Control device and computer-readable recording medium

Abstract

A control device according to the present disclosure comprises: a program analysis unit that sequentially reads and analyzes commands related to a block of a control program for additive manufacturing processing; a control unit that controls the operation of an industrial machine that performs the additive manufacturing processing on the basis of an analysis result by the program analysis unit; an execution state grasping unit that grasps information related to an execution state including at least an interrupted position when the additive manufacturing processing is interrupted; and an adjustment unit that calculates the retrograde amount from the interrupted position and adjusts a processing restart position on the basis of the retrograde amount. The control unit resumes the additive manufacturing processing from the processing restart position after the adjustment by the adjustment unit.

Description

Control device and computer-readable recording medium

[0001] The present disclosure relates to a control device and a computer-readable recording medium.

[0002] Additive manufacturing is a processing method that has recently attracted attention because it can achieve high performance, high functionality, and lightweight components by integrating complex shapes and multiple components that are difficult to achieve using cutting processes (see, for example, Patent Document 1). Additive manufacturing methods are broadly divided into power bed fusion (PBF) and directed energy deposition (DED). PBF involves selectively irradiating metal powder with a heat source to fuse and bond the components, while DED involves irradiating a heat source while supplying metal material, and directly depositing the molten metal material to form layers.

[0003] Special Publication No. 2016-513383

[0004] During additive manufacturing, processing may be interrupted intentionally or due to an unexpected error. When resuming processing after an interruption, a method has been proposed for general cutting processes, in which processing is resumed from a position slightly before the interruption. However, when this method of resuming processing is used in additive manufacturing, there is a risk of double-printing in an area that has already been printed. Furthermore, if processing is resumed directly from the interrupted position, thermal displacement occurs in the area that has already been printed, causing dimensional changes, which may result in unprinted areas. In production sites, a method of resuming interrupted additive manufacturing processing from the appropriate position is desired.

[0005] The control device of the additive manufacturing device according to the present disclosure solves the above problem by adjusting the machining restart position to a position that is not affected by the interruption of machining.

[0006] One aspect of the present disclosure is a control device that includes a program analysis unit that sequentially reads out and analyzes commands related to blocks of a control program for additive manufacturing processing; a control unit that controls the operation of an industrial machine that performs the additive manufacturing processing based on the analysis results by the program analysis unit; an execution status understanding unit that understands information related to the execution status including at least the interruption position when the additive manufacturing processing is interrupted; and an adjustment unit that calculates the amount of reversal from the interruption position and adjusts the processing restart position based on the amount of reversal, wherein the control unit resumes the additive manufacturing processing from the processing restart position after adjustment by the adjustment unit.

[0007] FIG. 1 is a schematic hardware configuration diagram of a control device according to a first embodiment. FIG. 2 is a block diagram showing the schematic functions of the control device according to the first embodiment. FIG. 3 is a schematic diagram showing an example of a side view of a DED-type additive manufacturing process. FIG. 4 is a schematic diagram showing an example of a side view of a shaped object after the additive manufacturing process has been interrupted. FIG. 5 is a schematic hardware configuration diagram of a control device according to a second embodiment. FIG. 6 is a block diagram showing the schematic functions of the control device according to the second embodiment. FIG. 7 is a schematic diagram showing an example of a side view of cutting by a cutting mechanism.

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, components having the same or similar functions will be denoted by the same reference numerals. Duplicate descriptions of those components may be omitted.

[0009] In this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0010] The term "control axes" used herein refers to virtual axes set in a processing machine, including, for example, the X-axis, Y-axis, Z-axis, A-axis, B-axis, and C-axis.

[0011] 1 is a schematic hardware configuration diagram showing the main parts of a control device according to a first embodiment of the present disclosure. The control device 1 of the present disclosure can be implemented as a control device that controls industrial machinery such as an additive manufacturing device that performs additive manufacturing using the PBF method or the DED method.

[0012] The CPU 11 included in the control device 1 of the present disclosure is a processor that performs overall control of the control device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire control device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from outside, and the like.

[0013] The non-volatile memory 14 is composed of, for example, a battery-backed memory (not shown) or an SSD (Solid State Drive), and retains its stored state even when the power to the control device 1 is turned off. The non-volatile memory 14 stores control programs and data read from the external device 72 via the interface 15, data and control programs input via the input device 71, and various data acquired from the additive manufacturing apparatus 3. The control programs and data stored in the non-volatile memory 14 may be expanded into the RAM 13 when executed / used. In addition, various system programs such as known analysis programs are written in the ROM 12 in advance.

[0014] The interface 15 is an interface for connecting the CPU 11 of the control device 1 to an external device 72 such as a USB memory, CompactFlash (registered trademark), or SD card. For example, control programs and various data used to control the additive manufacturing apparatus 3 can be read from the external device 72. Furthermore, control programs and various data edited within the control device 1 can be stored in the external device 72. The PLC (programmable logic controller) 16 outputs signals via the I / O unit 17 to the laser oscillator 52 attached to the additive manufacturing apparatus 3, a print head (not shown), and other peripheral devices of the additive manufacturing apparatus 3 (e.g., actuators such as robots, and sensors 56 such as temperature sensors, imaging sensors, and distance sensors attached to the additive manufacturing apparatus 3) using a sequence program built into the control device 1. The PLC 16 also receives signals from various switches on an operation panel and peripheral devices attached to the additive manufacturing apparatus 3, performs the necessary signal processing, and then passes the signals to the CPU 11.

[0015] The display device 70 displays various data loaded into the memory, data obtained as a result of executing control programs, system programs, etc., output via the interface 18. Furthermore, the input device 71, which is comprised of a keyboard, pointing device, etc., passes instructions, data, etc. based on operations by an operator to the CPU 11 via the interface 19.

[0016] The interface 20 is an interface for connecting the CPU 11 of the control device 1 to a wired or wireless network 5. The network 5 may communicate using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. Other control devices 4, fog computers 6, cloud servers 7, etc. are connected to the network 5, and data is exchanged between the network 5 and the control device 1.

[0017] The axis control circuit 30 for controlling the control axes of the additive manufacturing apparatus 3 receives position commands for the control axes from the CPU 11 and outputs commands for the control axes to the servo amplifier 40. The servo amplifier 40 receives these commands and drives the servo motors 50 for the control axes, moving each component of the additive manufacturing apparatus 3 along the respective control axes. Each servo motor 50 has a built-in position detector, and feeds back a position feedback signal from the position detector to the axis control circuit 30. The axis control circuit 30 performs feedback control of the servo motor 50 based on the position feedback signal. Note that while only one axis control circuit 30, one servo amplifier 40, and one servo motor 50 are shown in the hardware configuration diagram of FIG. 1 , in reality, there are as many axis control circuits 30, servo amplifiers 40, and servo motors 50 as there are control axes in the additive manufacturing apparatus 3 to be controlled. For example, in the case of an additive manufacturing apparatus 3 that moves a laser oscillator 52 relative to a base plate (not shown) along three linear axes (X-axis, Y-axis, and Z-axis), three sets of axis control circuits 30, servo amplifiers 40, and servo motors 50 are provided.

[0018] The additive manufacturing device 3 is a device that manufactures a model by melting and solidifying metal powder in necessary areas using heat from a laser or the like. The additive manufacturing device 3 may be, for example, a PBF method in which metal powder is sequentially spread and then heat is applied by a laser oscillator 52 to positions corresponding to the shape of the model to additively manufacture the model, or a DED method in which metal powder or metal wire is supplied by a printer head (not shown) to positions corresponding to the shape of the model while heat is applied by a laser oscillator 52 to additively manufacture the model. The additive manufacturing device 3 is equipped with sensors 56 such as a temperature sensor, an image sensor, and a distance sensor.

[0019] 2 is a schematic block diagram illustrating functions of the control device 1 according to the first embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 of the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0020] The control device 1 of this embodiment includes a program analysis unit 100, a control unit 110, an execution status grasping unit 120, and an adjustment unit 130. A control program 200 for controlling the additive manufacturing device 3 is stored in the RAM 13 to the nonvolatile memory 14 of the control device 1. Furthermore, the RAM 13 to the nonvolatile memory 14 of the control device 1 are provided in advance with an execution status storage unit 210, which is an area for storing the status of additive manufacturing processing.

[0021] The program analysis unit 100 sequentially reads and analyzes command blocks included in the control program 200. If the analyzed command block is a command block that commands movement along a predetermined control axis, the program analysis unit 100 commands the control unit 110 to control the movement of each control axis based on the analysis result. If the analyzed command block is a block that commands ON / OFF of laser oscillation by the laser oscillator 52 included in the additive manufacturing apparatus 3, the program analysis unit 100 commands the control unit 110 to control the laser oscillator 52 based on the analysis result. If the analyzed command block is a block that commands the supply of a metal material, such as metal powder or metal wire, in the additive manufacturing apparatus 3, the program analysis unit 100 commands the control unit 110 to control the supply of the metal material based on the analysis result.

[0022] The control unit 110 controls the additive manufacturing apparatus 3 based on the results of the analysis by the program analysis unit 100. For example, when the control unit 110 is instructed by the program analysis unit 100 to move a control axis of the additive manufacturing apparatus 3, the control unit 110 controls the servo motor 50 to drive the drive unit associated with the control axis to the instructed position. Furthermore, when the control unit 110 is instructed by the program analysis unit 100 to control the ON / OFF of laser oscillation in the additive manufacturing apparatus 3, the control unit 110 controls the laser oscillator 52 in accordance with the instructed control. Furthermore, when the control unit 110 is instructed by the program analysis unit 100 to control the supply of metal material in the additive manufacturing apparatus 3, the control unit 110 controls a printer head or the like provided in the additive manufacturing apparatus 3 to control the supply of metal material. These control processes are well known in the art, and therefore will not be described in detail in this disclosure.

[0023] The control unit 110 suspends the additive manufacturing process when a problem occurs in the additive manufacturing device 3 or when a user operation instructs the control unit 110 to temporarily stop the process. When suspending the process, the control unit 110 notifies the program analysis unit 100 and the execution status grasping unit 120 of this. Furthermore, when instructed to resume the process, the control unit 110 resumes the additive manufacturing process. When resuming the process, the control unit 110 notifies the program analysis unit 100 and the execution status grasping unit 120 of this.

[0024] The execution status grasping unit 120 acquires information related to the execution status of control of the additive manufacturing process from the control unit 110. The information related to the execution status of control grasped by the execution status grasping unit 120 includes at least information related to the processing position at the time of interruption of the additive manufacturing process. It may also include information related to the temperature of the processing position at the time of interruption. The execution status grasping unit 120 stores the information related to the processing position at the time of interruption of the additive manufacturing process in the execution status storage unit 210. Furthermore, the information related to the execution status of control grasped by the execution status grasping unit 120 includes at least information related to the resumption of the additive manufacturing process. When the execution status grasping unit 120 grasps information related to the resumption of the additive manufacturing process, it notifies the adjustment unit 130 to that effect.

[0025] When the adjustment unit 130 receives a notification from the execution status grasping unit 120 that the additive manufacturing process is to be resumed, it calculates the amount of reversal from the processing position at the time of interruption of the additive manufacturing process and adjusts the resume position of the additive manufacturing process based on the calculated amount of reversal. The adjustment unit 130 then notifies the control unit 110 of the adjusted resume position of the additive manufacturing process. The adjustment unit 130 may calculate the amount of reversal based on, for example, the amount of thermal displacement that occurs at the processing position at the time of interruption of the additive manufacturing process between the time of interruption and the time of resumption of the additive manufacturing process. This amount of thermal displacement can be calculated based on, for example, the difference between the temperature at the processing position at the time of interruption and the temperature at the time of resumption of the additive manufacturing process. In this configuration, the adjustment unit 130 acquires the processing position at the time of interruption of the additive manufacturing process and the temperature at that time from the execution status storage unit 210. The adjustment unit 130 also instructs the control unit 110 to measure the temperature of the material surface of the object 302 at the interrupted processing position using the temperature sensor 56. Then, based on the difference between these temperatures, the amount of thermal displacement at the processing position when the additive manufacturing process was interrupted is calculated.

[0026] Figure 3 is a schematic diagram showing an example of additive manufacturing processing using the DED method, viewed from the side. In the example shown in Figure 3, metal powder 55 is sprayed from a printer head 54 onto a base plate 58, and is melted and bonded by the heat of a laser 59 irradiated from a laser nozzle 53, thereby processing a model 302. The laser nozzle 53 and printer head 54 are moved in the direction of the white arrow in the figure by a servo motor 50 driven by a movement command. Through this operation, a model 302 is formed in the direction of the white arrow.

[0027] FIG. 4 is a schematic diagram showing an example of the state of the object after the additive manufacturing process is interrupted, as viewed from the side. intr is the machining position when machining is interrupted. Immediately after machining is interrupted, the object 302 is at P intr However, as time passes after the interruption of the machining, the temperature of the machining interruption position of the object 302 drops, and thermal displacement occurs at the machining interruption position of the object 302. As a result, the machining interruption position of the object 302 reaches P reThe adjustment unit 130 calculates the amount of reversal Δl (=P intr -P re ) is calculated. This backflow amount can be calculated, for example, using the following formula 1, which calculates the thermal displacement amount. In formula 1, α is the linear expansion coefficient of the metal material. Furthermore, l is the length of the material, which can be determined using the amount of movement in the execution block, etc. ΔT is the amount of temperature change.

[0028]

[0029] As another example, the adjustment unit 130 may calculate the amount of thermal displacement at the machining interruption position of the object 302 by using the sensor 56 as an imaging sensor or a distance sensor. In this configuration, the information related to the control execution status grasped by the execution status grasping unit 120 includes information on an image of the object 302 including the machining interruption position captured from a predetermined position, and information related to the distance from the predetermined position to the machining interruption position of the object 302. The adjustment unit 130 then acquires this information from the execution status storage unit 210 and instructs the control unit 110 to measure information on an image captured from a predetermined position including the machining interruption position of the object 302 at the time of resuming machining, and the distance from the predetermined position to the machining interruption position of the object 302. Based on these values, the adjustment unit 130 calculates the amount of reversal Δl by calculating the degree to which the machining interruption position of the object 302 has moved backward since the time of machining interruption.

[0030] Then, the control unit 110 resumes the additive manufacturing process from the restart position of the additive manufacturing process adjusted by the adjustment unit 130.

[0031] The control device 1 according to this embodiment, which is configured as described above, can appropriately adjust the amount of reversal of the restart position when the additive manufacturing process by the additive manufacturing device 3 is interrupted and then resumed, thereby preventing duplicate manufacturing in an already manufactured area or the occurrence of unmanufactured areas. As a result, it is expected that the processing efficiency in additive manufacturing will be improved. The method using a temperature sensor can be suitably used in both PBF-type additive manufacturing and DED-type additive manufacturing. Furthermore, the method using an image sensor or distance sensor is particularly suitable for DED-type additive manufacturing.

[0032] Second Embodiment A control device according to a second embodiment will be described below. Fig. 5 is a schematic hardware configuration diagram showing the main parts of a control device according to a second embodiment of the present disclosure. The control device 1 according to this embodiment controls an additive manufacturing device 3 equipped with a cutting mechanism 51.

[0033] The cutting mechanism 51 provided in the additive manufacturing apparatus 3 is equipped with a tool for cutting the model 302. The cutting mechanism 51 may be equipped with a main shaft that directs the tool to a drive unit driven by, for example, a servo motor 50. The cutting mechanism 51 may also be configured as a robot. In such a case, the tool for cutting the model 302 is held at the tip of the robot arm. The cutting mechanism 51 may be implemented as a mechanism provided in the additive manufacturing apparatus 3, or may be implemented as a peripheral device of the additive manufacturing apparatus 3. In either case, it is desirable that the cutting mechanism 51 operates so as to be able to cut any position on the model manufactured by the additive manufacturing apparatus 3 based on a command from the control device 1.

[0034] 6 is a schematic block diagram showing functions of the control device 1 according to the first embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 of the control device 1 shown in FIG. 5 executing a system program and controlling the operation of each part of the control device 1.

[0035] The control device 1 of this embodiment further includes a cutting command unit 140 in addition to a program analysis unit 100, a control unit 110, an execution status grasping unit 120, and an adjustment unit 130. A control program 200 for controlling the additive manufacturing device 3 is stored in the RAM 13 to the nonvolatile memory 14 of the control device 1. Furthermore, the RAM 13 to the nonvolatile memory 14 of the control device 1 are provided in advance with an execution status storage unit 210, which is an area for storing the status of additive manufacturing processing, and a cutting information storage unit 220, which is an area for storing cutting information.

[0036] The program analysis unit 100 according to this embodiment has the same functions as the program analysis unit 100 according to the first embodiment.

[0037] Similar to the control unit 110 according to the first embodiment, the control unit 110 controls each unit of the additive manufacturing apparatus 3 based on commands from the program analysis unit 100. Furthermore, the control unit 110 according to this embodiment controls the operation of the cutting mechanism 51 included in the additive manufacturing apparatus 3, and performs control to cut a designated position on the object that has been additively processed by the additive manufacturing apparatus 3. Based on the content of the command, for example, the control unit 110 controls the spindle of the cutting mechanism 51 to rotate a tool, and then moves the tool, and cuts the designated position on the object with the tool.

[0038] Similar to the control unit 110 according to the first embodiment, the execution status grasping unit 120 acquires information relating to the execution status of control of the additive manufacturing process performed by the additive manufacturing device 3 from the control unit 110, stores the information relating to the execution status, and notifies each unit. Furthermore, when the execution status grasping unit 120 according to this embodiment grasps information relating to the resumption of the additive manufacturing process, it notifies the cutting command unit 140 to that effect.

[0039] When the execution status grasping unit 120 notifies the cutting command unit 140 that the additive manufacturing process is resumed, the cutting command unit 140 instructs the control unit 110 to cut the object from the processing position at the time the additive manufacturing process was interrupted to a predetermined position. The cutting command unit 140 then notifies the adjustment unit 130 of the position at which cutting of the object ended. The cutting command unit 140 may instruct the control unit 110 to cut the object to the execution start position of the block that was being executed when the additive manufacturing process was interrupted, for example. Alternatively, the cutting command unit 140 may instruct the control unit 110 to cut the object in a direction reverse from the processing position at the time the additive manufacturing process was interrupted by a predetermined cutting distance. This cutting distance may be stored in advance in the cutting information storage unit 220. The cutting distance stored in the cutting information storage unit 220 may be set to a fixed value, or may be set by the user via the input device 71, etc.

[0040] The adjustment unit 130 according to this embodiment calculates the amount of reversal based on the processing position when the additive manufacturing process was interrupted and the cutting end position specified by the cutting command unit 140. Then, the adjustment unit 130 adjusts the restart position of the additive manufacturing process based on the calculated amount of reversal. The adjustment unit 130 notifies the control unit 110 of the adjusted restart position of the additive manufacturing process.

[0041] 7 is a schematic diagram showing an example of cutting by the cutting mechanism 51 as seen from the side. In the example of FIG. 7, the cutting position P intr From the cutting end position P cut In this way, by cutting the machining position, the amount of back movement Δl (= P intr -P cut ) can be easily calculated.

[0042] Then, the control unit 110 resumes the additive manufacturing process from the restart position of the additive manufacturing process adjusted by the adjustment unit 130.

[0043] The control device 1 according to this embodiment, which has the above configuration, cuts a portion of the object when the additive manufacturing process by the additive manufacturing device 3 is interrupted and then resumes, adjusting the process so that the additive manufacturing process resumes from the cutting end position, preventing duplicate manufacturing in an area that has already been manufactured or the occurrence of unmanufactured areas. As a result, it is expected that the processing efficiency in additive manufacturing will be improved. Since this method does not require a special sensor 56, it can be implemented without additional costs in the additive manufacturing device 3 equipped with the cutting mechanism 51.

[0044] Third Embodiment A control device according to a third embodiment will be described below. The control device according to this embodiment has the same hardware configuration as the control device according to the second embodiment.

[0045] Like the control device 1 according to the second embodiment, the control device 1 according to this embodiment includes a program analysis unit 100, a control unit 110, an execution status grasping unit 120, an adjustment unit 130, and a cutting command unit 140. A control program 200 for controlling the additive manufacturing device 3 is stored in the RAM 13 to the nonvolatile memory 14 of the control device 1. Furthermore, the RAM 13 to the nonvolatile memory 14 of the control device 1 are provided in advance with an execution status storage unit 210, which is an area for storing the status of additive manufacturing processing, and a cutting information storage unit 220, which is an area for storing cutting information.

[0046] The program analysis unit 100, the control unit 110, and the execution status grasping unit 120 according to this embodiment have the same functions as the program analysis unit 100 according to the second embodiment.

[0047] When the execution status grasping unit 120 notifies the cutting command unit 140 that the additive manufacturing process is to be resumed, the cutting command unit 140 commands the control unit 110 to cut the object from the processing position at the time the additive manufacturing process was interrupted to a predetermined position. At this time, the cutting command unit 140 of this embodiment commands the control unit 110 to cut the entire object for one layer. The cutting information storage unit 220 of this embodiment stores information related to the shape of the table of the additive manufacturing device 3, the table height, and the layer thickness. The cutting command unit 140 acquires this information from the cutting information storage unit 220 and creates a cutting path including a cutting start position and a cutting end position in order to cut the entire object for one layer. The cutting command unit 140 then commands the control unit 110 to cut the object along the created cutting path.

[0048] The adjustment unit 130 according to this embodiment calculates the amount of reversal required to reverse the processing of one layer including the processing position at the time the additive manufacturing process was interrupted, based on the processing position at that time. Then, the adjustment unit 130 adjusts the restart position of the additive manufacturing process based on the calculated amount of reversal. The adjustment unit 130 notifies the control unit 110 of the adjusted restart position of the additive manufacturing process. The control unit 110 then restarts the additive manufacturing process from the restart position of the additive manufacturing process adjusted by the adjustment unit 130.

[0049] When the additive manufacturing process by the additive manufacturing device 3 is interrupted and then resumed, the control device 1 according to this embodiment, configured as described above, cuts the object by one layer and adjusts the process so that the additive manufacturing process resumes from the end position of the cutting. This prevents duplicate manufacturing in an area that has already been manufactured and prevents the occurrence of unmanufactured areas. As a result, it is expected that the processing efficiency in additive manufacturing will be improved. This method is particularly useful when performing additive manufacturing using the PBF method.

[0050] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0051] The following are supplementary notes related to embodiments of the present disclosure. (Supplementary Note 1) A control device (1) according to one aspect of the present disclosure includes a program analysis unit (100) that sequentially reads and analyzes commands related to blocks of a control program (200) for additive manufacturing processing, a control unit (110) that controls the operation of an industrial machine that performs the additive manufacturing processing based on the analysis results by the program analysis unit (100), an execution status ascertainment unit (120) that ascertains information related to the execution status including at least the interruption position when the additive manufacturing processing is interrupted, and an adjustment unit (130) that calculates a reversal amount from the interruption position and adjusts a processing restart position based on the reversal amount, and the control unit (110) resumes the additive manufacturing processing from the processing restart position adjusted by the adjustment unit (130).

[0052] (Supplementary Note 2) The adjustment unit (130) included in the control device (1) according to another aspect of the present disclosure calculates the amount of reversal based on the amount of thermal displacement from when processing is interrupted at the interruption position to when it is resumed. (Supplementary Note 3) The adjustment unit (130) included in the control device (1) according to another aspect of the present disclosure calculates the amount of thermal displacement based on the amount of change in temperature from when processing is interrupted at the interruption position to when it is resumed.

[0053] (Supplementary Note 4) A control device (1) according to another aspect of the present disclosure further includes a cutting command unit (140) that commands the control unit (110) to cut the additive manufacturing portion up to the execution start position of the block that was being executed when the additive manufacturing process was interrupted, or a predetermined cutting amount from the processing position when the additive manufacturing process was interrupted, and the adjustment unit (130) calculates the amount of reversal from the interruption position based on the interruption position when the additive manufacturing process was interrupted and the end position of cutting commanded by the cutting command unit (140). (Supplementary Note 5) The cutting command unit (140) included in the control device (1) according to another aspect of the present disclosure specifies a cutting start position and cuts the manufacturing portion up to the predetermined cutting amount based on information on at least one of the shape of the table of the industrial machine, the table height, and the layer thickness.

[0054] (Supplementary Note 6) A computer-readable recording medium according to one aspect of the present disclosure records a program that causes a computer to operate as a program analysis unit (100) that sequentially reads out and analyzes commands related to blocks of a control program (200) for additive manufacturing processing, a control unit (110) that controls the operation of an industrial machine that performs the additive manufacturing processing based on the analysis results by the program analysis unit (100), an execution status understanding unit (120) that understands information related to the execution status including at least the interruption position when the additive manufacturing processing is interrupted, and an adjustment unit (130) that calculates the amount of reversal from the interruption position and adjusts the processing restart position based on the amount of reversal, and the control unit (110) records a program that causes the additive manufacturing processing to resume from the processing restart position after adjustment by the adjustment unit (130).

[0055] REFERENCE SIGNS LIST 1 Control device 3 Additive manufacturing device 4 Control device 5 Network 6 Fog computer 7 Cloud server 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 18, 19, 20 Interface 16 PLC 17 I / O unit 22 Bus 30 Axis control circuit 40 Servo amplifier 50 Servo motor 70 Display device 71 Input device 72 External device 100 Program analysis unit 110 Control unit 120 Execution status grasping unit 130 Adjustment unit 140 Cutting command unit 200 Control program 210 Execution status storage unit 220 Cutting information storage unit

Claims

1. A control device comprising: a program analysis unit that sequentially reads out and analyzes commands related to blocks of a control program for additive manufacturing processing; a control unit that controls the operation of an industrial machine that performs the additive manufacturing processing based on the analysis results by the program analysis unit; an execution status understanding unit that understands information related to the execution status including at least the interruption position when the additive manufacturing processing is interrupted; and an adjustment unit that calculates the amount of reversal from the interruption position and adjusts the processing restart position based on the amount of reversal, wherein the control unit resumes the additive manufacturing processing from the processing restart position after adjustment by the adjustment unit.

2. The control device according to claim 1, wherein the adjustment unit calculates the amount of reversal based on the amount of thermal displacement at the interruption position from the time when machining is interrupted until the time when machining is resumed.

3. The control device according to claim 2, wherein the adjustment unit calculates the amount of thermal displacement based on the amount of change in temperature at the interruption position from when machining is interrupted to when machining is resumed.

4. The control device described in claim 1, further comprising a cutting command unit that commands the control unit to cut the additive manufacturing area up to the start position of execution of the block that was being executed when the additive manufacturing process was interrupted, or a predetermined cutting amount from the processing position when the additive manufacturing process was interrupted, and the adjustment unit calculates the amount of reversal from the interruption position based on the interruption position when the additive manufacturing process was interrupted and the end position of cutting as commanded by the cutting command unit.

5. The control device according to claim 4, wherein the cutting command unit determines the cutting start position and cuts the part to be formed up to a predetermined cutting amount based on at least one of information on the shape of the table of the industrial machine, the height of the table, and the thickness of the layered material.

6. A computer-readable recording medium having recorded thereon a program that causes a computer to operate as: a program analysis unit that sequentially reads out and analyzes commands related to blocks of a control program for additive manufacturing processing; a control unit that controls the operation of an industrial machine that performs the additive manufacturing processing based on the analysis results by the program analysis unit; an execution status understanding unit that understands information related to the execution status including at least the interruption position when the additive manufacturing processing is interrupted; and an adjustment unit that calculates the amount of reversal from the interruption position and adjusts the processing restart position based on the amount of reversal; and the control unit resumes the additive manufacturing processing from the processing restart position after adjustment by the adjustment unit.

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