

[0087] At this time, when the teaching providing unit (340) directly transmits the first teaching data to the robot control unit (114) of the multi-joint robot (100), it may be configured to request and receive the unique identification information of the multi-joint robot (100) to be transmitted to a server built at the site or to the administrator's administrator terminal, transmit the received unique identification information to the robot control unit (114) of the multi-joint robot (100), and when the transmission is completed, transmit the transmission completion information of the teaching data to the administrator terminal.

[0088] In the present invention, only the case where the teaching providing unit (340) directly transmits to the robot control unit (114) of the multi-joint robot (100) has been described, but preferably, it may be transmitted to the printing control unit (230) of the 3D printing system (200) in the same way.

[0089] That is, the teaching provider (340) can transmit the second teaching data among the verified teaching data to the printing control unit (230) of the 3D printing system (200).

[0090] Accordingly, a worker (or manager) at the site can remotely create and modify teaching data without visiting a site such as a factory to update the teaching data of the multi-joint robot (100) and the 3D printing system (200), and the created or modified teaching data can be transmitted to the control terminal (112), robot control unit (114), and printing control unit (230) through the teaching provider (340) so that they can be immediately reflected at the site.

[0092] The simulation unit (350) receives simulation 3D modeling information from the teaching unit (320), stores it in the simulation DB (376) of the database (370), and performs a simulation based on the digital twin method using this simulation 3D modeling information.

[0093] As shown in FIGS. 6 to 12, the simulation unit (350) visualizes the operation of the multi-joint robot (100) and the 3D printing system (200) at each manufacturing process step of the 3D printing manufacturing process within the work environment using virtual work environment 3D modeling information and teaching data, and performs a simulation based on the visualized information to determine whether a collision occurs between the multi-joint robot (100) and the 3D printing system (200), or with surrounding equipment or facilities, when the multi-joint robot (100) and the 3D printing system (200) perform the 3D printing manufacturing process based on the first and second teaching data within the actual work environment.

[0094] When the simulation unit (350) stably completes the 3D printing manufacturing process of the multi-joint robot (100) and the 3D printing system (200) without collision, it generates teaching completion information and transmits it to the teaching unit (320).

[0095] At this time, the teaching completion information may include teaching data including simulation 3D modeling information and first and second teaching data received from the teaching unit (320).

[0096] However, as a result of the simulation, if a collision occurs between the multi-joint robot (100) and the 3D printing system (200), the point where the collision occurred is visualized, and teaching modification request information including the visualized image information, the coordinate values ​​for the point, and the coordinate values ​​of the multi-joint robot (100) and the 3D printing system (200) is generated and transmitted to the teaching unit (320).

[0097] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0099] 100: Jointed robot 110: Control unit 112: Control terminal 114: Robot control unit 120: Material stacking stage 130: Gripper 200: 3D Printing System 210: 3D printing nozzle 220: 3D printing machine 230: Printing Control Unit 240: Vision Inspection Unit 242: Position measurement sensor 300: Teaching Data Generation System 310: Environment Setup Module 320: Teaching Section 330: Example Data Generation Unit 340: Teaching Provision Unit 350: Simulation Section 360: Display Section 370: Database 372: DB Modeling 374: Teaching DB 376: Simulation DB

Claims

Claim 1 A multi-joint robot comprising a gripper unit for gripping a material stacking stage on which high-temperature components used in power generation gas turbines are additively manufactured, and fixing or moving the position of the material stacking stage according to 3D printing manufacturing processes based on teaching data; a 3D printing system that performs a 3D printing manufacturing process using a powder additive method on a material stacking stage whose position is fixed by the multi-joint robot; and a teaching data generation system that generates virtual work environment 3D modeling information in which the multi-joint robot and the 3D printing system are constructed, generates respective teaching data for performing 3D printing manufacturing processes of the multi-joint robot and the 3D printing system within the virtual work environment 3D modeling information, simulates the generated respective teaching data to verify whether there is a collision between the multi-joint robot and the 3D printing system, and transmits the verified respective teaching data to the multi-joint robot and the 3D printing system; wherein the teaching data generation system comprises an environment construction module that generates the virtual work environment 3D modeling information; A teaching unit that generates first teaching data including coordinate values ​​for the movement position of the multi-joint robot, axis-wise joint rotation angle values ​​for the joints of the multi-joint robot, and fixed position and rotation angle values ​​of the material deposition stage based on the virtual work environment 3D modeling information, and second teaching data including position values ​​of the 3D printing nozzle and 3D printing machine of the 3D printing system, configured to display the generated first and second teaching data to enable selection, and generates simulation 3D modeling information so that the selected first and second teaching data can be applied to the virtual work environment 3D modeling information to enable simulation;A control system for a multi-joint robot in a high-temperature additive manufacturing 3D printing process, to which a digital twin-based simulation system is applied, comprising: a simulation unit that visualizes the operation of the multi-joint robot and the 3D printing system at each manufacturing process stage of the 3D printing manufacturing process within a working environment using virtual working environment 3D modeling information and teaching data based on the simulation 3D modeling information in a digital twin manner, performs a simulation based on the visualized information, and verifies whether there is a collision between the multi-joint robot and the 3D printing system that perform the 3D printing manufacturing process based on the generated teaching data; wherein, when a teaching modification request information is received from the simulation unit, the teaching modification request information is analyzed to generate modified coordinate values ​​for the collision point, modified joint rotation angle values ​​of the multi-joint robot, or modified position movement values ​​of the 3D printing system, and updates them in a database, and transmits the updated teaching data to the simulation unit so that re-simulation can be performed. Claim 2 delete Claim 3 A high-temperature component additive manufacturing 3D printing multi-joint robot control system with a digital twin-based simulation system applied, wherein the teaching data generation system further comprises: a teaching providing unit that transmits teaching data, including verified first and second teaching data, to the multi-joint robot and 3D printing system, respectively; an example data generation unit that generates a plurality of example teaching data capable of stably performing a 3D printing manufacturing process by analyzing verified teaching data and collision occurrence teaching data regarding collision occurrence points; and a display unit that displays virtual work environment 3D modeling information, the first and second teaching data, and example teaching data. Claim 4 A control system for a high-temperature additive manufacturing 3D printing multi-joint robot with a digital twin-based simulation system applied, wherein, in claim 1, the teaching unit generates first teaching data including coordinate values ​​for the movement position of the multi-joint robot, axis-wise joint rotation angle values ​​for the joints, and fixed position values ​​for each 3D printing manufacturing process step of the gripper unit and the material additive stage, and second teaching data including coordinate values ​​for the movement position of the 3D printing nozzle and the 3D printing machine of the 3D printing system. Claim 5 A multi-joint robot control system for high-temperature additive manufacturing 3D printing with a digital twin-based simulation system applied, wherein, in claim 1, the environment construction module is configured so that the field work environment and the virtual work environment can be matched 1:1 when generating the virtual work environment 3D modeling information. Claim 6 delete Claim 7 delete Claim 8 A control system for a high-temperature additive manufacturing 3D printing multi-joint robot with a digital twin-based simulation system applied, wherein, in claim 1, the simulation unit generates teaching completion information and transmits it to the teaching unit when the robot stably completes the task without a collision, and when a collision occurs, visualizes the point where the collision occurred, generates teaching modification request information including the visualized image information, coordinate values ​​for the point, and coordinate values ​​of the multi-joint robot and the 3D printing system, and transmits it to the teaching unit. Claim 9 A multi-joint robot control system for additive manufacturing of high-temperature parts with a digital twin-based simulation system applied according to claim 1, wherein the 3D printing system comprises: a 3D printing nozzle that deposits material powder onto the surface of the material deposition stage or deposits material powder onto the surface of a high-temperature part requiring repair; a 3D printing machine that moves the position of the 3D printing nozzle based on teaching data provided from the teaching data generation system; a printing control unit that receives and stores the teaching data and controls the operation of the 3D printing machine based on the received teaching data; and a vision inspection unit that inspects the quality of the manufactured object. Claim 10 A high-temperature component additive manufacturing 3D printing multi-joint robot control system with a digital twin-based simulation system applied thereto, wherein the vision inspection unit includes a position measuring sensor that detects physical errors occurring during the 3D printing manufacturing process and transmits the detected error value to the teaching data generation system.

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