WO2023204113A1

WO2023204113A1 - Control information generation device, additive manufacturing system and program

Info

Publication number: WO2023204113A1
Application number: PCT/JP2023/014783
Authority: WO
Inventors: 諭史近口; 碩黄
Original assignee: 株式会社神戸製鋼所
Priority date: 2022-04-22
Filing date: 2023-04-11
Publication date: 2023-10-26
Also published as: JP2023160808A

Abstract

This control information generation device comprises an information acquisition unit that acquires information about manufacturing paths, and a manufacturing path addition unit that adds a new inner manufacturing path to a filling portion sandwiched by, among the manufacturing paths, outer manufacturing paths that constitute an outer wall of a manufacturing object. The manufacturing path addition unit extracts a pair of mutually opposing paths of the outer manufacturing paths, adds an inner manufacturing path along the longitudinal direction of the pair of extracted paths, at a location along which the space between the pair of paths is equally divided, and incorporates information about the outer manufacturing paths and the inner manufacturing path to control information as trajectory information for forming beads.

Description

Control information generation device, additive manufacturing system and program

The present invention relates to a control information generation device, an additive manufacturing system, and a program.

In recent years, there has been an increasing need for parts manufacturing through additive manufacturing using 3D printers, and research and development is progressing toward the practical application of modeling using metal materials. For example, Patent Document 1 proposes a method of improving the modeling quality by correcting the bead formation trajectory (modeling path) in layered manufacturing so that the overlapping of beads and the deviation of processed materials are reduced. In this method, the bead width is adjusted based on the modeling path and the reference width of the bead cross section, and then the modeling path is corrected.

Japanese Patent No. 664780

In layered manufacturing, a desired shape is created using multiple modeling paths adjacent to each other. The modeling path is often mechanically generated during the modeling planning stage. However, depending on the modeling location, the spacing between the beads may become relatively wide, resulting in areas where the beads are sparsely arranged. If additive manufacturing is performed under such conditions, there is a risk that welding defects such as voids may occur between beads. Therefore, although it is possible to modify the modeling paths to appropriate intervals, the more complex the shape to be formed, the more difficult it becomes to determine what kind of modeling path to add.

Therefore, the present invention aims to provide a control information generation device, an additive manufacturing system, and a program that can efficiently set a modeling path for forming a bead while suppressing the occurrence of welding defects due to voids and the like.

The present invention consists of the following configuration.
(1) Lamination in an additive manufacturing apparatus that shapes a layered shape using a bead that forms a molten processing material on a surface to be modeled along a modeling path, and then laminates the layered shape to produce a three-dimensional shaped object. A control information generation device that generates control information for controlling a modeling device,
an information acquisition unit that acquires information on the modeling route;
a modeling route addition unit that adds a new inner modeling route to a filling part sandwiched between an outer modeling route that forms an outer wall of the modeled object among the modeling routes;
Equipped with
The modeling route addition unit extracts a pair of mutually opposing routes of the outer modeling route, and adds the inner part to a position where the interval between the pair of routes is equally divided along the longitudinal direction of the pair of extracted routes. adding a modeling route and incorporating information on the outer modeling route and the inner modeling route into the control information as trajectory information for forming the bead;
Control information generation device.
(2) The control information generation device according to (1);
the layered manufacturing device that shapes the object according to the control information output from the control information generation device;
An additive manufacturing system equipped with
(3) An additive manufacturing device that adds molten processing material to a surface to be modeled along a modeling path, forms a layered shape using beads formed, and stacks the layered shapes to create a three-dimensional shaped object. A program that generates control information for controlling the
to the computer,
a function of acquiring information on the modeling route;
When adding a new inner modeling route to a region between the outer modeling routes that form the outermost shell of the three-dimensional shape among the modeling routes, a pair of mutually opposing routes of the outer modeling routes are extracted. Then, the inner modeling route is added at a position where the interval between the pair of extracted routes is equally divided along the longitudinal direction of the pair of routes, and the information on the outer modeling route and the inner modeling route is a function of incorporating into the control information as trajectory information for forming the bead;
A program that makes this possible.

According to the present invention, the shaping path for forming the bead can be efficiently set while suppressing the occurrence of welding defects due to voids and the like.

FIG. 1 is a schematic diagram showing the overall configuration of an additive manufacturing system. FIG. 2 is a block diagram showing the functional configuration of the modeling control device and the control information generation device. FIG. 3 is a schematic diagram of a forming path in a single layer when forming a modeled object. FIG. 4 is a flowchart illustrating a procedure for finding an inner modeling route that fills the filling portion without any gaps and outputting this modeling route as control information. FIG. 5A is a schematic diagram for explaining the definition of the interval between a pair of routes. FIG. 5B is a schematic diagram for explaining the definition of the interval between a pair of routes. FIG. 6 is an explanatory diagram showing a case where one inner modeling path is provided at an intermediate position between a pair of outer modeling paths. FIG. 7 is an explanatory diagram showing step-by-step the process of setting the inner modeling path. FIG. 8 is an explanatory diagram showing a modeling route when a plurality of inner modeling routes are provided inside the outer modeling route. FIG. 9 is an explanatory diagram when a plurality of inner modeling paths are added between a pair of paths. FIG. 10A is an explanatory diagram showing an example of a combination of a pair of modeling paths. FIG. 10B is an explanatory diagram showing an example of a combination of a pair of modeling paths. FIG. 10C is an explanatory diagram showing an example of a combination of a pair of modeling paths. FIG. 11 is an explanatory diagram showing how a plurality of inner modeling paths are added by equally dividing a pair of paths. FIG. 12 is an explanatory diagram showing a method of reducing an annular outer modeling route to obtain an inner modeling route. FIG. 13 is an explanatory diagram showing an outer modeling path and an inner modeling path in a cross section of a cylindrical object. FIG. 14 is an explanatory diagram showing an outer modeling path and an inner modeling path in a cross section of a molded object in which three cylindrical parts are integrated.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, a bead is formed by adding molten processing material to a surface to be modeled along a modeling path using an additive manufacturing apparatus. These beads form a layered shape, and further layered beads are stacked to form a three-dimensional shape. The control information generating device generates control information for controlling the layered manufacturing device when modeling the object in this way.

FIG. 1 is a schematic diagram showing the overall configuration of the additive manufacturing system. The additive manufacturing system 100 according to this embodiment includes a modeling control device 11, an additive manufacturing device 13, and a control information generation device 15. The additive manufacturing apparatus 13 is configured to include a manipulator 14 , a filler material supply device 17 , a manipulator control device 19 , and a heat source control device 21 .

The manipulator control device 19 controls the manipulator 14 and the heat source control device 21. A controller (not shown) is connected to the manipulator control device 19, and an operator can instruct any operation of the manipulator control device 19 via the controller.

The manipulator 14 is, for example, a multi-joint robot, and a torch 23 provided on the tip shaft supports a filler metal (welding wire) M so as to be continuously supplied. The torch 23 holds the filler metal M in a state protruding from its tip. The position and orientation of the torch 23 can be arbitrarily set three-dimensionally within the degree of freedom of the robot arm constituting the manipulator 14. The manipulator 14 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 14 may be in various forms, such as an articulated robot with four or more axes shown in FIG. 1, a robot with angle adjustment mechanisms on two or more orthogonal axes, and the like.

The torch 23 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 a consumable electrode type such as coated arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG (Tungsten Inert Gas) welding or plasma arc welding. It is selected as appropriate depending on W. 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 23 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 17 supplies the filler material M toward the torch 23 of the manipulator 14. The filler material supply device 17 includes a reel 17a around which the filler material M is wound, and a feeding mechanism 17b that feeds out the filler material M from the reel 17a. The filler material M is fed to the torch 23 while being fed in the forward direction or the reverse direction as required by the feeding mechanism 17b. The feeding mechanism 17b is not limited to a push type disposed on the filler material supplying device 17 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 21 is a welding power source that supplies the power required for welding by the manipulator 14. The heat source control device 21 adjusts the welding current and welding voltage that are supplied during bead formation in which the filler metal is melted and solidified. Further, the filler metal supply speed of the filler metal supply device 17 is adjusted in conjunction with welding conditions such as welding current and welding voltage set by the heat source control device 21.

The heat source for melting the filler metal M is not limited to the above-mentioned arc. For example, heat sources using other methods 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 beads 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 layered manufacturing system 100 configured as described above is driven 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 material M is melted and solidified while moving the torch 23 according to this modeling program, a linear bead, which is a molten solidified body of the filler material M, is formed on the base 25. That is, the manipulator control device 19 drives each part of the manipulator 14, the heat source control device 21, etc. based on a predetermined modeling program provided by the modeling control device 11. The manipulator 14 moves the torch 23 to form the bead B while melting the filler material M with an arc according to a command from the manipulator control device 19 . By sequentially forming and laminating the beads B in this manner, a shaped article W having a desired shape can be obtained.

Although a planar base 25 is used here, the shape of the base 25 is not limited to this. For example, the base 25 may have a cylindrical shape and a bead may be formed on the outer periphery of the side surface of the cylinder.

Furthermore, the coordinate system of the modeling shape data handled by the additive manufacturing system 100 and the coordinate system on the base 25 on which the object W is formed are associated with each other. Here, an orthogonal coordinate system having an X-axis, a Y-axis, and a Z-axis will be defined and explained, with the upper surface of the base 25 being the XY plane and the normal direction of the upper surface of the base 25 being the Z direction.

<Functional configuration of printing control device>
FIG. 2 is a block diagram showing the functional configuration of the modeling control device 11 and the control information generation device 15. The modeling control device 11 includes an input section 31, a storage section 33, a modeling program creation section 35, and an output section 37.

The input unit 31 acquires various information from the outside, for example, via an appropriate network or with an appropriate input device. Examples of the information acquired here include shape data including shape information of the object to be subjected to additive manufacturing such as CAD/CAM data, welding condition setting data, instruction information from the operator, and the like.

The storage unit 33 stores various information acquired by the input unit 31 and the above-mentioned modeling program. The storage unit 33 also maintains a database storing information such as operating speed of the manipulator 14 when modeling various shapes, drive conditions such as movable range, and various welding conditions that can be set by the heat source control device 21. You may.

The modeling program creation unit 35 determines a modeling plan, such as a modeling path representing a path along which the torch 23 is moved to form a bead, and welding conditions during bead formation, while referring to the database in the storage unit 33. Further, based on the created modeling plan, a modeling program is created according to the types and specifications of the manipulator 14 and the heat source control device 21.

The output unit 37 outputs the modeling program created by the modeling program creation unit 35 to the manipulator control device 19, the heat source control device 21, etc. Further, information on the modeling route when creating the modeling program may be output to the control information generation device 15. Note that the output unit 37 may further include a configuration that displays the contents of the modeling plan for the shape of the shape data using an output device (not shown) such as a display included in the modeling control device 11.

The control information generation device 15 includes an information acquisition section 41, a modeling route addition section 43, and a determination section 45. Information on the modeling route is input to the information acquisition unit 41 from the modeling control device 11 or from the outside. The modeling route addition unit 43 adds a new modeling route to the inputted modeling route information as needed, and outputs this to the modeling control device 11 as control information. This control information includes modeling route information. The modeling route addition unit 43 includes a virtual line generation unit 46, the details of which will be described later, a crossing line generation unit 47, and an inner modeling route setting unit 49. Although the details will be described later, the determination unit 45 determines whether or not a further modeling route is required for the inputted modeling route.

The modeling control device 11 and the control information generation device 15 are configured by, for example, an information processing device such as a PC (Personal Computer). The functions of each unit described above are realized by a processor provided in each unit reading a program having a specific function and executing the program. Specifically, a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit), or a dedicated circuit uses RAM (Random Access Memory), a volatile storage area, and ROM (ROM), a non-volatile storage area. Reads and executes programs stored in memory such as Read Only Memory, HDD (Hard Disk Drive), and SSD (Solid State Drive).

The above-described modeling control device 11 and control information generation device 15 may be connected to the additive manufacturing device 13, or may be connected to the additive manufacturing device 13 from a remote location via communication or the like.

<Procedure for creating a model>
Next, a procedure for manufacturing a molded object using the above-described layered manufacturing system 100 will be explained.
FIG. 3 is a schematic diagram of a forming path in a single layer when forming a modeled object. The shaped object W illustrated here has an annular outer wall portion 51 and a filling portion 53 inside the outer wall portion 51. The modeling paths include an outside modeling path 55 that forms the outer wall portion 51 and an inside modeling path 57 that is arranged in the filling part 53 sandwiched between the outside modeling path 55. Linear beads B are formed by melting and solidifying the filler metal M while moving the torch 23 shown in FIG. 1 along each path, and a layered shape in which a plurality of beads B are adjacent to each other is modeled.

Although FIG. 3 shows an example in which three inner modeling paths 57 are provided and the filling portion 53 is filled with three beads B, the bead width changes depending on various conditions such as welding conditions. Therefore, the number of beads to fill the filling part 53 with beads B without any gaps increases or decreases depending on the conditions, and welding defects occur due to gaps between the beads. Therefore, at the modeling planning stage, it is necessary to optimize the number of beads in the filling portion 53 and to make settings to prevent welding defects.

FIG. 4 is a flowchart showing a procedure for finding an inner modeling path that fills the filling portion 53 without any gaps and outputting this modeling path as control information. Each procedure will be explained in order according to this flowchart.

First, the information acquisition unit 41 of the control information generation device 15 acquires information on a modeling path set by a predetermined algorithm according to the shape of the object to be manufactured (S1). This modeling path may be information on a printing path included in a printing program created by the printing control device 11 for the shape of the CAD data, or may be information on a printing path created and stored in advance. good. Information on the modeling route includes, for example, coordinate information (X, Y, Z) of points included in the modeling route (pass), the pitch between adjacent passes, the interval between stacked layers, the stacking order of each pass, etc. Can be mentioned. Further, the information on the modeling path may be information on a slice cross section of one layer when the shape of the object is sliced to a predetermined thickness. In that case, an outer modeling path corresponding to the outer wall portion that becomes the outer shell in the sliced cross section is determined in advance. The information acquisition unit 41 outputs the acquired information to the modeling route addition unit 43.

Next, the modeling route addition unit 43 extracts a pair of mutually opposing outer modeling routes from the input modeling route information. As shown in FIG. 3, when the outer modeling path 55 is a quadrilateral with four straight sides, a pair of paths facing each other, for example,

paths

55a and 55c, are extracted. Then, along the longitudinal direction of the pair of extracted

routes

55a, 55c, an inner modeling route 57 is added at a position where the interval between the pair of

routes

55a, 55c is equally divided. It is preferable that the inner modeling path 57 be shorter than the lengths of the

outer modeling paths

55a and 55c. By making it shorter, it is possible to avoid collision between the modeling path added in a later process and the outside modeling path.

In this specification, "the interval between a pair of routes" means the interval defined as follows. 5A and 5B are schematic diagrams for explaining the definition of the interval between a pair of routes. As shown in FIG. 5A, the points where the pair of routes La and Lb and one straight line Lc intersect are defined as an intersection point Pa and an intersection point Pb. At this time, the intersection points Pa and Pb are taken as the vertices of the angles, and the intersecting angles that are in a mutually opposing positional relationship are respectively α and β.The above-mentioned single straight line Lc is ). The line segment length Lt between the intersection point Pa and the intersection point Pb (between the intersections) at this time is defined as "the interval between a pair of routes."

In the case shown in FIG. 5A, the intersection angles α and β, which are in a positional relationship opposite to each other, are corners outside the area sandwiched by the pair of paths La and Lb, and are the corners of one straight line of the paths La and Lb. This is a corner located on one side (right side in FIG. 5A) with Lc as a boundary. Similarly, in the case shown in FIG. 5B, at the intersection Pa, Pb of a pair of paths La, Lb that bends at a bending point Px and extends in two directions, and a single straight line Lc, the path is sandwiched between the pair of paths La, Lb. The corner on the outside of the area including the line segment connecting the intersections Pa and b, and formed on the side of the bending point Px with one straight line Lc as the boundary, is the intersection angle α (right side in FIG. 5B). ), and β (the upper corner of FIG. 5B). In either case, the line segment length Lt between the intersection Pa and the intersection Pb (between the intersections) is the "interval between the pair of routes." Note that if at least one of the routes is a curve, the "distance between a pair of routes" may be determined by using a tangent passing through a point on the route instead.

Here, the procedure for adding the inner modeling path 57 will be explained in more detail.
FIG. 6 is an explanatory diagram showing a case where one inner modeling path 57 is provided at an intermediate position between a pair of the outer modeling paths 55. The distances L1, L1 between the inner modeling path 57 and the

outer modeling paths

55a, 55c are the same at any position along its longitudinal direction.

FIG. 7 is an explanatory diagram showing step-by-step the process of setting the inner modeling path 57. First, a pair of mutually opposing paths are extracted from the

outer modeling paths

55a, 55b, 55c, and 55d. Although an example in which

routes

55a and 55c are extracted is shown here,

routes

55b and 55d may also be extracted. The virtual line generation unit 46 shown in FIG. 2 defines the extracted pair of routes as a first virtual line LV1 and a second virtual line LV2 (S2). The lengths of the first imaginary line LV1 and the second imaginary line LV2 are set shorter than the lengths of the

paths

55b and 55d, which are reference sources, according to the bead width.

Next, assume that the intersecting line generation unit 47 moves the defined first virtual line LV1 and second virtual line LV2 in parallel at a constant speed in a direction in which they approach each other. The moving direction may be set in a direction parallel to the short axis direction of the region to be modeled. However, this is a linear movement in one direction and does not include rotational movement. The parallel movement produces an intersection point P1 where the first virtual line LV1 and the second virtual line LV2 intersect. After the intersection P1 is generated, if the parallel movement is further advanced, multiple intersections will occur, such as the first virtual line LV1 and the second virtual line LV2 moving and generating the intersections P2, P3, P4, and P5. . These intersection points P1, P2, P3, P4, and P5 are sequentially connected to obtain an intersection line LC. The intersecting line LC may be a straight line or a curved line.

The inner modeling route setting unit 49 sets the obtained intersecting line LC as the newly added inner modeling route 57 (S3). Note that the above-mentioned intersection points P1 to P5 are points for explanation of the intersection line LC, and their number and interval are arbitrary. As a result of the above processing, the inner modeling path 57 shown in FIG. 6 is obtained. In this case, the pair of

paths

55a and 55c are straight lines that are non-parallel to each other, and the inner modeling path 57 is a bisector of the intersection angle θ at the intersection O of the extension lines of the

paths

55a and 55c. Thereby, the inner modeling route 57 can be made into a route with less deviation from the

routes

55a and 55c located on both sides thereof.

Furthermore, when the outer modeling path 55 is annular, the inner modeling path 57 is set to have a shorter path length than the pair of

paths

55a and 55c. That is, by separating the end point of the added inner modeling path 57 from another adjacent trajectory by a predetermined distance, it is possible to suppress excessive stacking of beads due to overlap with an adjacent path. The predetermined distance separating the end points may be, for example, about half the width of the bead forming the outer modeling path.

Here, the determination unit 45 determines whether the interval L1 between the inner modeling route 57 and the outer modeling route 55 is a necessary and sufficient interval at all positions along the inner modeling route 57. In other words, the distance between the inner modeling path 57 and the outer modeling path 55 that are adjacent to each other is such that the beads formed along these paths do not have a sufficient amount of lamination (accumulation, area) and are separated from each other. This creates gaps between the beads that induce welding defects. Therefore, when the distance L1 is compared with a predetermined reference value, and if there is at least a portion where the distance is larger than the reference value, an inner modeling path 57 is added in order to eliminate the lack of lamination between the beads. The additional signal is output to the modeling path adding section 43. Note that when the maximum and minimum values of the interval L1 are calculated and the difference is less than a certain reference value, for example, the weaving width when filling the inner modeling path by weaving may be finely adjusted to be larger than the reference value. In this case, an inner modeling path 57 may be further added.

In this way, it is determined whether the number of inner modeling paths 57 is sufficient for the amount of bead stacking required to fill the spaces between the paths (S4), and if it is necessary to add the inner modeling paths 57, step Returning to S2, the inner modeling path 57 is added again (S2, S3). As the number of times the addition of the inner modeling path 57 is repeated increases, the number of passes increases, resulting in an increase in production time. Therefore, an upper limit may be set for the number of repetitions.

FIG. 8 is an explanatory diagram showing a forming path when a plurality of inner forming

paths

57, 57A, and 67B are provided inside the outer forming path 55. An inner modeling path 57 is provided between the pair of

paths

55a and 55c, which are the outer modeling paths, according to the procedure described above. In this case, it is determined that the amount of bead stacking required to fill the spaces between the paths is insufficient, and the amount of bead stacking required to fill the spaces between the paths is insufficient, and the amount of bead stacking required to fill the spaces between the

paths

55a and 55a, and between the inside modeling path 57 and the outside modeling path, New

inner modeling paths

57A and 57B are added between the path 55c and the path 55c. The

inner modeling paths

57A and 57B are arranged at equal intervals (distance L1/2) from adjacent paths.

Then, the determining unit 45 determines that according to the total of three

inner modeling paths

57A, 57, and 57B arranged at the interval L1/2, the number is necessary and sufficient to obtain the required bead stacking amount. In this case, the modeling route addition unit 43 incorporates information on the additionally obtained modeling routes of the

inner modeling routes

57A, 57, 57B and the outer modeling route 55 into the control information as trajectory information for forming a bead, and Control information is output from the control information generation device 15 to the modeling control device 11 (S5). In addition, if it is determined that the bead stacking amount is insufficient even with the three

inner modeling paths

57A, 67, and 57B, furthermore, between the outer modeling path 55a and the inner modeling path 57A, the inner modeling path 57A and New inner modeling routes are added between the inner modeling route 57, between the inner modeling route 57 and the inner modeling route 57B, and between the inner modeling route 57B and the outer modeling route 55c. (not shown).

The modeling control device 11 creates a modeling program based on the input control information including the above trajectory information, and outputs the modeling program to the additive manufacturing device 13. The layered manufacturing device 13 moves the torch 23 according to the modeling program to form a bead. As a result, a modeled object W including a bead layer consisting of the above-mentioned

inner modeling paths

57A, 57, 57B and beads B (see FIG. 3) along the outer modeling path 55 is modeled.

According to the shaped article W thus obtained, welding defects are less likely to occur between the beads B, and a high-quality shaped article W can be stably obtained. Moreover, a modeling path for modeling the object W can be mechanically added when the amount of bead stacking is insufficient, and adjustment of the modeling path does not become complicated. Furthermore, since the added inner modeling paths are non-parallel to each other, compared to the case where they are parallel, the modeling paths can be arranged more flexibly and the number of paths can be easily saved.

<Additional forms of other inner modeling paths>
(Multiple inner modeling paths are equally divided)
As shown in FIG. 6 described above, along the longitudinal direction of the pair of opposing

paths

55a, 55c of the outer modeling path 55, one line is placed at a position where the distance 2L1 between the pair of

paths

55a, 55c is divided into two. Although the inner modeling route 57 was added, a plurality of inner modeling routes 57 may be added by equally dividing the interval 2L1.

FIG. 9 is an explanatory diagram when a plurality of (four as an example) inner modeling paths 57 are added between a pair of paths. The inner modeling paths 57 to be added are arranged at positions where the intervals between adjacent paths are equal on one side and the other side in the direction in which the inner modeling paths 57 are lined up. That is, a plurality of inner modeling paths 57 are newly added at positions where the distance between the pair of paths of the outer modeling path 55 is equally divided. Furthermore, a plurality of new inner modeling paths may be added at positions where the distance between the pair of inner modeling paths 57 facing each other is equally divided.

In this case, if the distance between a pair of paths is wide compared to the bead width, the distance is narrowed all at once to such an extent that adjacent beads can appropriately overlap each other. Therefore, the number of repetitions of the inner modeling path addition process can be reduced, and the calculation time can be shortened.

(Pair of modeling paths)
10A, FIG. 10B, and FIG. 10C are explanatory diagrams showing examples of combinations of a pair of modeling paths.
The pair of routes described above are

routes

55a and 55c shown in FIG. 10A, but may also be a set of

routes

55b and 55d shown in FIG. 10B, or a set of

routes

55c and 55d shown in FIG. , 55b). The inner modeling route 57 in the case shown in FIG. 10C is arranged at a position equidistant from the route 55c and the route 55d. Furthermore, when the set of

paths

55b and 55d shown in FIG. 10B is used as a pair of modeling paths, and a plurality of inner modeling paths are added by equally dividing the path, the modeling paths shown in FIG. 11 are obtained.

FIG. 11 is an explanatory diagram showing how a plurality of inner modeling paths are added by equally dividing the pair of

paths

55b and 55d. In this case, the inner modeling paths 57 are parallel to each other. In this way, there are a plurality of patterns in which the inner modeling path is provided. Therefore, a method such as setting an upper limit on the number of permissible paths and extracting a pattern that satisfies the limit from among candidates registered in advance may be adopted. In that case, it is sufficient to register various patterns in the database in advance and select a pattern that meets the conditions from the database, thereby improving the processing speed.

(Determination of the position of the inner modeling path by reduction and expansion processing)
FIG. 12 is an explanatory diagram illustrating a method of shrinking an annular outer forming path to obtain an inner forming path. For example, when providing an inner modeling path inside the arcuate outer modeling path 55, the line of the arcuate outer modeling path 55 is reduced inward. In other words, the shape of the outer modeling path 55 is made into a single line. Similar to the reduction processing used in general image processing technology, this reduction processing integrates multiple pixels placed around the pixel of the image including the outer modeling path into one new pixel. This can be achieved by repeatedly applying this to the entire image and reducing the size of the entire image. In this case, the inner modeling path can be determined mechanically regardless of the shape of the annular outer modeling path, so the inner modeling path can be easily set.

FIG. 13 is an explanatory diagram showing an outer modeling path and an inner modeling path in a cross section of a cylindrical object. In this case, among the double outer modeling paths, the annular line of the outer path 55out is contracted inward, the annular line of the inner path 55in is expanded outward, and the annular line when each annular line intersects The position of the line is set on the inner modeling path 57. The expansion process is a well-known image processing technique similar to the reduction process, so a description thereof will be omitted here.

FIG. 14 is an explanatory diagram showing an outer modeling path and an inner modeling path in a cross section of a molded object in which three cylindrical parts are integrated. In this way, even if the shape becomes complicated, the inner modeling route 57 can be set by moving the opposing routes toward each other and connecting the positions where the lines intersect. Although the shape of an actual object is often more complex than the simple shape described above, even in that case, the inner modeling path can be easily set. Further, a portion for which an inner modeling path is set by the reduction and expansion processing shown in FIGS. 12 to 14 and a portion for setting an inner modeling path by moving a virtual line shown in FIG. 7 may be mixed. In that case, it is possible to set the modeling route with increased design freedom by separating the location where the inner modeling route is to be adjusted intentionally and the location where the inner modeling route is uniquely set.

As described above, the present invention is not limited to the embodiments described above, and those skilled in the art can modify and apply them based on the mutual combination of the configurations of the embodiments, 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) Lamination in an additive manufacturing apparatus that shapes a layered shape using a bead that forms a molten processing material on a surface to be modeled along a modeling path, and then laminates the layered shape to produce a three-dimensional shaped object. A control information generation device that generates control information for controlling a modeling device,
an information acquisition unit that acquires information on the modeling route;
a modeling route addition unit that adds a new inner modeling route to a filling part sandwiched between an outer modeling route that forms an outer wall of the modeled object among the modeling routes;
Equipped with
The modeling route addition unit extracts a pair of mutually opposing routes of the outer modeling route, and adds the inner part to a position where the interval between the pair of routes is equally divided along the longitudinal direction of the pair of extracted routes. adding a modeling route and incorporating information on the outer modeling route and the inner modeling route into the control information as trajectory information for forming the bead;
Control information generation device.
According to this control information generation device, it is possible to output startup information in which an inner modeling path is newly added to the filled part sandwiched between the outer modeling path, and to control the forming path for forming a bead to prevent welding defects due to voids, etc. This can be set efficiently by suppressing occurrences.

(2) The modeling route addition unit extracts a pair of mutually opposing routes, the inner modeling route and the outer modeling route, and adds a new inner modeling route to a position where the interval between the extracted pair of routes is equally divided. The control information generation device according to (1), which adds a route.
According to this control information generation device, it is possible to arrange the inner modeling route evenly between the inner modeling route and the outer modeling route.

(3) The modeling route addition section is
a virtual line generation unit that defines the pair of extracted routes as a first virtual line and a second virtual line;
When the first imaginary line and the second imaginary line are moved in parallel at a constant speed in a direction in which they approach each other, the first imaginary line and the second imaginary line intersect while moving, sequentially. an intersection line generation unit that connects and generates an intersection line;
an inner modeling route setting unit that sets the intersection line to the inner modeling route to which the new line is added;
The control information generation device according to (1) or (2), comprising:
According to this control information generation device, by parallel movement of the first virtual line and the second virtual line, the inner modeling path can be arranged at a position equidistant from the other opposing path.

(4) The control information generation device according to any one of (1) to (3), wherein the plurality of inner modeling paths added by the modeling path addition unit are non-parallel to each other.
According to this control information generation device, since the added inner printing paths are non-parallel to each other, compared to the case where they are parallel, the printing paths can be arranged more flexibly, making it easier to save the number of paths. .

(5) The pair of extracted routes are straight lines that are non-parallel to each other,
The control information generation device according to any one of (1) to (4), wherein the inner modeling path is a bisector of an intersection angle formed by the pair of paths.
According to this control information generation device, it is possible to make the inner modeling route a route that is less biased from the modeling routes located on both sides thereof.

(6) The control information generation device according to any one of (1) to (5), wherein the inner modeling path has a shorter path length than the pair of paths.
According to this control information generation device, excessive stacking of beads due to overlap with adjacent paths can be suppressed.

(7) If there is an interval greater than a predetermined reference value among the intervals between adjacent routes of the inner modeling route and the outer modeling route, it is determined that there is a shortage in the bead volume of the stacked beads. further comprising a determination unit that determines;
The control according to any one of (1) to (6), wherein the modeling route addition unit repeats adding the inner modeling route when the determination unit determines that the bead stacking amount is insufficient. Information generation device.
According to this control information generation device, an inner modeling path is added to areas where there is a risk of welding defects due to gaps due to insufficient overlap between beads when beads are formed along adjacent paths. Therefore, the occurrence of welding defects can be suppressed.

(8) The control information generation device according to any one of (1) to (7);
the layered manufacturing device that shapes the object according to the control information output from the control information generation device;
An additive manufacturing system equipped with
According to this additive manufacturing system, it is possible to manufacture high-quality molded objects with few welding defects.

(9) An additive manufacturing device that creates a layered shape using beads formed by adding molten processing material to a surface to be modeled along a modeling path, and builds a three-dimensional shaped object by stacking the layered shapes. A program that generates control information for controlling the
to the computer,
a function of acquiring information on the modeling route;
When adding a new inner modeling route to a region between the outer modeling routes that form the outermost shell of the three-dimensional shape among the modeling routes, a pair of mutually opposing routes of the outer modeling routes are extracted. Then, the inner modeling route is added at a position where the interval between the pair of extracted routes is equally divided along the longitudinal direction of the pair of routes, and the information on the outer modeling route and the inner modeling route is a function of incorporating into the control information as trajectory information for forming the bead;
A program that makes this possible.
According to this program, it is possible to output startup information that adds a new inner modeling route to the filled part sandwiched between the outer modeling route as control information, and suppresses the occurrence of welding defects due to voids etc. in the modeling route that forms the bead. settings can be done efficiently.

Note that this application is based on a Japanese patent application (Japanese Patent Application No. 2022-071117) filed on April 22, 2022, and the contents thereof are incorporated as a reference in this application.

11 Molding control device 13 Additive manufacturing device 14 Manipulator 15 Control information generation device 17 Filler material supply device 17a Reel 17b Feeding mechanism 19 Manipulator control device 21 Heat source control device 23 Torch 25 Base 31 Input section 33 Storage section 35 Molding program creation section 37 Output section 41 Information acquisition section 43 Molding route addition section 45 Judgment section 46 Virtual line generation section 47 Intersection line generation section 49 Inner modeling route setting section 51 Outer wall section 53 Filling section 55

Outer modeling route

55a, 55b, 55c, 55d Route (outside modeling route)
55in inner route (outer modeling route)
55out outer route (outer modeling route)
57, 57A, 57B Inner modeling path 100 Laminated manufacturing system B Bead L, L1 Interval LC Intersection line LV1 First imaginary line LV2 Second imaginary line M Filler metal (welding wire)
O Intersection P1, P2, P3, P4, P5 Intersection W Modeled object θ Intersection angle

Claims

A layered manufacturing device for manufacturing a three-dimensional shaped object by forming a layered shape using a bead that forms a molten processing material on a surface to be modeled along a modeling path, and laminating the layered shape. A control information generation device that generates control information for controlling,
an information acquisition unit that acquires information on the modeling route;
a modeling route addition unit that adds a new inner modeling route to a filling part sandwiched between an outer modeling route that forms an outer wall of the modeled object among the modeling routes;
Equipped with
The modeling route addition unit extracts a pair of mutually opposing routes of the outer modeling route, and adds the inner part to a position where the interval between the pair of routes is equally divided along the longitudinal direction of the pair of extracted routes. adding a modeling route and incorporating information on the outer modeling route and the inner modeling route into the control information as trajectory information for forming the bead;
Control information generation device.
The modeling route addition unit extracts a pair of mutually opposing routes, the inner modeling route and the outer modeling route, and adds a new inner modeling route at a position where the interval between the extracted pair of routes is equally divided. do,
The control information generation device according to claim 1.
The modeling route addition section is
a virtual line generation unit that defines the pair of extracted routes as a first virtual line and a second virtual line;
When the first imaginary line and the second imaginary line are moved in parallel at a constant speed in a direction in which they approach each other, the first imaginary line and the second imaginary line intersect while moving, sequentially. an intersection line generation unit that connects and generates an intersection line;
an inner modeling route setting unit that sets the intersection line to the inner modeling route to which the new line is added;
The control information generation device according to claim 1, comprising:
The modeling route addition section is
a virtual line generation unit that defines the pair of extracted routes as a first virtual line and a second virtual line;
When the first imaginary line and the second imaginary line are moved in parallel at a constant speed in a direction in which they approach each other, the first imaginary line and the second imaginary line intersect while moving, sequentially. an intersection line generation unit that connects and generates an intersection line;
an inner modeling route setting unit that sets the intersection line to the inner modeling route to which the new line is added;
The control information generation device according to claim 2, comprising:
The control information generation device according to claim 1, wherein the plurality of inner modeling paths added by the modeling path adding unit are non-parallel to each other.
The control information generation device according to claim 2, wherein the plurality of inner modeling paths added by the modeling path adding unit are non-parallel to each other.
The control information generation device according to claim 3, wherein the plurality of inner modeling routes added by the modeling route addition unit are non-parallel to each other.
The control information generation device according to claim 4, wherein the plurality of inner modeling routes added by the modeling route addition unit are non-parallel to each other.
The pair of extracted paths are straight lines that are non-parallel to each other,
The inner modeling path is a bisector of the intersection angle formed by the pair of paths,
The control information generation device according to any one of claims 1 to 8.
The inner modeling path has a shorter path length than the pair of paths.
The control information generation device according to any one of claims 1 to 8.
Determining that there is a shortage in the bead volume of the stacked beads when there is an interval larger than a predetermined reference value among the intervals between mutually adjacent routes of the inner modeling route and the outer modeling route. further equipped with a department;
The modeling route addition unit repeats adding the inner modeling route when the determination unit determines that the bead volume is insufficient.
The control information generation device according to any one of claims 1 to 8.
A control information generation device according to any one of claims 1 to 8,
the layered manufacturing device that shapes the object according to the control information output from the control information generation device;
An additive manufacturing system equipped with
Controls an additive manufacturing device that adds molten processing material to a surface to be modeled along a modeling path to form a layer shape using beads formed, and laminates the layer shapes to form a three-dimensional object. A program that generates control information for,
to the computer,
a function of acquiring information on the modeling route;
When adding a new inner modeling route to a region between the outer modeling routes that form the outermost shell of the three-dimensional shape among the modeling routes, a pair of mutually opposing routes of the outer modeling routes are extracted. Then, the inner modeling route is added at a position where the interval between the pair of extracted routes is equally divided along the longitudinal direction of the pair of routes, and the information on the outer modeling route and the inner modeling route is a function of incorporating into the control information as trajectory information for forming the bead;
A program that makes this possible.