JP2020192752A - Manufacturing method of object, manufacturing procedure generation method of object, manufacturing system of object, manufacturing procedure generation device of object, and program - Google Patents

Abstract

To suppress the occurrence of a problem such as a collapse of a bead shape without increasing the time required for the manufacturing of an object, the object including a laminate in which a plurality of beads formed by melting and solidifying a filler metal using an arc are overlapped.SOLUTION: A manufacturing method of an object includes a first laminate and a second laminate in which a plurality of beads formed by melting and solidifying a filler metal using an arc are overlapped on a base material. After a bead that constitutes the first laminate is formed, a bead that constitutes the second laminate is formed instead of the formation of the next bead when a temperature of a location forming the next bead that constitutes the first laminate is more than or equal to a predetermined setting temperature.SELECTED DRAWING: Figure 4

Description

The present invention is a method for manufacturing a modeled object, including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. Manufacturing procedure generation method, manufacturing system for shaped objects, manufacturing procedure generating device for shaped objects, and programs.

The molten bead of the previous layer is formed, the temperature of the molten bead is monitored by a temperature sensor, and the molten bead of the next layer is formed when the temperature of the molten bead of the previous layer becomes lower than the allowable interpass temperature. A method and a manufacturing system for manufacturing a laminated model to be started are known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-162,500

When manufacturing a modeled product containing a laminated body in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material, after forming the beads constituting the laminated body, the next bead is formed. The temperature of the formed portion may be higher than a predetermined set temperature. In such a case, in order to suppress the occurrence of problems such as the bead shape collapsing due to the formation of the next bead at that location as it is, the bead is formed after waiting for the temperature at that location to fall below the set temperature. If is adopted, the time required for manufacturing the modeled object will be long.

An object of the present invention is to prolong the time required for producing a modeled object when producing a modeled object including a laminated body in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. The purpose is to suppress the occurrence of problems such as the bead shape collapsing without doing so.

For this purpose, the present invention is a modeled object including a first laminated body and a second laminated body in which a plurality of beads formed by melting and solidifying a filler metal by using an arc are stacked on a base material. In the manufacturing method, when the temperature of the portion where the next bead forming the first laminated body is formed after the bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature. Provided is a method for producing a modeled object, which forms a bead constituting a second laminate instead of forming the next bead.

Further, the present invention is a method for generating a manufacturing procedure of a modeled product including a first laminated body and a second laminated body in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. When the temperature of the portion where the next bead forming the first laminated body is formed after the bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature. Also provided is a method for producing a modeled object, including a step of producing a modeled object, which forms a bead constituting a second laminate instead of forming the next bead.

Here, in the step of generating the manufacturing procedure of the modeled object, the temperature of the place where the next bead is formed may be predicted by simulation.

Further, the method for manufacturing the modeled object includes a step of dividing the three-dimensional shape data of the modeled object into a plurality of layers, a separation region corresponding to the separated body in each layer of the plurality of layers, and a first method of separating the modeled object by the separated body. A step of generating a manufacturing procedure of a modeled object, further including a step of setting a first laminated region corresponding to the laminated body and a plurality of laminated regions including a second laminated region corresponding to the second laminated body. Then, the orbits of the beads in the first laminated region and the second laminated region may be generated as a manufacturing procedure of the modeled object.

Further, the present invention is a manufacturing system for a modeled product including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. After forming the bead forming device for forming the beads forming the first laminated body or the second laminated body and the beads forming the first laminated body, the next bead forming the first laminated body is formed. The bead forming apparatus is controlled so that when the temperature of the portion where the bead is formed is equal to or higher than a predetermined set temperature, the bead forming the second laminate is formed instead of forming the next bead. It also provides a model manufacturing system equipped with a control device.

Furthermore, the present invention generates a procedure for manufacturing a modeled product including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. In the apparatus, the acquisition means for acquiring the first manufacturing procedure of the modeled object and the first manufacturing procedure are performed after forming the beads constituting the first laminated body, and then forming the first laminated body. When the temperature of the portion where the bead is formed is equal to or higher than a predetermined set temperature, the bead forming the second laminated body is formed instead of the formation of the next bead. Also provided is a manufacturing procedure generation device for a modeled object, which is provided with a changing means for changing the manufacturing procedure of 2.

Here, the changing means may predict the temperature of the place where the next bead is formed by simulation.

Further, the manufacturing procedure generation device for the modeled object is separated by a dividing means for dividing the three-dimensional shape data of the modeled object into a plurality of layers, a separation region corresponding to the separated body in each layer of the plurality of layers, and a separated body. Further, a setting means for setting a first laminated region corresponding to the first laminated body and a plurality of laminated regions including a second laminated region corresponding to the second laminated body is provided, and the acquisition means is a first. The orbits of the beads in the first laminated region and the second laminated region may be acquired as the first manufacturing procedure of the modeled object.

In addition, the present invention creates a procedure for manufacturing a modeled product including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. It is a program for operating a computer as an apparatus, and forms a bead constituting a first laminate by using an acquisition means for acquiring a first manufacturing procedure of a modeled object and a first manufacturing procedure. After that, when the temperature of the place where the next bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature, the second laminated body is replaced with the formation of the next bead. A program is also provided to allow the second manufacturing procedure of the shaped object, which forms the constituent beads, to function as a changing means of changing.

According to the present invention, when manufacturing a modeled product containing a laminated body in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material, the time required for producing the modeled product is increased. It is possible to suppress the occurrence of problems such as the bead shape collapsing without doing so.

It is a figure which showed the schematic structure example of the metal laminated modeling system in embodiment of this invention. It is a figure which shows the hardware configuration example of the stacking planning apparatus in embodiment of this invention. It is a figure which showed an example of the laminated model article manufactured with the embodiment of this invention. (A) and (b) are top views of one of the plurality of layers obtained by slicing, as viewed from above. It is a figure which showed the functional structure example of the stacking planning apparatus in 1st Embodiment of this invention. It is a figure which showed the functional structure example of the control panel in 1st Embodiment of this invention. It is a flowchart which showed the operation example of the stacking planning apparatus in 1st Embodiment of this invention. It is a flowchart which showed the operation example of the control panel in 1st Embodiment of this invention. It is a flowchart which showed the operation example of the control panel in 1st Embodiment of this invention. It is a figure which showed the functional structure example of the stacking planning apparatus in the 2nd Embodiment of this invention. It is a figure which showed the functional structure example of the control panel in the 2nd Embodiment of this invention. It is a flowchart which showed the operation example of the stacking planning apparatus in the 2nd Embodiment of this invention. It is a flowchart which showed the example of the trajectory data change processing of the stacking planning apparatus in the 2nd Embodiment of this invention. It is a flowchart which showed the example of the trajectory data change processing of the stacking planning apparatus in the 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[Structure of metal laminated molding system]
FIG. 1 is a diagram showing a schematic configuration example of the metal laminated modeling system 1 according to the present embodiment.

As shown in the figure, the metal lamination modeling system 1 includes a welding robot (manipulator) 10, a CAD device 20, a lamination planning device 30, and a control panel 50. Further, the stacking planning device 30 can write a control program for controlling the welding robot 10 on a removable recording medium 70 such as a memory card, and the control panel 50 can read the control program written on the recording medium 70. It has become like.

The welding robot 10 includes an arm 11 having a plurality of joints, and performs various operations under the control of the control panel 50. Further, the welding robot 10 has a welding torch 13 at the tip of the arm 11 for modeling the laminated model 100 via the wrist portion 12. Then, in the case of the metal laminated modeling system 1, the welding robot 10 moves the welding torch 13 while melting the filler metal (wire) 14 made of mild steel to manufacture the laminated model 100. Specifically, the welding torch 13 melts and solidifies the filler metal 14 by generating an arc while flowing a shield gas while supplying the filler metal 14, and the bead 101 is laminated on the base metal 90. The laminated model 100 is manufactured. Here, although an arc is used as a heat source for melting the filler metal 14, a laser or plasma may be used. In addition, the welding robot 10 also includes a feeding device for feeding the filler metal 14, but the description thereof will be omitted. In the present embodiment, the welding robot 10 is provided as an example of the bead forming device for forming the bead.

The CAD device 20 is a device for designing a modeled object using a computer, and holds three-dimensional CAD data (hereinafter, simply referred to as “CAD data”) representing the shape of the three-dimensional modeled object in three-dimensional coordinates. doing.

The stacking planning device 30 determines the trajectory of the welding torch 13 based on the CAD data held by the CAD device 20, and also determines the welding conditions when the welding robot 10 welds. Then, a control program for controlling the welding robot 10 so as to perform welding under the welding conditions determined along the determined trajectory is generated, and this control program is output to the recording medium 70. In the present embodiment, a stacking planning device 30 is provided as an example of a device for generating a manufacturing procedure for a modeled object.

The control panel 50 reads and holds a control program from the recording medium 70. Then, by operating this control program, the welding robot 10 is controlled so as to perform welding under the welding conditions planned by the stacking planning device 30 along the trajectory planned by the stacking planning device 30. In the present embodiment, a control panel 50 is provided as an example of the control device.

In FIG. 1, the system including the welding robot 10 and the control panel 50 is an example of a model manufacturing system.

[Hardware configuration of stacking planner]
FIG. 2 is a diagram showing a hardware configuration example of the stacking planning device 30.

As shown in the figure, the stacking planning device 30 is realized by, for example, a general-purpose PC (Personal Computer) or the like, and has a CPU 31 as a calculation means, a main memory 32 as a storage means, and a magnetic disk device (HDD: Hard Disk Drive) 33. And. Here, the CPU 31 executes various programs such as an OS (Operating System) and application software, and realizes each function of the stacking planning device 30. The main memory 32 is a storage area for storing various programs and data used for executing the various programs, and the HDD 33 is a storage area for storing input data for various programs and output data from various programs.

Further, the stacking planning device 30 relates to a communication I / F 34 for communicating with the outside, a display mechanism 35 including a video memory and a display, an input device 36 such as a keyboard and a mouse, and a recording medium 70. It includes a driver 37 for reading and writing data. Note that FIG. 2 merely illustrates a hardware configuration when the stacking planning device 30 is realized by a computer system, and the stacking planning device 30 is not limited to the illustrated configuration.

Further, the hardware configuration shown in FIG. 2 can also be regarded as the hardware configuration of the control panel 50. However, when the control panel 50 is described, the CPU 31, main memory 32, magnetic disk device 33, communication I / F 34, display mechanism 35, input device 36, and driver 37 of FIG. 2 are referred to as the CPU 51, main memory 52, and magnetic disk, respectively. It shall be referred to as a device 53, a communication I / F 54, a display mechanism 55, an input device 56, and a driver 57.

[Outline of the present embodiment]
In the metal laminated molding system 1 having such a configuration, if the inter-pass temperature (temperature of the portion where the bead is formed) is too high, there is a possibility that a problem such as so-called sagging that the bead shape collapses may occur. However, in order to avoid the occurrence of such a problem, if the inter-pass temperature is waited to be equal to or lower than the set temperature, the manufacturing time of the laminated model 100 becomes long. Therefore, in the present embodiment, after the beads constituting a certain laminated body are formed, the inter-pass temperature at the time of forming the next bead constituting the laminated body is equal to or higher than a predetermined set temperature. , Instead of forming the bead, a bead forming another laminated body is formed.

FIG. 3 is a diagram showing an example of the laminated model 100 manufactured in the present embodiment. Here, as the laminated model 100, a rectangular parallelepiped model is taken as an example. As shown in the figure, the laminated model 100 is manufactured on the base material 90 and has a separated body 110 and a laminated body 120. In this example, the number of laminated bodies 120 is two, and the separated body 110 separates the laminated body 121 which is an example of the first laminated body and the laminated body 122 which is an example of the second laminated body. First, the CAD data representing the shape of such a laminated model 100 is sliced into a plurality of layers as shown by a broken line in FIG.

4 (a) and 4 (b) are top views of one of the plurality of layers obtained by slicing, as viewed from above.

In (a), first, in this layer, the separation region 130 corresponding to the separator 110, the laminate region 141 which is an example of the first laminate region corresponding to the laminate 121, and the second laminate 122 corresponding to the laminate 122. The laminated region 142, which is an example of the laminated region of the above, is set. Several methods can be considered as a method for setting the separation region 130 and the stacking regions 141 and 142. For example, it is preferable to use a method in which the cross-sectional shape of the separated body 110 is determined in advance, and the laminated regions 141 and 142 separated via the separated region 130 are set by arranging the separated body 110 in the center and performing enlargement or reduction. ..

Here, each laminated region 140 is distinguished by an index i. The index i of the laminated region 141 is 1, and the index i of the laminated region 142 is 2. Further, the welding paths in each laminated region 140 are distinguished by an index j. In each laminated region 140, the index j of the welding path closest to the separation region 130 is 1, the index j of the next closest welding path is 2, and the index j of the farthest welding path is 3. Then, the welding path of the index j in the laminated region 140 of the index i is referred to as P (i, j).

In (a), the welding order of the initial welding paths (hereinafter referred to as “initial path order”) is set in the laminated regions 141 and 142. The initial path order is, in other words, the initially set stacked orbits. In (a), as shown by the circled numbers below each welding pass, the initial pass order is P (1,1), P (1,2), P (1,3), P (2,1). ), P (2,2), P (2,3).

In (b), when beads are formed according to the initial path order, if there is a place where the bead is formed at a temperature higher than the set temperature, the initial path order is changed (hereinafter, referred to as "changed path order"). Is newly set. In (b), as shown by the circled numbers below each welding pass, the change path order is P (1,1), P (1,2), P (2,1), P (1,3). ), P (2,2), P (2,3) are set in this order.

By the way, such a change of the pass order may be performed while welding with the welding robot 10 or may be performed at the planning stage prior to welding with the welding robot 10. Hereinafter, the functional configuration and operation thereof will be described in detail with the former case as the first embodiment and the latter case as the second embodiment.

In the above, as the laminated model 100, an example is taken in which the separator 110 separates the laminate 121 and the laminate 122, but the present invention is not limited to this. In general, the laminated model 100 may be obtained by separating N laminated bodies 120 from the separated body 110. The laminated model 100 may be, for example, a six-blade rotor provided with a columnar shaft body and six spiral blades protruding outward in the radial direction on the outer periphery of the shaft body. This is an example in the case of N = 6, in which the shaft body corresponds to the separator 110 and the blade corresponds to the laminate 120. Therefore, the following will also be generalized and described as assuming that the separator 110 separates N laminated bodies 120.

[First Embodiment]
(Functional configuration of stacking planning device)
FIG. 5 is a diagram showing a functional configuration example of the stacking planning device 30 according to the first embodiment. As shown in the figure, the stacking planning device 30 in the first embodiment includes a CAD data acquisition unit 41, a CAD data division unit 42, an area setting unit 43, a track data generation unit 44, and a welding condition generation unit 45. The control program generation unit 47 and the control program output unit 48 are provided.

The CAD data acquisition unit 41 acquires CAD data from the CAD device 20. In this embodiment, CAD data is used as an example of the three-dimensional shape data of the modeled object.

The CAD data division unit 42 divides the CAD data acquired by the CAD data acquisition unit 41 into a plurality of layers. In the present embodiment, the CAD data dividing unit 42 is provided as an example of the dividing means for dividing the three-dimensional shape data into a plurality of layers.

The area setting unit 43 sets the separation area 130 and N laminated areas 140 in each layer of the plurality of layers obtained by the CAD data dividing unit 42 dividing the CAD data. In the present embodiment, the area setting unit 43 is provided as an example of the setting means for setting the separation area and the laminated area in each layer of the plurality of layers.

The orbit data generation unit 44 generates orbit data indicating the initially set laminated orbits for each region of the N laminated regions 140 set by the region setting unit 43. This trajectory data shows the welding order (initial path order) of the initial welding paths described with reference to FIG. 4A. In this embodiment, the initial path order is used as an example of the first manufacturing procedure of the modeled object. Further, as an example of the acquisition means for acquiring the first manufacturing procedure and the acquisition means for acquiring the trajectory of the beads in the laminated region, the trajectory data generation unit 44 is provided.

The welding condition generation unit 45 generates welding conditions, which are conditions for forming a bead along the laminated track indicated by the track data generated by the track data generation unit 44. Welding conditions are, for example, current, voltage, speed and the like.

The control program generation unit 47 controls the welding robot 10 so as to perform laminating modeling under the welding conditions generated by the welding condition generating unit 45 along the laminating orbit indicated by the orbit data generated by the orbit data generating unit 44. Generate a control program.

The control program output unit 48 outputs the control program generated by the control program generation unit 47 to the recording medium 70.

(Functional configuration of control panel)
FIG. 6 is a diagram showing a functional configuration example of the control panel 50 according to the first embodiment. As shown in the figure, the control panel 50 in the first embodiment includes a control program acquisition unit 61, a control program storage unit 62, a temperature data reception unit 63, and a control program execution unit 64.

The control program acquisition unit 61 acquires the control program recorded on the recording medium 70.

The control program storage unit 62 stores the control program acquired by the control program acquisition unit 61.

The temperature data receiving unit 63 receives temperature data indicating the surface temperature from a temperature sensor that measures the surface temperature of the bead on the laminated model 100. Although the temperature sensor is not shown in FIG. 1, for example, it is preferable to provide the temperature sensor next to the welding torch 13 so that the surface temperature of the bead can be measured according to the movement of the welding torch 13. The type of temperature sensor is not particularly limited, but a non-contact type such as an infrared thermography or a radiation thermometer is preferable.

The control program execution unit 64 reads and executes the control program stored in the control program storage unit 62. At that time, if the control program execution unit 64 determines that the inter-pass temperature is equal to or higher than the set temperature based on the temperature data received by the temperature data reception unit 63, the control program execution unit 64 changes the orbital data indicating the initially set laminated orbit. .. The orbital data after this change shows the path order (changed path order) in which the initial path order is changed, which was explained with reference to FIG. 4 (b). Then, the control program execution unit 64 controls the welding robot 10 to perform welding based on the changed trajectory data.

(Operation of stacking planning device)
FIG. 7 is a flowchart showing an operation example of the stacking planning device 30 according to the first embodiment.

In the stacking planning apparatus 30, first, the CAD data acquisition unit 41 acquires CAD data from the CAD apparatus 20 (step 301).

Next, the CAD data dividing unit 42 divides the CAD data acquired in step 301 into a plurality of layers (step 302). Specifically, as shown by the broken line in FIG. 3, the CAD data is sliced into a plurality of layers.

Next, the region setting unit 43 sets the separation region 130 and N laminated regions 140 in each of the plurality of layers obtained in step 302 (step 303).

Next, the orbital data generation unit 44 generates orbital data indicating the initially set laminated orbits for each of the N laminated regions 140 set in step 303 (step 304).

Further, the welding condition generation unit 45 generates a welding condition which is a condition for forming a bead along the trajectory indicated by the trajectory data generated in step 304 (step 305).

Next, the control program generation unit 47 generates a control program for welding based on the trajectory data generated in step 304 and the welding conditions generated in step 305 (step 306). Specifically, a control program for forming a bead under the welding conditions generated in step 305 is generated along the laminated track indicated by the track data generated in step 304.

Finally, the control program output unit 48 outputs the control program generated in step 306 to the recording medium 70 (step 307).

(Operation of control panel)
In the control panel 50, first, the control program acquisition unit 61 acquires the control program from the recording medium 70 and stores it in the control program storage unit 62. In this state, when the welding robot 10 is used to actually manufacture the laminated model 100, the temperature data receiving unit 63 receives the temperature data indicating the surface temperature of the bead of the laminated model 100 from the temperature sensor. , The control program execution unit 64 reads the control program stored in the control program storage unit 62 and executes it.

8-1 and 8-2 are flowcharts showing an operation example of the control program execution unit 64. In this flowchart as well, as described above, the index of the laminated region 140 is i, the index of the welding path in each laminated region 140 is j, and the number of laminated regions 140 is N. Further, the number of welding passes in each laminated region 140 is assumed to be the same and M. Further, as described above, the welding path of the index j in the laminated region 140 of the index i is P (i, j). Further, the welded flag indicating whether or not the welding path P (i, j) has been welded is set to F (i, j), indicating that it has been welded is indicated by ON, and indicating that it has not been welded is indicated by OFF. Further, let T (i, j) be the inter-pass temperature (temperature at the place where welding is started) of the welding pass P (i, j).

First, the control program execution unit 64 sets the index i of the stacking area 140 to 1 (step 501). That is, attention is paid to the first laminated region 140.

Next, the control program execution unit 64 sets the index j of the welding path to 1 (step 502). That is, attention is paid to the first welding path in the first laminated region 140.

Next, the control program execution unit 64 determines whether or not the welded flag F (i, j) is ON (step 503).

If it is determined that the welded flag F (i, j) is not ON, that is, if it is determined that the welded path P (i, j) is not welded, the control program execution unit 64 determines the welded path P (i, j). ) Is acquired from the temperature data receiving unit 63 (step 504). Then, it is determined whether or not the inter-pass temperature T (i, j) is higher than the predetermined set temperature Ts (step 505).

As a result, it is assumed that the inter-pass temperature T (i, j) is determined to be lower than the set temperature Ts. In this case, even if the welding pass P (i, j) is welded, the bead shape does not collapse, so the welding robot 10 is controlled so as to weld the welding path P (i, j) (step). 506). Then, the welded flag F (i, j) is set to ON (step 507), and the process proceeds to step 508.

On the other hand, if it is determined in step 503 that the welded flag F (i, j) is ON, that is, if it is determined that the welded path P (i, j) has been welded, the control program execution unit 64 determines. The process proceeds to step 508 without performing steps 504 to 507. Since there is a possibility that the process of FIG. 8-2, which will be described later, has already been executed and a welded welding path exists in the laminated region 140 of the index i, such a determination is made.

Next, the control program execution unit 64 adds 1 to the index j of the welding path (step 508). That is, attention is paid to the next welding path in the same laminated region 140.

As a result, the control program execution unit 64 determines whether or not the index j of the welding paths exceeds the number of welding paths M (step 509).

If it is determined that the index j of the welding paths does not exceed the number of welding paths M, the control program execution unit 64 returns the process to step 503 and repeats the subsequent processes. On the other hand, if it is determined that the index j of the welding passes exceeds the number M of the welding passes, the control program execution unit 64 adds 1 to the index i of the laminated region 140 (step 510). That is, attention is paid to the next laminated region 140.

As a result, the control program execution unit 64 determines whether or not the index i of the stacking region 140 exceeds the number N of the stacking regions 140 (step 511).

If it is determined that the index i of the stacking region 140 does not exceed the number N of the stacking regions 140, the control program execution unit 64 returns the process to step 502 and repeats the subsequent processes. On the other hand, if it is determined that the index i of the laminated region 140 exceeds the number N of the laminated regions 140, the control program execution unit 64 ends the process.

In this way, when it is determined that the inter-pass temperature T (i, j) of the welding pass P (i, j) is lower than the set temperature Ts, the control program execution unit 64 repeats the process of FIG. 8-1. To produce the laminated model 100. However, if it is determined that the inter-pass temperature T (i, j) of the welding pass P (i, j) is higher than the set temperature Ts, the bead shape collapses when the welding pass P (i, j) is welded as it is. There is a risk of problems such as. Further, if the inter-pass temperature T (i, j) of the welding pass P (i, j) is waited to be equal to or lower than the set temperature Ts so that such a problem does not occur, it takes time to manufacture the laminated model 100. .. Therefore, the control program execution unit 64 searches for a welding path whose inter-pass temperature is lower than the set temperature Ts, and replaces the welding path P (i, j) currently being focused on, and welds the searched welding path. The welding robot 10 is controlled so as to perform the above first.

That is, in this case, as shown in FIG. 8-2, the control program execution unit 64 can return to the original welding path P (i, j) after first welding the searched welding path. The time indexes i and j are written to the memory (step 521).

Next, the control program execution unit 64 adds 1 to the index i of the stacking area 140 (step 522). That is, attention is paid to the next laminated region 140.

As a result, the control program execution unit 64 determines whether or not the index i of the stacking region 140 exceeds the number N of the stacking regions 140 (step 523).

If it is determined that the index i of the laminated region 140 does not exceed the number N of the laminated regions 140, the control program execution unit 64 sets the index j of the welding path to 1 (step 524).

Next, the control program execution unit 64 determines whether or not the welded flag F (i, j) is ON (step 525). Since the process of FIG. 8-2 has already been executed and there is a possibility that a welded welding path exists in the laminated region 140 of the index i, such a determination is made.

If it is determined that the welded flag F (i, j) is ON, that is, if it is determined that the welded path P (i, j) is welded, the control program execution unit 64 determines the welded path index j. 1 is added to (step 526). That is, attention is paid to the next welding path in the same laminated region 140.

As a result, the control program execution unit 64 determines whether or not the index j of the welding paths exceeds the number of welding paths M (step 527).

If it is determined that the index j of the welding pass does not exceed the number M of the number of welding passes, the control program execution unit 64 returns the process to step 525.

If it is determined in step 525 that the welded flag F (i, j) is not ON, that is, if it is determined that the welded path P (i, j) is not welded, the control program execution unit 64 determines that the welded path P ( The inter-pass temperature T (i, j) of i, j) is acquired from the temperature data receiving unit 63 (step 528). Then, it is determined whether or not the inter-pass temperature T (i, j) is higher than the predetermined set temperature Ts (step 529).

As a result, it is assumed that the inter-pass temperature T (i, j) is determined to be higher than the set temperature Ts. In this case, if welding of the welding paths P (i, j) is performed, problems such as the shape of the bead may be deformed. Therefore, the control program execution unit 64 determines the inter-pass temperature from the next laminated region 140. The process is returned to step 522 in order to search for a welding path below the set temperature Ts. Further, even when it is determined in step 527 that the index j of the welding paths exceeds the number of welding paths M, the control program execution unit 64 performs a welding path in which the inter-pass temperature is lower than the set temperature Ts from the next stacking region 140. The process returns to step 522 for exploration.

On the other hand, it is assumed that the inter-pass temperature T (i, j) is determined to be lower than the set temperature Ts in step 529. In this case, even if the welding path P (i, j) is welded, problems such as the bead shape being deformed do not occur. Therefore, the control program execution unit 64 welds the welding path P (i, j) so as to be welded. The robot 10 is controlled (step 530). Then, the welded flag F (i, j) is set to ON (step 531).

After that, the control program execution unit 64 reads the indexes i and j written in the memory in step 521 (step 532), and returns the process to step 504 in FIG. 8-1.

Further, even when it is determined in step 523 that the index i of the stacked area 140 exceeds the number N of the stacked areas 140, the control program execution unit 64 reads the indexes i and j written in the memory in step 521 (step 532). , The process returns to step 504 of FIG. 8-1.

[Second Embodiment]
(Functional configuration of stacking planning device)
FIG. 9 is a diagram showing a functional configuration example of the stacking planning device 30 according to the second embodiment. As shown in the figure, the stacking planning device 30 in the second embodiment includes a CAD data acquisition unit 41, a CAD data division unit 42, an area setting unit 43, a track data generation unit 44, and a welding condition generation unit 45. , A track data changing unit 46, a control program generation unit 47, and a control program output unit 48.

The CAD data acquisition unit 41, the CAD data division unit 42, the area setting unit 43, the trajectory data generation unit 44, and the welding condition generation unit 45 are the same as those described in the first embodiment. Omit.

The orbital data changing unit 46 changes the orbital data indicating the initially set laminated orbit generated by the orbital data generation unit 44 when the inter-pass temperature is predicted to be equal to or higher than the set temperature by the simulation of the inter-pass temperature. To do. The orbital data after this change shows the path order (changed path order) in which the initial path order is changed, which was explained with reference to FIG. 4 (b). Here, two methods can be considered as the simulation of the inter-pass temperature.

The first is an experimental calculation method. In this method, first, for welding conditions such as plate thickness, number of passes, current, voltage, speed, and arc time, information on the waiting time until a predetermined inter-pass temperature is reached is acquired and retained by an experiment. deep. Then, referring to the information on the waiting time until the predetermined inter-pass temperature held for the welding conditions generated by the welding condition generation unit 45, the elapsed time from the welding of the previous welding pass Calculate the inter-pass temperature in.

The second is a method based on heat transfer calculation. In this method, the heat transfer calculation may be performed using a three-dimensional heat conduction equation. As an example, the temperature T at time t is predicted by the following basic formula.

Here, H represents enthalpy, C represents the reciprocal of the nodal volume, K represents the heat conduction matrix, F represents the heat flux, and Q represents the volumetric heat generation.

In the present embodiment, the change path order is used as an example of the second manufacturing procedure of the modeled object, and the trajectory data changing unit is used as an example of the changing means for changing the first manufacturing procedure to the second manufacturing procedure. 46 is provided.

The control program generation unit 47 controls the welding robot 10 so as to perform laminating modeling under the welding conditions generated by the welding condition generating unit 45 along the laminating orbit indicated by the orbit data changed by the orbit data changing unit 46. Generate a control program for.

The control program output unit 48 outputs the control program generated by the control program generation unit 47 to the recording medium 70.

(Functional configuration of control panel)
FIG. 10 is a diagram showing a functional configuration example of the control panel 50 according to the second embodiment. As shown in the figure, the control panel 50 in the second embodiment includes a control program acquisition unit 61, a control program storage unit 62, and a control program execution unit 64.

Since the control program acquisition unit 61 and the control program storage unit 62 are the same as those described in the first embodiment, the description thereof will be omitted here.

The control program execution unit 64 reads and executes the control program stored in the control program storage unit 62. At that time, the control program execution unit 64 controls the welding robot 10 to perform welding based on the trajectory data changed by the trajectory data changing unit 46.

(Operation of stacking planning device)
FIG. 11 is a flowchart showing an operation example of the stacking planning device 30 according to the second embodiment.

In the stacking planning apparatus 30, first, the CAD data acquisition unit 41 acquires CAD data from the CAD apparatus 20 (step 351).

Next, the CAD data dividing unit 42 divides the CAD data acquired in step 351 into a plurality of layers (step 352). Specifically, as shown by the broken line in FIG. 3, the CAD data is sliced into a plurality of layers.

Next, the region setting unit 43 sets the separation region 130 and N laminated regions 140 in each of the plurality of layers obtained in step 352 (step 353).

Next, the orbital data generation unit 44 generates orbital data indicating the initially set laminated orbits for each of the N laminated regions 140 set in step 353 (step 354).

Further, the welding condition generation unit 45 generates a welding condition which is a condition for forming a bead along the trajectory indicated by the trajectory data generated in step 354 (step 355).

Next, the track data changing unit 46 performs a track data changing process of changing the track data generated in step 354 by simulating the inter-pass temperature using the welding conditions generated in step 355 (step 356). The orbital data changing unit 46 will be described later.

Next, the control program generation unit 47 generates a control program for welding based on the changed trajectory data by the trajectory data change processing in step 356 and the welding conditions generated in step 355 (step 357). Specifically, a control program for forming a bead under the welding conditions generated in step 355 is generated along the laminated track indicated by the track data changed by the track data change process in step 356.

Finally, the control program output unit 48 outputs the control program generated in step 357 to the recording medium 70 (step 358).

12-1 and 12-2 are flowcharts showing an example of the trajectory data change process in step 356. In this flowchart as well, as described above, the index of the laminated region 140 is i, the index of the welding path in each laminated region 140 is j, and the number of laminated regions 140 is N. Further, the number of welding passes in each laminated region 140 is assumed to be the same and M. Further, as described above, the welding path of the index j in the laminated region 140 of the index i is P (i, j). Further, the added flag indicating whether or not the welding path P (i, j) has been added to the track data is set to G (i, j), and ON indicates that the welding path P (i, j) has been added to the track data, and the track data is displayed. Indicates that it has not been added by OFF. Further, let T (i, j) be the inter-pass temperature (temperature at the place where welding is started) of the welding pass P (i, j).

First, the trajectory data changing unit 46 sets the index i of the stacking region 140 to 1 (step 361). That is, attention is paid to the first laminated region 140.

Next, the track data changing unit 46 sets the index j of the welding path to 1 (step 362). That is, attention is paid to the first welding path in the first laminated region 140.

Next, the trajectory data changing unit 46 determines whether or not the added flag G (i, j) is ON (step 363).

If it is determined that the added flag G (i, j) is not ON, that is, if it is determined that the welding path P (i, j) has not been added to the track data, the track data changing unit 46 will perform the welding path P ( The inter-pass temperature T (i, j) of i, j) is calculated by simulation based on welding conditions (step 364). Then, it is determined whether or not the inter-pass temperature T (i, j) is higher than the predetermined set temperature Ts (step 365).

As a result, it is assumed that the inter-pass temperature T (i, j) is determined to be lower than the set temperature Ts. In this case, since the bead shape does not collapse even if the welding pass P (i, j) is welded, the welding pass P (i, j) is added to the track data as the path to be welded next. (Step 366). Then, the added flag G (i, j) is set to ON (step 367), and the process proceeds to step 368.

On the other hand, if it is determined in step 363 that the added flag G (i, j) is ON, that is, if it is determined that the welding path P (i, j) has been added to the trajectory data, the trajectory data changing unit. 46 advances the process to step 368 without performing steps 364 to 367. Since there is a possibility that the process of FIG. 12-2, which will be described later, has already been executed and a welding path already added to the track data exists in the laminated region 140 of the index i, such a determination is made.

Next, the track data changing unit 46 adds 1 to the index j of the welding path (step 368). That is, attention is paid to the next welding path in the same laminated region 140.

As a result, the track data changing unit 46 determines whether or not the index j of the welding paths exceeds the number of welding paths M (step 369).

If it is determined that the index j of the welding paths does not exceed the number of welding paths M, the track data changing unit 46 returns the process to step 363 and repeats the subsequent processes. On the other hand, if it is determined that the index j of the welding paths exceeds the number M of the welding paths, the track data changing unit 46 adds 1 to the index i of the laminated region 140 (step 370). That is, attention is paid to the next laminated region 140.

As a result, the trajectory data changing unit 46 determines whether or not the index i of the stacked region 140 exceeds the number N of the stacked regions 140 (step 371).

If it is determined that the index i of the laminated region 140 does not exceed the number N of the laminated regions 140, the trajectory data changing unit 46 returns the process to step 362 and repeats the subsequent processes. On the other hand, if it is determined that the index i of the laminated region 140 exceeds the number N of the laminated regions 140, the trajectory data changing unit 46 ends the process.

In this way, when it is determined that the inter-pass temperature T (i, j) of the welding pass P (i, j) is lower than the set temperature Ts, the track data changing unit 46 repeats the process of FIG. 12-1. To produce the laminated model 100. However, if it is determined that the inter-pass temperature T (i, j) of the welding pass P (i, j) is higher than the set temperature Ts, the bead shape collapses when the welding pass P (i, j) is welded as it is. There is a risk of problems such as. Further, if the inter-pass temperature T (i, j) of the welding pass P (i, j) is waited to be equal to or lower than the set temperature Ts so that such a problem does not occur, it takes time to manufacture the laminated model 100. .. Therefore, the track data changing unit 46 searches for a welding path whose inter-pass temperature is lower than the set temperature Ts, and replaces the welding path P (i, j) currently being focused on with welding of the searched welding path. Change the orbital data so that

That is, in this case, as shown in FIG. 12-2, the track data changing unit 46 can return to the original welding path P (i, j) after first welding the searched welding path. The time indexes i and j are written to the memory (step 381).

Next, the trajectory data changing unit 46 adds 1 to the index i of the laminated region 140 (step 382). That is, attention is paid to the next laminated region 140.

As a result, the trajectory data changing unit 46 determines whether or not the index i of the laminated region 140 exceeds the number N of the laminated regions 140 (step 383).

If it is determined that the index i of the laminated region 140 does not exceed the number N of the laminated regions 140, the track data changing unit 46 sets the index j of the welding path to 1 (step 384).

Next, the orbital data changing unit 46 determines whether or not the added flag G (i, j) is ON (step 385). Since the process of FIG. 12-2 may have already been executed and there is a possibility that a welding path already added to the track data exists in the laminated region 140 of the index i, such a determination is made.

If it is determined that the added flag G (i, j) is ON, that is, if it is determined that the welding path P (i, j) has been added to the track data, the track data changing unit 46 changes the welding path. 1 is added to the index j of (step 386). That is, attention is paid to the next welding path in the same laminated region 140.

As a result, the track data changing unit 46 determines whether or not the index j of the welding paths exceeds the number of welding paths M (step 387).

If it is determined that the index j of the welding pass does not exceed the number M of the number of welding passes, the track data changing unit 46 returns the process to step 385.

If it is determined in step 385 that the added flag G (i, j) is not ON, that is, if it is determined that the welding path P (i, j) has not been added to the track data, the track data changing unit 46 welds. The inter-pass temperature T (i, j) of the pass P (i, j) is calculated by simulation based on welding conditions (step 388). Then, it is determined whether or not the inter-pass temperature T (i, j) is higher than the predetermined set temperature Ts (step 389).

As a result, it is assumed that the inter-pass temperature T (i, j) is determined to be higher than the set temperature Ts. In this case, if the welding pass P (i, j) is welded, there is a possibility that the shape of the bead may be deformed. Therefore, the track data changing unit 46 has a temperature between passes from the next laminated region 140. The process returns to step 382 to search for weld paths below the set temperature Ts. Further, even when it is determined in step 387 that the index j of the welding paths exceeds the number of welding paths M, the track data changing unit 46 performs a welding path in which the inter-pass temperature is lower than the set temperature Ts from the next laminated region 140. The process returns to step 382 to search.

On the other hand, it is assumed that the inter-pass temperature T (i, j) is determined to be lower than the set temperature Ts in step 389. In this case, even if the welding path P (i, j) is welded, the bead shape does not collapse. Therefore, the track data changing unit 46 uses the welding path P (i, j) next to the track data. As a path to be welded to (step 390). Then, the added flag G (i, j) is set to ON (step 391).

After that, the trajectory data changing unit 46 reads the indexes i and j written in the memory in step 381 (step 392), and returns the process to step 364 of FIG. 12-1.

Further, even when it is determined in step 383 that the index i of the stacking area 140 exceeds the number N of the stacking areas 140, the trajectory data changing unit 46 reads out the indexes i and j written in the memory in step 381 (step 392). , The process returns to step 364 of FIG. 12-1.

(Operation of control panel)
In the control panel 50, first, the control program acquisition unit 61 acquires the control program from the recording medium 70 and stores it in the control program storage unit 62. In this state, when the welding robot 10 is used to actually manufacture the laminated model 100, the control program execution unit 64 reads out the control program stored in the control program storage unit 62 and executes the control program.

[Effect of this embodiment]
As described above, in the present embodiment, when manufacturing a modeled product including a laminated body in which a plurality of beads formed by melting and solidifying a filler metal are laminated on a base material by using an arc, a certain laminated body is produced. After forming the bead that constitutes the bead, if the temperature of the portion where the next bead that constitutes the laminate is formed is equal to or higher than a predetermined set temperature, another laminate is replaced with the formation of the bead. The beads that make up the above are formed. As a result, it has become possible to suppress the occurrence of problems such as the bead shape collapsing without lengthening the time required for manufacturing the modeled object.

1 ... Metal lamination modeling system, 10 ... Welding robot, 20 ... CAD device, 30 ... Lamination planning device, 41 ... CAD data acquisition unit, 42 ... CAD data division unit, 43 ... Area setting unit, 44 ... Orbital data generation unit, 45 ... Welding condition generation unit, 46 ... Track data change unit, 47 ... Control program generation unit, 48 ... Control program output unit, 50 ... Control panel, 61 ... Control program acquisition unit, 62 ... Control program storage unit, 63 ... Temperature Data receiving unit, 64 ... Control program execution unit, 70 ... Recording medium

Claims (9)

A method for manufacturing a modeled product including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material.
After forming the beads constituting the first laminated body, when the temperature of the portion where the next bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature, the next A method for producing a modeled object, which comprises forming a bead constituting the second laminated body instead of forming the bead. This is a method for generating a manufacturing procedure of a modeled product including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material.
After forming the beads constituting the first laminated body, when the temperature of the portion where the next bead constituting the first laminated body is formed is equal to or higher than a predetermined set temperature, the next A method for producing a modeled object, which comprises a step of producing the modeled object, which forms a bead constituting the second laminate instead of forming the bead. The method for generating a modeled object according to claim 2, wherein in the step of generating the modeled object manufacturing procedure, the temperature of the portion where the next bead is formed is predicted by simulation. A step of dividing the three-dimensional shape data of the modeled object into a plurality of layers, and
In each layer of the plurality of layers, a separation region corresponding to the separated body, a first laminated region corresponding to the first laminated body separated by the separated body, and a second laminated body corresponding to the second laminated body. Further includes a step of setting a plurality of laminated regions including the laminated region of
2. The step of generating the modeled product is characterized in that the orbits of the beads in the first laminated region and the second laminated region are generated as the manufacturing procedure of the modeled object. The method for generating the manufacturing procedure of the described model. A manufacturing system for a modeled object including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material.
A bead forming device for forming a bead constituting the first laminated body or the second laminated body, and
After forming the beads constituting the first laminated body, when the temperature of the portion where the next bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature, the next A model manufacturing system including a control device for controlling the bead forming device so as to form a bead constituting the second laminated body instead of forming the bead. A device for producing a manufacturing procedure of a modeled object including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material.
An acquisition means for acquiring the first manufacturing procedure of the modeled object, and
In the first manufacturing procedure, after the beads forming the first laminated body are formed, the temperature of the place where the next bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature. In this case, the second manufacturing procedure of the modeled object, which forms the beads forming the second laminated body instead of forming the next bead, is provided with a changing means for changing. A device for generating a manufacturing procedure for a modeled object, which is characterized in that. The manufacturing procedure generation device for a modeled object according to claim 6, wherein the changing means predicts the temperature of the place where the next bead is formed by simulation. A dividing means for dividing the three-dimensional shape data of the modeled object into a plurality of layers, and
In each layer of the plurality of layers, a separation region corresponding to the separated body, a first laminated region corresponding to the first laminated body separated by the separated body, and a second laminated body corresponding to the second laminated body. Further provided with a setting means for setting a plurality of laminated regions including the laminated region of
The model according to claim 6, wherein the acquisition means acquires the orbits of the beads in the first layered region and the second layered area as the first manufacturing procedure of the model. Manufacturing procedure generator. The computer functions as a manufacturing procedure generation device for a modeled object including a first laminated body and a second laminated body, in which a plurality of beads formed by melting and solidifying a filler metal using an arc are stacked on a base material. Program for
The computer
An acquisition means for acquiring the first manufacturing procedure of the modeled object, and
In the first manufacturing procedure, after the beads forming the first laminated body are formed, the temperature of the place where the next bead forming the first laminated body is formed is equal to or higher than a predetermined set temperature. In this case, instead of forming the next bead, the bead forming the second laminated body is formed, in order to function as a changing means for changing the second manufacturing procedure of the modeled object. Program.