JP2024013527A - Orbit planning support device, orbit planning support method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an orbit planning support device which can easily create an orbit plan that can suppress occurrence of defects and shape collapse, an orbit planning support method and a program.

SOLUTION: An orbit planning support device includes: a locus information acquisition part 31 which acquires locus information of a weld bead B including a target position of a path forming the weld bead B; a positional information extraction part 33 which extracts positional information of ends of the locus of the weld beads B that are proximate to each other on the basis of the locus information; an inter-end distance calculation part 35 which calculates an inter-end distance Lse, which is a distance between the ends, on the basis of the positional information; an inter-end determination part 37 which compares the inter-end distance Lse and a pre-set threshold Lth, and determines whether the inter-end distance Lse is smaller than the threshold Lth or not; and a position correction part 39 which moves at least one position of the ends along the locus of the weld bead B when it has been determined that the inter-end distance Lse is smaller than the threshold Lth, and corrects the same so that the inter-end distance Lse becomes the threshold Lth or more.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a trajectory planning support device, a trajectory planning support method, and a program.

In recent years, the need for 3D printers as a means of production has been increasing, and research and development is being carried out in the aircraft industry and the like for practical application, particularly for the application of 3D printers to metal materials. A 3D printer using a metal material melts metal powder or metal wire using a heat source such as a laser or an arc, and forms a model by layering the molten metal.

Patent Document 1 discloses that in additive manufacturing in which a layered shape is created by forming beads along a modeling path and the layered shapes are stacked to create a three-dimensional shape, a modified path is determined based on the modeling path and the correction width. It has been disclosed that the following is required.

Patent No. 6647480

By the way, in the above-described layered manufacturing, the starting and ending ends of the locus of the weld bead formed along the modeling path are likely to cause defects and deformation depending on their positional relationship. Therefore, when creating a trajectory plan, it is necessary to pay attention to the positional relationship between the starting end and the ending end of the weld bead trajectory. However, when the number of weld bead formation passes increases, checking and correction of the positional relationship between the starting end and the ending end of the weld bead trajectory becomes enormous, which places a heavy burden on the designer.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a trajectory planning support device, a trajectory planning support method, and a program that can easily create a trajectory plan in which defects and deformation are suppressed.

The present invention consists of the following configuration.
(1) A trajectory planning support device that determines the trajectory plan in an additive manufacturing apparatus that melts welding material to form a weld bead while moving a torch according to a trajectory plan, and produces a modeled object in which the weld beads are stacked. And,
a trajectory information acquisition unit that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction unit that extracts positional information of an end in a trajectory of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation unit that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination unit that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction unit that corrects the
including,
Trajectory planning support device.
(2) A trajectory planning support method for determining the trajectory plan in an additive manufacturing apparatus that melts welding material to form a weld bead while moving a torch according to the trajectory plan, and forms a modeled object in which the weld beads are stacked. And,
a trajectory information acquisition step of acquiring trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction step of extracting positional information of ends in trajectories of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation step of calculating an end-to-end distance, which is a distance between the ends, based on the position information;
an end-to-end determination step of comparing the end-to-end distance with a preset threshold and determining whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction step for correcting the
including,
Trajectory planning support method.
(3) A program for determining the trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a model in which the weld beads are stacked. ,
to the computer,
a trajectory information acquisition function that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction function that extracts positional information of an end in a trajectory of the weld beads that are close to each other based on the trajectory information;
an end-to-end distance calculation function that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination function that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. A position correction function that corrects the
In order to realize
program.

According to the present invention, it is possible to easily create a trajectory plan that suppresses the occurrence of defects and deformation.

FIG. 1 is a schematic diagram showing the overall configuration of an additive manufacturing system. FIG. 2 is a functional block diagram of the trajectory planning support device. FIG. 3 is a flowchart showing a procedure for correcting a trajectory plan by the trajectory planning support device. FIG. 4A is an explanatory diagram schematically showing how to set a bead model. FIG. 4B is an explanatory diagram schematically showing how to set a bead model. FIG. 4C is an explanatory diagram schematically showing how to set a bead model. FIG. 5A is a schematic diagram showing the positional relationship between the starting end and the ending end in the trajectory of the weld bead. FIG. 5B is a schematic diagram showing the positional relationship between the starting end and the ending end in the trajectory of the weld bead. FIG. 5C is a schematic diagram showing the positional relationship between the starting end and the ending end in the trajectory of the weld bead. FIG. 6A is a schematic diagram illustrating overlapping of weld beads. FIG. 6B is a schematic diagram illustrating overlapping of weld beads. FIG. 7 is a graph showing threshold values taking into consideration the intersection angle. FIG. 8A is a schematic diagram showing a state before correction of the end-to-end distance in the trajectory of the weld bead. FIG. 8B is a schematic diagram showing a state after correction of the end-to-end distance in the trajectory of the weld bead. FIG. 9A is a schematic diagram showing a state before correction of the end-to-end distance in the trajectory of the weld bead. FIG. 9B is a schematic diagram showing a state after correction of the end-to-end distance in the trajectory of the weld bead. FIG. 10A is a schematic diagram illustrating setting of an allowable variation range. FIG. 10B is a schematic diagram illustrating setting of an allowable variation range. FIG. 11 is a graph showing the allowable variation range in consideration of the intersection angle.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. The additive manufacturing system shown here uses a heat source device to melt filler metal (welding wire) held by a manipulator to form a weld bead, and then repeatedly stacks the formed weld bead into a desired shape to create a weld bead. This is to create a modeled object made up of layers of layers. The trajectory planning support device determines a trajectory plan in an additive manufacturing device that builds such a modeled object.

<Configuration of additive manufacturing system>
An example of the configuration of an additive manufacturing system that operates based on a trajectory plan determined by the trajectory planning support device described above will be described.
FIG. 1 is a schematic diagram showing the overall configuration of an additive manufacturing system.
The additive manufacturing system 100 includes a modeling control device 15, a manipulator 17, a filler material supply device 19, a manipulator control device 21, and a heat source control device 23.

Manipulator control device 21 controls manipulator 17 and heat source control device 23 . A controller (not shown) is connected to the manipulator control device 21, and an operator can instruct any operation of the manipulator control device 21 via the controller.

The manipulator 17 is, for example, a multi-jointed robot, and a torch 11 provided on a tip shaft is supported so that the filler material M can be continuously supplied. The torch 11 holds the filler metal M in a state protruding from its tip. The position and orientation of the torch 11 can be arbitrarily set three-dimensionally within the degree of freedom of the robot arm that constitutes the manipulator 17. The manipulator 17 preferably has six or more degrees of freedom, and is preferably capable of arbitrarily changing the axial direction of the heat source at its tip. The manipulator 17 may be in various forms, such as a multi-joint robot with four or more axes shown in FIG. 1 or a robot with angle adjustment mechanisms on two or more orthogonal axes.

The torch 11 has a shield nozzle (not shown), and shield gas is supplied from the shield nozzle. The shielding gas blocks the atmosphere and prevents oxidation and nitridation of the molten metal during welding, thereby suppressing welding defects. The arc welding method used in this configuration may be either a consumable electrode type such as covered arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG (Tungsten Inert Gas) welding or plasma arc welding. The selection will be made accordingly. Here, gas metal arc welding will be explained as an example. In the case of the consumable electrode type, a contact tip is arranged inside the shield nozzle, and the filler metal M to which a current is supplied is held in the contact tip. The torch 11 holds the filler metal M and generates an arc from the tip of the filler metal M in a shielding gas atmosphere.

The filler material supply device 19 supplies the filler material M toward the torch 11 . The filler material supply device 19 includes a reel 19a around which the filler material M is wound, and a feeding mechanism 19b that feeds out the filler material M from the reel 19a. The filler material M is fed to the torch 11 by the feeding mechanism 19b while being fed in the forward or reverse direction as required. The feeding mechanism 19b is not limited to a push type disposed on the filler material supplying device 19 side and pushes out the filler material M, but may also be a pull type or push-pull type disposed on a robot arm or the like.

The heat source control device 23 is a welding power source that supplies the power required for welding by the manipulator 17. The heat source control device 23 adjusts the welding current and welding voltage supplied when forming a bead in which the filler metal M is melted and solidified. Further, the filler metal supply speed of the filler metal supply device 19 is adjusted in conjunction with welding conditions such as welding current and welding voltage set by the heat source control device 23.

The heat source for melting the filler metal M is not limited to the above-mentioned arc. For example, other heat sources may be used, such as a heating method using a combination of an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser. When heating with an electron beam or laser, the amount of heating can be controlled more precisely, the state of the formed bead can be maintained more appropriately, and this can contribute to further improving the quality of the laminated structure. Furthermore, the material of the filler metal M is not particularly limited. For example, the filler material used may be mild steel, high-strength steel, aluminum, aluminum alloy, nickel, or nickel-based alloy, depending on the characteristics of the shaped object W. The types of M may be different.

The modeling control device 15 centrally controls each of the above-mentioned parts.

The layered manufacturing system 100 configured as described above operates according to a modeling program created based on a modeling plan for the object W. The modeling program is composed of a large number of instruction codes, and is created based on an appropriate algorithm depending on various conditions such as the shape, material, and amount of heat input of the object. When the supplied filler metal M is melted and solidified while moving the torch 11 according to this modeling program, a linear weld bead B, which is a molten solidified body of the filler metal M, is formed on the base 13. Ru. That is, the manipulator control device 21 drives the manipulator 17 and the heat source control device 23 based on a predetermined program provided from the modeling control device 15. The manipulator 17 moves the torch 11 to form a weld bead B while melting the filler metal M with an arc according to a command from the manipulator control device 21 . By sequentially forming and stacking the weld beads B in this manner, a shaped article W having a desired shape can be obtained.

FIG. 2 is a functional block diagram of the modeling control device 15. The modeling control device 15 includes a trajectory information acquisition section 31, a position information extraction section 33, an end-to-end distance calculation section 35, an end-to-end distance determination section 37, and a position correction section 39. Functions as a planning support device. Details of each part will be described later, but the general functions are as follows.

The trajectory information acquisition unit 31 acquires information on the trajectory of the weld bead B including the target position of the path that forms the weld bead B.

The positional information extracting unit 33 extracts positional information of ends in the trajectories of welding beads B that are close to each other based on the trajectory information acquired by the trajectory information acquiring unit 31.

The end-to-end distance calculation unit 35 calculates the distance between the ends in the trajectory of the weld bead B based on the position information extracted by the position information extraction unit 33.

The end-to-end determination unit 37 compares the end-to-end distance calculated by the end-to-end distance calculation unit 35 with a preset threshold, and determines whether the end-to-end distance is smaller than the threshold.

When the end-to-end determination unit 37 determines that the end-to-end distance is smaller than the threshold, the position correction unit 39 adjusts at least one of the ends of the weld bead B so that the end-to-end distance is equal to or greater than the threshold. Correct the position along the trajectory of weld bead B.

The modeling control device 15, which functions as the above-mentioned trajectory planning support device, is configured by hardware using an information processing device such as a PC (Personal Computer), for example. Each function of the modeling control device 15 is realized by a control section (not shown) reading a program having a specific function stored in a storage device (not shown) and executing the program. Storage devices include RAM (Random Access Memory) which is a volatile storage area, ROM (Read Only Memory) which is a non-volatile storage area, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. storage can be exemplified. Furthermore, examples of the control unit include a processor such as a CPU (Central Processing Unit), an MPU (Micro Processor Unit), or a dedicated circuit. In addition to the embodiments described above, the modeling control device 15 may be another computer remotely connected to the additive manufacturing system 100 via a network or the like.

<Trajectory plan correction procedure>
FIG. 3 is a flowchart showing a procedure for correcting a trajectory plan by the trajectory planning support device. 4A to 4C are explanatory diagrams each schematically showing how to set a bead model.

The locus information acquisition unit 31 acquires locus information of the weld bead B including the target position of the path forming the weld bead B (step S1). The method for acquiring the locus information is not particularly limited, but one method is to acquire the representative position of the weld bead (for example, the center of the bottom of the weld bead) assigned to the object to be made as the target position information. Note that the trajectory information may be obtained from point cloud information of a partially generated trajectory and point cloud information that is duplicated in parallel.

As shown in FIG. 4A, for example, as shown in FIG. 4A, how to allocate weld beads to a model is to assign the shape of the read three-dimensional shape data (CAD data, etc.) of the model to a plane 61 perpendicular to the stacking direction H of the weld beads. Slice and divide into a plurality of bead layers BL, and as shown in FIG. 4B, each divided bead layer BL is divided into a plurality of rectangular bead models BM0 by a surface 63 so as to correspond to the bead shape of the weld bead. . Then, as shown in FIG. 4C, the plurality of divided rectangular bead models BM0 are applied to a trapezoid, which is a simple geometric figure, and changed to a trapezoidal bead model BM.

The positional information extraction unit 33 extracts positional information of the ends of the trajectories of welding beads B that are close to each other based on the trajectory information of the welding beads B of each trajectory planned path (step S2). . Specifically, the starting edge Bs and the ending edge Be in the trajectory of the welding bead B that are close to each other are determined, and the positional information consisting of the coordinates of the starting edge Bs and the ending edge Be is extracted.

The end-to-end distance calculation unit 35 calculates the end-to-end distance Lse, which is the distance between the start end and the end of the weld bead B, and the intersection angle θ, which is the angle between the weld beads B, based on the position information (step S3 ). Specifically, based on the positional information of the starting end Bs and the ending end Be of the weld bead B extracted by the positional information extraction unit 33, the starting end Bs and the ending end Be that fall within the vicinity range are determined. The starting end Bs and the ending end Be falling within this neighborhood range are found by various methods such as nearest neighbor search. For example, it is possible to calculate the distances of all combinations of the starting end Bs and the ending end Be and compare them with a threshold value to determine whether they are in the vicinity or not. It may be finely divided into meshes, and points existing within the same mesh may be determined as the starting end Bs and the ending end Be within the vicinity range.

Then, after determining the start end Bs and end end Be that fall within the vicinity range, calculate the end-to-end distance Lse between these start end Bs and end end Be, and further calculate the intersection angle θ of the respective weld beads B in the trajectory direction. do. Note that the end-to-end distance Lse between the starting end Bs and the ending end Be is the shortest straight-line distance. Further, the intersection angle θ is an angle formed by the vectors of the trajectories of the weld bead B including the start point Bs and the weld bead B including the end point Be.

FIGS. 5A and 5B show examples of two weld beads B, each of which has a starting end Ba and an end Be located within a nearby range.

In the example shown in FIG. 5A, a weld bead B having a starting end Bs and a welding bead B having a terminal end Be are arranged on the same straight line, and these welding beads B have an intersection angle θ of approximately 180°. There is. Then, the terminal end Be of the other weld bead B is arranged on the extension line of one weld bead B having the start end Bs. In the example shown in FIGS. 5B and 5C, the intersection angle θ of the weld bead B having the start end Bs and the weld bead B having the end end Be is the same angle, but in the example shown in FIG. The terminal end Be of the other weld bead B is arranged at a position off the extension line of the bead B, and in the example shown in FIG. 5C, the terminal end Be of the other weld bead B is arranged on the extension line of one weld bead B. has been done.

In this way, for two weld beads B in which the start end Ba and the end end Be are arranged within the vicinity range, the end-to-end distance calculation unit 35 calculates the end-to-end distance Lse of the start end Bs and the end end Be, and the weld bead The intersection angle θ of the trajectory directions between B is calculated.

The end-to-end determination unit 37 compares the end-to-end distance Lse between the start end Bs and the end end Be with a preset threshold Lth, and determines whether the end-to-end distance Lse is smaller than the threshold Lth (step S4).

6A and 6B are schematic diagrams illustrating overlapping of weld beads B. FIG. 7 is a graph showing the threshold value Lth considering the intersection angle θ.

As shown in FIGS. 6A and 6B, when forming a weld bead B in which the starting end Bs and the ending end Be are arranged within a nearby range, even if the end-to-end distance Lse is the same, the intersection angle θ is large. (See FIG. 6A), the smaller the intersection angle θ is (see FIG. 6B), the more the overlap between adjacent weld beads B (the dimension indicated by the symbol d in FIGS. 6A and 6B) is more likely to be ensured. Therefore, in order to suppress excessive overlap between weld beads B, it is preferable that the distance Lse between the start end Bs and the end Be of weld bead B be set to be wider as the intersection angle θ of weld bead B becomes smaller. .

Therefore, it is preferable that the threshold value Lth, which is compared with the end-to-end distance Lse between the starting end Bs and the ending end Be, is a value that depends on the intersection angle θ. For example, as shown in FIG. 7, the threshold Lth is a value that decreases as the crossing angle θ increases in the range of 0° to 180° (0 to πrad). Note that the threshold value Lth is a value that increases as the crossing angle θ increases in the range of 180° to 360° (π to 2πrad).

When the end-to-end determination unit 37 determines that the end-to-end distance Lse is smaller than the threshold Lth (step S4: No), the position correction unit 39 adjusts the starting end so that the end-to-end distance Lse is equal to or greater than the threshold Lth. The position of at least one of Bs and the end Be is corrected (step S5).

FIG. 8A is a schematic diagram showing a state before the end-to-end distance Lse in the trajectory of the weld bead B is corrected. FIG. 8B is a schematic diagram showing a state after the end-to-end distance Lse in the trajectory of the weld bead B has been corrected.
As shown in FIG. 8A, when the start end Bs (or end Be) of the other weld bead B is arranged on the extension line of one weld bead B, the position correction part 39 is, for example, as shown in FIG. 8B. , the position of the terminal end Be (or starting end Bs) of one welding bead B is moved along the trajectory of one welding bead B in the direction away from the starting end Bs (or terminal end Be) of the other welding bead B. . Thereby, the end-to-end distance Lse between the end Be (or start end Bs) of one weld bead B and the start end Bs (or end Be) of the other weld bead B is corrected so that it becomes equal to or greater than the threshold value Lth. In this case, the end-to-end distance Lse can be easily modified by modifying the length of one weld bead B.

FIG. 9A is a schematic diagram showing a state before the end-to-end distance Lse in the trajectory of the weld bead B is corrected. FIG. 9B is a schematic diagram showing a state after the end-to-end distance Lse in the trajectory of the weld bead B has been corrected.
As shown in FIG. 9A, when the terminal end Be (or starting end Bs) of one weld bead B and the starting end Bs (or terminal end Be) of the other weld bead B are arranged side by side, the position correction part 39 For example, as shown in FIG. 9B, by extending one weld bead B and contracting the other weld bead B, the terminal end Be (or starting end Bs) of one weld bead B and the starting end Bs of the other weld bead B are (or terminal Be) is moved. Thereby, the end-to-end distance Lse between the end Be (or start end Bs) of one weld bead B and the start end Bs (or end Be) of the other weld bead B is corrected so that it becomes equal to or greater than the threshold value Lth. In this case, the end-to-end distance Lse can be corrected while maintaining the total length of the locus of the weld bead B, and the occurrence of unwelded parts due to a decrease in the welded volume of the weld bead B can be suppressed.

For all pairs of starting ends Bs and ending ends Be (total number of pairs: N), the end-to-end determining unit 37 compares the end-to-end distance Lse with the threshold Lth (step S4) and performs the end-to-end distance determination as necessary. The correction of the distance Lse (step S5) is sequentially executed (step S6).

Thereby, it is possible to automatically correct end positions such as the start end Bs and the end point Be of the weld bead B that are excessively close to each other, and it is possible to reduce the burden on the designer who creates the trajectory plan. Additionally, device errors such as interference with the torch 11 due to excessive proximity of ends such as the starting end Bs and the ending end Be of the welding bead B can be avoided, and the object W can be formed smoothly.

In addition, in the correction of the end-to-end distance Lse by the position correction unit 39 (step S5), not only a unique value but also a permissible variation range (±δL) may be provided as the threshold value Lth used for calculating the correction amount. . That is, the position correction unit 39 may correct the end-to-end distance Lse between the starting end Bs and the ending end Be so that it becomes equal to or greater than a threshold value Lth±δL that takes into consideration the allowable variation range (±δL). Note that as the end-to-end distance Lse becomes narrower, the overlap of the weld bead B may become excessively large. Therefore, the allowable fluctuation range on the increasing side (+δL) in which the end-to-end distance Lse increases is set as the allowable fluctuation range. preferable.

FIGS. 10A and 10B are schematic diagrams each illustrating the setting of the allowable variation range. FIG. 11 is a graph showing the allowable variation range δL in consideration of the intersection angle θ.
As shown in FIGS. 10A and 10B, on the intersecting side of the trajectory when the trajectory of weld bead B is extended, the corner area surrounded by the extension line of the trajectory of weld bead B (the welding area in FIGS. 10A and 10B) If the area of the triangular region (enclosed by the bead B and the two-dot chain line) becomes too large, non-welding will likely occur at the connection points between the weld beads B. When the trajectory of weld bead B is extended, the area of the corner on the crossing side increases or decreases depending on the variation of the distance Lse between the ends, but this increase or decrease in area will change when the intersection angle θ of weld bead B is small. The larger it becomes. For example, if an increasing allowable variation range (+δL) is provided for the threshold Lth, even if this allowable variation range (+δL) is the same, as shown in FIG. 10A, if the crossing angle θ is large, the allowable variation range The variation (increase amount) in the corner area due to (+δL) is small, but as shown in Figure 10B, when the intersection angle θ is small, the variation (increase amount) in the corner area due to the allowable variation range (+δL) is small. As a result, for example, non-welding is likely to occur at the connection locations between weld beads B. Similarly, if a decreasing allowable variation range (-δL) is provided for the threshold Lth, even if the allowable variation range (-δL) is the same, if the crossing angle θ is large, the permissible variation range (-δL) will While the variation (amount of reduction) in the corner area becomes small, when the intersection angle θ is small, the variation (amount of reduction) in the corner area due to the allowable variation range (-δL) becomes large. The amount of overlap between beads B becomes large.

Therefore, when providing an allowable variation range (±δL) for the threshold value Lth, it is preferable to provide a limit to this allowable variation range (±δL). Specifically, as shown in Fig. 11, the allowable variation range (±δL) increases monotonically as the crossing angle θ increases in the range of 0° to 180° (0 to πrad). The value shall be Note that the allowable variation range (±δL) is a value that monotonically decreases as the crossing angle θ increases in the range of 180° to 360° (π to 2πrad). In this way, by increasing or decreasing the allowable variation range (±δL) set for the threshold value Lth according to the size of the crossing angle θ, the positions of the starting end Bs and the ending end Be can be automatically and appropriately adjusted according to the crossing angle θ. It can be fixed.

As described above, the present invention is not limited to the embodiments described above, and those skilled in the art can combine the configurations of the embodiments with each other, modify and apply them based on the description of the specification and well-known techniques. It is also contemplated by the present invention to do so, and is within the scope for which protection is sought.

As mentioned above, the following matters are disclosed in this specification.
(1) A trajectory planning support device that determines the trajectory plan in an additive manufacturing apparatus that melts welding material to form a weld bead while moving a torch according to a trajectory plan, and produces a modeled object in which the weld beads are stacked. And,
a trajectory information acquisition unit that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction unit that extracts positional information of an end in a trajectory of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation unit that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination unit that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction unit that corrects the
Trajectory planning support equipment, including:
According to the trajectory planning support device having this configuration, it is possible to automatically correct the end positions of weld beads that are too close to each other, such as the start and end points, and it is possible to reduce the burden on the designer who creates the trajectory plan. Furthermore, equipment errors such as torch interference due to excessive proximity of ends such as the start and end of the weld bead can be avoided, and the object can be smoothly formed.

(2) the end-to-end distance calculation unit also calculates an intersection angle between trajectories of the weld bead including the end;
When comparing the end-to-end distance and the threshold, the end-to-end determination unit decreases the threshold as the crossing angle increases within a range of 0° or more and 180° or less; The trajectory planning support device according to (1).
According to the trajectory planning support device having this configuration, when comparing the distance between the ends and the threshold value, the end-to-end determination unit decreases the threshold value as the intersection angle between the weld bead trajectories becomes larger. The smaller the intersection angle between the trajectories, the larger the threshold value. Thereby, unevenness of the weld beads caused by the weld beads being too close to each other can be suppressed.

(3) The threshold value has a permissible variation range that varies depending on the intersection angle,
The trajectory planning support device according to (2), wherein the allowable variation range increases as the crossing angle increases within a range of the crossing angle from 0° to 180°.
According to the trajectory planning support device having this configuration, by increasing or decreasing the permissible variation range of the threshold value according to the magnitude of the crossing angle, the position adjustment of the end portion can be automatically and appropriately corrected according to the crossing angle.

(4) The trajectory planning support according to any one of (1) to (3), wherein the position correction unit corrects the position of the end while keeping the entire trajectory length of the weld bead constant. Device.
According to the trajectory planning support device with this configuration, by correcting the position of the end while keeping the entire trajectory length of the weld bead constant, it is possible to correct the position of the weld bead at the start and end points without causing a shortage of welding volume of the weld bead. The spacing between the ends of the two can be adjusted appropriately.

(5) A trajectory planning support method for determining the trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a model in which the weld beads are stacked. And,
a trajectory information acquisition step of acquiring trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction step of extracting positional information of ends in trajectories of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation step of calculating an end-to-end distance, which is a distance between the ends, based on the position information;
an end-to-end determination step of comparing the end-to-end distance with a preset threshold and determining whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction step for correcting the
A trajectory planning support method, including:
According to the trajectory planning support method having this configuration, it is possible to automatically correct the end positions of weld beads that are too close to each other, such as the start and end points, and it is possible to reduce the burden on the designer who creates the trajectory plan. Furthermore, equipment errors such as torch interference due to excessive proximity of ends such as the start and end of the weld bead can be avoided, and the object can be smoothly formed.

(6) A program for determining the trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a model in which the weld beads are stacked. ,
to the computer,
a trajectory information acquisition function that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction function that extracts positional information of an end in a trajectory of the weld beads that are close to each other based on the trajectory information;
an end-to-end distance calculation function that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination function that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. A position correction function that corrects the
A program to make this happen.
According to the program with this configuration, it is possible to automatically correct the end positions such as the start and end points of weld beads that are too close together, and it is possible to reduce the burden on the designer who creates the trajectory plan. Furthermore, equipment errors such as torch interference due to excessive proximity of ends such as the start and end of the weld bead can be avoided, and the object can be smoothly formed.

11 Torch 15 Molding control device (trajectory planning support device)
31 Trajectory information acquisition unit 33 Position information extraction unit 35 End-to-end distance calculation unit 37 End-to-end determination unit 39 Position correction unit B Weld bead Bs Starting end (end)
Be Termination (end)
Lse Distance between ends Lth Threshold W Modeled object θ Intersection angle δL Allowable variation range

Claims (6)

A trajectory planning support device for determining a trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a modeled object in which the weld beads are stacked. ,
a trajectory information acquisition unit that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction unit that extracts positional information of an end in a trajectory of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation unit that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination unit that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction unit that corrects the
including,
Trajectory planning support device. The end-to-end distance calculation unit also calculates an intersection angle between trajectories of the weld bead including the end,
When comparing the end-to-end distance and the threshold, the end-to-end determination unit decreases the threshold as the crossing angle increases within a range of 0° or more and 180° or less;
The trajectory planning support device according to claim 1. The threshold value has a permissible variation range that varies depending on the intersection angle,
Within a range where the crossing angle is 0° or more and 180° or less, the larger the crossing angle is, the larger the allowable variation range is.
The trajectory planning support device according to claim 2. The position correction unit corrects the position of the end while keeping the entire trajectory length of the weld bead constant.
A trajectory planning support device according to any one of claims 1 to 3. A trajectory planning support method for determining a trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a modeled object in which the weld beads are stacked. ,
a trajectory information acquisition step of acquiring trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction step of extracting positional information of ends in trajectories of the welding beads that are close to each other based on the trajectory information;
an end-to-end distance calculation step of calculating an end-to-end distance, which is a distance between the ends, based on the position information;
an end-to-end determination step of comparing the end-to-end distance with a preset threshold and determining whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. a position correction step for correcting the
including,
Trajectory planning support method. A program for determining the trajectory plan in an additive manufacturing apparatus that melts a welding material to form a weld bead while moving a torch according to a trajectory plan, and forms a model in which the weld beads are stacked, the program comprising:
to the computer,
a trajectory information acquisition function that acquires trajectory information of the weld bead including a target position of a path forming the weld bead;
a positional information extraction function that extracts positional information of an end in a trajectory of the weld beads that are close to each other based on the trajectory information;
an end-to-end distance calculation function that calculates an end-to-end distance that is a distance between the ends based on the position information;
an end-to-end determination function that compares the end-to-end distance with a preset threshold and determines whether the end-to-end distance is smaller than the threshold;
If it is determined that the distance between the ends is smaller than the threshold, move the position of at least one of the ends along the trajectory of the weld bead so that the distance between the ends becomes equal to or greater than the threshold. A position correction function that corrects the
In order to realize
program.

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