JP2023014711A - Control method of laminate molding device, laminate molding device, and program - Google Patents

Abstract

To provide a control method of a laminate molding device, a laminate molding device and a program in which formation of weld beads can be performed under a proper manipulator posture in each laminate path even when using a manipulator provided with a welding torch at its tip in laminate-molding a molded object, and which improve molding accuracy and productivity.SOLUTION: A control method of a laminate molding device comprises steps of: extracting a bead formation path of a weld bead, and requirement conditions that are necessary in the bead formation path, from a laminate plan in which bead formation tracks and weld conditions are determined for forming weld beads; selecting a basic manipulator posture adapted to the requirement conditions, from basic posture information in which a plurality of basic manipulator postures in accordance with postures of a welding torch are registered; and generating a control command for forming a weld bead in a selected basic posture along the bead formation path.SELECTED DRAWING: Figure 2

Description

The present invention relates to a method for controlling a layered manufacturing apparatus, a layered manufacturing apparatus, and a program.

There is known a technique for forming a three-dimensional structure by laminating welding beads obtained by melting and solidifying a filler material (see Patent Document 1). In Patent Document 1, when a model having a complicated three-dimensional free curved surface is manufactured while moving the welding torch, droplets of the filler material flow down from the welding surface due to the curved surface. A technique for suppressing by making the welding surface directly below substantially horizontal is described. According to Patent Document 1, it is possible to reliably form a welding bead on the welding surface even with a complicated three-dimensional free shape.

JP 2007-275945 A

As described above, when laminating and manufacturing a complex shape, the posture of the modeled object with respect to the welding torch is changed in various ways.
However, when a welding robot (manipulator) with a welding torch attached to the tip of its arm is used to form a modeled object, there are various variations in the lamination direction and order of welding beads, so the posture of the manipulator must always be adjusted. It is difficult to mold while fixing. Therefore, a method of variously changing the posture of the positioner holding the modeled object is conceivable, but the larger the modeled object, the more difficult it becomes to change the posture by the positioner. In addition, the movement of the tip of the robot arm greatly affects the accuracy of the target position and the accuracy of linear movement, and an unacceptable error may occur depending on the posture of the manipulator.

Therefore, the present invention provides a method for forming a weld bead in an appropriate posture of the manipulator in each lamination pass even when a manipulator having a welding torch attached to the tip thereof is used to laminate-manufacture a modeled object. It is an object of the present invention to provide a method of controlling a layered manufacturing apparatus, a layered manufacturing apparatus, and a program capable of improving accuracy and productivity.

The present invention consists of the following configurations.
(1) A control method for a layered manufacturing apparatus in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held by a manipulator held at the tip of an arm, and the welding torch is moved to form a weld bead. There is
A step of extracting a bead forming pass of the weld bead and requirements required for the bead forming pass from a lamination plan that defines a bead forming trajectory and welding conditions for forming the weld bead;
a step of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating control commands to form the weld bead in the selected basic position along the bead forming path;
A method of controlling a laminate manufacturing apparatus, comprising:
(2) A layered manufacturing apparatus in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held by a manipulator held at the tip of an arm to move the welding torch to form a weld bead,
a requirement extracting unit for extracting a bead forming path of the welding bead and requirements required for the bead forming path from a lamination plan that defines a bead forming trajectory and welding conditions for forming the welding bead;
a basic posture selection unit that selects a basic posture of the manipulator that conforms to the requirement from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
a control command generator that generates a control command for forming the welding bead in the basic posture selected along the bead forming path;
A layered manufacturing device.
(3) A layered manufacturing apparatus that includes a manipulator in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held at the tip of an arm, and that moves the welding torch by the manipulator to form a weld bead. A program that causes a computer to execute the control procedure of
to the computer;
A function of extracting a bead formation pass of the weld bead and requirements required for the bead formation pass from a lamination plan that defines a bead formation trajectory and welding conditions for forming the weld bead;
a function of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating a control command to form the weld bead in the selected basic position along the bead forming path;
program to realize

According to the present invention, even when a manipulator having a welding torch attached to the tip thereof is used to laminate-manufacture a modeled object, a welding bead can be formed under an appropriate posture of the manipulator in each lamination pass. Thereby, modeling accuracy and productivity can be improved.

FIG. 1 is an overall configuration diagram of a layered manufacturing apparatus that manufactures a modeled object. FIG. 2 is a schematic functional block diagram of a controller. FIG. 3 is an explanatory diagram showing the posture of the welding torch according to the bead formation trajectory of the modeled object. 4A to 4E are explanatory diagrams showing examples of the posture of the welding torch. FIG. 5 is a schematic diagram showing the posture of the welding torch during weaving welding. FIG. 6 is a flow chart showing a procedure from selecting an appropriate basic posture of the manipulator to generating a control command. FIG. 7 shows an example of a driving form of a welding system comprising a welding robot equipped with a welding torch, a positioner device for rotatably supporting a workpiece, and a slider device for horizontally moving the welding robot on which it is placed. 2A to 2D are explanatory diagrams shown in FIGS.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
<Configuration of layered manufacturing apparatus>
FIG. 1 is an overall configuration diagram of a layered manufacturing apparatus that manufactures a modeled object. The layered manufacturing apparatus 100 includes a modeling unit 11 and a control unit 13 that controls the modeling unit 11 .
The modeling unit 11 includes a welding robot 17 having a welding torch 15 on its tip axis, a robot driving unit 21 that drives the welding robot 17, and a filler material supply unit that supplies a filler material (welding wire) M to the welding torch 15. 23 and a welding power source 25 that supplies welding current and welding voltage.

(modeling department)
Welding robot 17 is an articulated robot, and filler material M is supported at the tip of welding torch 15 attached to the tip shaft of the robot arm. The position and posture of the welding torch 15 can be arbitrarily three-dimensionally set within the range of degrees of freedom of the robot arm according to commands from the robot driving section 21 . Although not shown, a weaving mechanism for weaving the welding torch 15 may be provided on the tip shaft of the robot arm.

The welding torch 15 is a gas metal arc welding torch that has a shield nozzle (not shown) and is supplied with a shield gas from the shield nozzle. The arc welding method may be a consumable electrode type such as coated arc welding or carbon dioxide gas arc welding, or a non-consumable electrode type such as TIG welding or plasma arc welding. be.

For example, in the case of the consumable electrode type, a contact tip is arranged inside the shield nozzle, and the contact tip holds the filler material M to which the welding current is supplied. The welding torch 15 holds the filler material M and generates an arc from the tip of the filler material M in a shield gas atmosphere.

The filler material supply unit 23 includes a reel 27 around which the filler material M is wound. The filler material M is sent from the filler material supply unit 23 to a feeding mechanism (not shown) attached to a robot arm or the like, and fed to the welding torch 15 while being forwarded and reversed by the feeding mechanism as necessary. be.

As filler material M, any commercially available welding wire can be used. For example, MAG welding and MIG welding solid wires for mild steel, high-strength steel and low-temperature steel (JIS Z 3312), arc welding flux-cored wires for mild steel, high-strength steel and low-temperature steel (JIS Z 3313), etc. welding wire is available. In addition, filler metals M such as aluminum, aluminum alloys, nickel, nickel-based alloys, etc. can be used depending on the desired properties.

The robot drive unit 21 drives the welding robot 17 to move the welding torch 15 . As the welding torch 15 moves, the continuously supplied filler material M is melted by the welding current and welding voltage from the welding power source 25 .

In other words, the welding robot 17 is a manipulator having a welding torch 15 that melts and solidifies the wire-like filler material M while generating an arc, and that holds the welding torch 15 at the tip of its arm. While the welding torch 15 is moved by driving the manipulator, the filler material M continuously fed to the welding torch 15 is melted and solidified by the arc, and a weld bead, which is a melted and solidified body of the filler material M, is formed on the base plate 29. form B.

(control part)
The control unit 13 is a computer device including an input/output unit (not shown), a storage unit, and a calculation unit.
The input/output unit is connected to the welding robot 17, the welding power supply unit 25, the filler material supply unit 23, and the like. The storage unit stores various information including a driving program, which will be described later. The storage unit consists of memories such as ROM and RAM, drive devices such as hard disks and SSDs (Solid State Drives), and storage exemplified by storage media such as CDs, DVDs, and various memory cards, and can input and output various types of information. It has become. A modeling program corresponding to a modeled object to be manufactured is input to the control unit 13 via a communication line such as a network or various storage media. The modeling program is created based on a bead forming trajectory for forming welding beads and a lamination plan that defines welding conditions, and is composed of a large number of instruction codes.

The control unit 13 executes the modeling program stored in the storage unit, drives the welding robot 17, the filler material supply unit 23, the welding power supply unit 25, etc., and forms the welding bead B according to the modeling program. That is, the control unit 13 drives the welding robot 17 by the robot driving unit 21 to move the welding torch 15 along the trajectory (welding trajectory) of the welding torch 15 set in the modeling program, and to move the set welding trajectory. The filler material supply unit 23 and the welding power supply unit 25 are driven according to the conditions, and the filler material M at the tip of the welding torch 15 is melted and solidified by the arc.

In this way, by sequentially forming the welding beads B based on the modeling program, the desired three-dimensional modeled object 30 is modeled.

The control unit 13 of this configuration has a function to set the welding robot (manipulator) 17 in an appropriate posture that improves modeling accuracy and productivity according to the bead formation trajectory and welding conditions for forming the welding bead determined in the lamination plan. Prepare.

FIG. 2 is a schematic functional block diagram of the control unit 13. As shown in FIG.
The control unit 13 includes a bead forming path/requirement extraction unit 31, a basic posture selection unit 33, and a control command generation unit 35, each of which will be described later in detail. Further, the control unit 13 has a basic attitude database (basic attitude information) 37 in which the basic attitudes of the manipulator are registered. It may have an information database 39 and a simulation unit 34 . Details of the interlocking information database 39 and the simulation unit 34 will be described later.

FIG. 3 is an explanatory diagram showing the posture of the welding torch according to the bead formation trajectory of the modeled object.
Welding passes PS1, PS2, and PS3 that divide a continuous weld line have different welding directions TD, so that the welding torch 15 has a different attitude for each welding pass. FIG. 3 shows the case where the welding bead B is formed by the backward method, but in the forward method, the inclination angle θ of the welding torch 15 is reversed (inclined to the opposite side with respect to the vertical line). .

The welding robot 17 described above sets the welding torch 15 to each posture in each of the welding passes PS1, PS2, PS3. At this time, the welding robot 17, which is a multi-axis robot, has a plurality of patterns of postures of the robot arm (hereinafter referred to as manipulator posture) even if the posture of the welding torch 15 is the same due to its redundant degrees of freedom. Each pattern can be arbitrarily selected, and the attitude of the welding torch 15 is set by any one of the patterns.

A plurality of patterns of manipulator postures have various characteristics such as the range of motion of the welding torch 15, the accuracy of the welding target position of the welding torch 15, the accuracy of the bead formation trajectory along which the welding torch 15 moves, and the amount of change in the feed resistance of the filler material. are different. Therefore, by selecting the optimum pattern from among a plurality of manipulator posture patterns for each of the welding passes PS1, PS2, and PS3, it can be expected that both the modeling accuracy and the productivity can be improved.

4A to 4E are explanatory diagrams showing examples of the posture of the welding torch 15. FIG.
The posture of the welding torch 15 is, for example, as shown in FIGS. , (E), a state in which the welding torch is inclined from the direction normal to the plate surface of the base plate 29, and various other postures are conceivable. Each welding torch posture can be realized by a plurality of manipulator postures set within the range of degrees of freedom of the robot arm.

For example, in the welding pass PS1 shown in FIG. 3, since the posture of the welding torch 15 shown in FIG. It suffices to select one that is also suitable for the constraint conditions of .

FIG. 5 is a schematic diagram showing the posture of the welding torch during weaving welding.
Also in the welding pass PS1 shown in FIG. 3, for example, when weaving welding is performed as shown in FIG. 5, the welding torch 15 is preferably positioned along the welding direction as shown in FIG. 4C. Therefore, in this case, among a plurality of manipulator orientations corresponding to the orientation of the welding torch 15, an orientation suitable for other constraints of the welding pass PS1 may be selected.

The constraint conditions as described above are required in each of the welding passes PS1, PS2, PS3, etc., and are hereinafter referred to as "requirements." The required conditions include the bead length along the formation direction of the welding bead, the shape accuracy of the welding bead, the time for lamination molding, welding conditions, and the like. These requirements can be extracted from a lamination plan that indicates the manufacturing procedure of a predetermined modeled object.

<Modeling based on selected basic posture>
Next, a procedure for carrying out a lamination plan for lamination-manufacturing a modeled object in a suitable manipulator posture will be described.
FIG. 6 is a flow chart showing a procedure from selecting an appropriate basic posture of the manipulator to generating a control command.
First, a plurality of basic postures of the welding robot (manipulator) 17 included in the layered manufacturing apparatus 100 shown in FIG. 1 are registered (S1). In this registration step, a plurality of manipulator postures that realize various postures of the welding torch 15 illustrated in FIG. 4 are obtained. Such a manipulator posture is called a “basic posture”. Then, the characteristics that occur when the welding robot 17 adopts its basic posture (the range of motion of the welding torch 15, the accuracy of the welding target position, the accuracy of the bead formation trajectory, the amount of change in the feed resistance of the filler material, etc. described above) ) and registered in the basic posture database 37 shown in FIG. Each characteristic may be obtained experimentally or analytically prior to laminate manufacturing. For example, an element test such as a BOP (Bead on Plate) welding test can confirm reproducibility and target position accuracy during modeling. Moreover, it is preferable to register the basic posture in association with various characteristics such as the range of motion of the welding torch 15 that can be handled. Having this correspondence information serves as a reference when selecting an appropriate basic posture.

Next, the bead forming pass/requirement extraction unit 31 extracts the welding pass and the requirements required for the welding pass from the lamination plan (S2). The stacking plan includes design information such as a trajectory for moving the welding torch 15 to form a model, welding conditions, filler material supply speed, and the like. As shown in FIG. 3, the trajectory along which the welding torch 15 is moved may be divided and extracted at the timing when the welding direction TD (torch movement direction) is switched. In that case, requirements can be set independently for each of the divided welding passes PS1, PS2, and PS3. The length, range, etc. of the welding pass to be divided can be set arbitrarily.

As for the extraction of required conditions, for example, in the case of forming the welding bead in the shape of a wall, the shape accuracy and the like required for forming the wall are extracted. As another example, when filling an inner portion surrounded by a wall with a welding bead, the angle of inclination of the welding torch, etc., which can be formed without interfering with the wall, is extracted. These requirements are used to select the basic posture during modeling. Other required conditions include bead length, molding time (tact time), welding conditions (torch angle and feed speed), and the like. The extracted requirement conditions may be represented by a vector or the like by integrating each condition.

Next, the basic posture selection unit 33 selects a basic posture that satisfies the extracted requirements (S3). For example, in the welding pass PS1, the posture of the welding torch 15 to be applied and the required conditions are obtained from the layering plan, and the candidate of the manipulator posture (basic posture) corresponding to the welding torch 15 to be set is referred to the basic posture database 37. ask for Then, among the obtained basic postures, a basic posture that satisfies the required conditions is selected.

Then, the control command generator 35 generates a control command for forming a welding bead based on the selected basic posture (S4). The generated control command is incorporated into a drive program that instructs a series of operations for lamination manufacturing.

The above is the basic procedure, but in addition to each information of the basic posture, for example, as exemplified in equation (1), the integrated evaluation value Y is weighted by coefficients (Wa, Wb, Wc). You can save them together. Although three coefficients are used here, the number of coefficients is not limited to this.

Here, e _*,s (*: x, y, z) is the positional accuracy of the tip of the manipulator at a predetermined welding bead formation start point (for example, the difference between the reference set position and the actual tip position), e _{* ,m} (*: x, y, z) is the trajectory tracing accuracy of the manipulator tip during movement of the welding torch (for example, the difference between the set trajectory and the actual trajectory), e _{*, f} (*: x, y , z) is the positional accuracy of the tip of the manipulator (for example, the difference between the set target position and the actual tip position of the manipulator) at a predetermined formation end point of the welding bead. In other words, Equation 1 is an example of evaluating the accuracy of the target position involved in a series of operations from the starting point of formation of the welding bead, laminating the welding bead along a predetermined trajectory, and finishing the lamination at the end point of formation.

Next, an example of requirements will be described. Here, the requirement Yg regarding positional accuracy is weighted by coefficients (W _A , W _B , W _C , . . . ), and an integrated evaluation value Y is also stored. The number of coefficients is arbitrary.

where E _*,s is the required positional accuracy of the tip of the manipulator at the predetermined welding bead formation start point (for example, the difference between the reference set position and the actual tip position), E _*,m is the movement of the welding torch E _*,f is the required positional accuracy of the manipulator tip at the predetermined formation end point of the weld bead (for example, the set target difference between the position and the actual manipulator tip position).

When selecting a basic posture that satisfies the requirements based on the above requirements, an evaluation function may be defined and the basic attitude that minimizes the evaluation function may be selected. For example, an evaluation function J using Equations 1 and 2 is shown below as an example.

Here, t represents the number of evaluation types. For example, for n types of evaluation values from t=1 to n, the evaluation function J is the degree of matching with each requirement. The smaller the evaluation function J, the more the basic posture satisfies the required conditions.

Further, after selecting a basic posture that satisfies the required conditions, the motion of the manipulator based on the selected basic posture may be obtained by simulation and verified. In that case, the simulation unit 34 shown in FIG. The motion of the welding robot 17 forming a welding bead along the bead forming path in the basic posture is analytically determined.

The reproduced operation of the welding robot 17 may have a plurality of patterns depending on the redundant degrees of freedom of the multi-axis robot. Among these multiple motion patterns, a unique posture/state (unacceptable posture) that should be avoided may occur. 37 is preferred. By doing so, when the basic posture selection unit 33 selects a basic posture, a basic posture including an unacceptable posture in the motion pattern can be excluded from options. Specifically, a motion pattern is obtained by a simulation in the selected basic posture, and it is determined whether or not the result includes a pre-registered unacceptable posture. If it is determined that an unacceptable posture is included, the selected basic posture is modified to another basic posture. In this way, by reproducing the operation pattern of the welding robot 17 by simulation, it is possible to select an operation of the welding robot 17 that does not include an unacceptable posture. Simulation calculations can be performed by commercially available general-purpose software.

<Interlocking between positioner device and slider device>
Next, the case where the positioner device and the slider device are interlocked in addition to the welding robot 17 will be described.
FIG. 7 includes a welding robot 17 to which the welding torch 15 described above is mounted, a positioner device 41 that rotatably supports the workpiece W, and a slider device 43 that moves the welding robot 17 horizontally. 3A to 3D are explanatory diagrams showing examples of drive modes of the welding system 200. FIG.

In the case shown in FIG. 7, in addition to the basic posture of the manipulator (welding robot 17), conditions (interlocking information) for linking the welding robot 17 with the positioner device 41 and the slider device 43 are combined and selected. In other words, the interlocking information with the positioner device 41 and the slider device 43 and the basic attitude information are combined and registered in the database. In this case, since the number of types of basic postures increases, the degree of freedom in posture selection can be improved.

A specific driving form by each device is as follows.
In FIG. 7A, the welding robot 17 and the slider device 43 remain fixed, and only the positioner device 41 is rotationally driven. According to this, since only the positioner is operated, the welding bead B along the circumferential direction can be formed on the peripheral surface of the work W with little displacement of the target position of the welding torch 15 and with high modeling accuracy.
In FIG. 7B, the welding robot 17 remains fixed, the positioner device 41 is driven to rotate, and the slider device 43 is driven. According to this, by operating the slider, the welding torch 15 can be substantially moved in the lateral depth direction. Therefore, the range of motion of the torch when forming the welding bead B on the peripheral surface of the work W can be widened.
In FIG. 7C, the positioner device 41 and the slider device 43 remain fixed, and only the welding robot 17 is driven. According to this, since only the welding robot 17 is operated, the target position can be precisely adjusted, and the welding bead B can be formed on the peripheral surface of the work W with good modeling accuracy.
In FIG. 7D, the slider device 43 remains fixed, the welding robot 17 is driven, and the positioner device 41 is rotationally driven. According to this, as compared with the case of FIG. 7C, by adding rotation of the positioner device 41, the flexibility of the stacking range and the posture that can be taken is improved, the range of motion of the torch is widened, and the production efficiency is increased. is enhanced.

Table 1 shows the result of comparing the molding accuracy, production efficiency, and width of the movable range of the welding torch in the driving modes of (A) to (D) in FIG. "○" in the table indicates good, and "Δ" indicates that deterioration or limitation is observed.

In the driving modes shown in FIGS. 7A to 7D, characteristics such as modeling accuracy, production efficiency, and the range of motion of the welding torch are different for each driving mode. Therefore, the basic posture and the interlocking information are selected so that the characteristics to be prioritized are reliably obtained for each welding pass. The characteristics described above are only examples, and there may be other characteristics such as the position adjustment accuracy of the positioner device and the slider device, and the corresponding moving speed.

In this way, the basic posture and the interlocking information are combined and registered in the interlocking information database 39 . As a result, the types of basic attitudes and interlocking information are increased, and the degree of freedom of selection can be enhanced. Moreover, among the postures and states of the welding robot 17, the positioner device 41, and the slider device 43, depending on the combination thereof, a peculiar combination that should be avoided (also referred to as an "unacceptable posture" in this case) may occur. Therefore, by registering such a peculiar combination in the interlocking information database 39 in advance, options including impermissible postures can be excluded when the basic posture selection unit 33 selects a basic posture.

For example, when forming a welding bead, if there is a requirement that the torch be tilted at a predetermined constant angle, as in the cases of FIGS. can be the same for each pass. In addition, when giving priority to the shape accuracy in consideration of the characteristics of the positioner device 41 and the slider device 43, (A) is selected from (A) and (B) of FIG. can be selected, such as selecting (C) from (C) and (D) in FIG.

As described above, even when a manipulator with a welding torch attached to its tip is used to laminate-manufacture a modeled object, it is possible to form a weld bead in an appropriate manipulator posture in each lamination pass. can. Thereby, modeling accuracy and productivity can be improved.

The present invention is not limited to the above-described embodiments, and it is also possible for those skilled in the art to combine each configuration of the embodiments with each other, modify and apply based on the description of the specification and well-known technology. It is intended by the invention and falls within the scope for which protection is sought.

As described above, this specification discloses the following matters.
(1) A control method for a layered manufacturing apparatus in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held by a manipulator held at the tip of an arm, and the welding torch is moved to form a weld bead. There is
A step of extracting a bead forming pass of the weld bead and requirements required for the bead forming pass from a lamination plan that defines a bead forming trajectory and welding conditions for forming the weld bead;
a step of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating control commands to form the weld bead in the selected basic position along the bead forming path;
A method of controlling a layered manufacturing apparatus comprising:
According to this method for controlling the layered manufacturing apparatus, the welding bead can be formed in an appropriate manipulator posture, so that both the manufacturing accuracy and the productivity can be improved.

(2) The basic posture information includes the movable range of the welding torch by the manipulator, the welding target position accuracy of the welding torch, the accuracy of the bead formation trajectory along which the welding torch moves, and the feeding of the filler material. The method for controlling a layered manufacturing apparatus according to (1), including the amount of change in resistance.
According to this method of controlling the layered manufacturing apparatus, by associating these pieces of information with each basic orientation, it becomes easier to select an appropriate basic orientation.

(3) the required conditions include any one or a combination of the bead length along the formation direction of the welding bead, the shape accuracy of the welding bead, the lamination manufacturing time, and the welding conditions;
The control method for a layered manufacturing apparatus according to (1) or (2), wherein a basic posture of the manipulator that satisfies the requirement is selected in the selection of the basic posture.
According to this control method for the layered manufacturing apparatus, the basic posture is selected in consideration of the bead length that the basic posture can handle, the shape accuracy that can be guaranteed, and the like, so that excessive burden on the manipulator can be suppressed.

(4) simulating the movement of the manipulator to form the welding bead along the bead forming path in the selected basic posture;
a step of determining whether the motion of the manipulator obtained by the simulation includes a pre-registered unacceptable posture of the manipulator;
The layered manufacturing according to any one of (1) to (3), including a step of correcting the selected basic posture to another basic posture when it is determined that the unacceptable posture is included. How to control the device.
According to this method for controlling the layered manufacturing apparatus, it is possible to suppress the manipulator from performing modeling in a posture that imposes a heavy load on the manipulator or that is not suitable for the manipulator.

(5) The basic posture information further includes interlocking information between at least one of a slider device for moving the manipulator and a positioner device for supporting a base on which the welding bead is formed, and the manipulator. A control method for a layered manufacturing apparatus according to any one of (4).
According to this control method for the layered manufacturing apparatus, by further including the interlocking information with the slider and the positioner, the types of basic postures that can be taken are increased, and the degree of freedom in selecting the basic postures can be improved.

(6) A layered manufacturing apparatus in which a welding torch for melting and solidifying a wire-shaped filler material while generating an arc is held by a manipulator held at the tip of an arm to move the welding torch to form a welding bead,
a requirement extracting unit for extracting a bead forming path of the welding bead and requirements required for the bead forming path from a lamination plan that defines a bead forming trajectory and welding conditions for forming the welding bead;
a basic posture selection unit that selects a basic posture of the manipulator that conforms to the requirement from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
a control command generator that generates a control command for forming the welding bead in the basic posture selected along the bead forming path;
A layered manufacturing device.
According to this layered manufacturing apparatus, since the welding bead can be formed in an appropriate manipulator posture, both the manufacturing accuracy and the productivity can be improved.

(7) A layered manufacturing apparatus having a manipulator in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held at the tip of an arm, and that moves the welding torch by the manipulator to form a weld bead. A program that causes a computer to execute the control procedure of
to the computer;
A function of extracting a bead formation pass of the weld bead and requirements required for the bead formation pass from a lamination plan that defines a bead formation trajectory and welding conditions for forming the weld bead;
a function of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating a control command to form the weld bead in the selected basic position along the bead forming path;
program to realize
According to this program, the welding bead can be formed in an appropriate manipulator posture, so that both modeling accuracy and productivity can be improved.

11 molding unit 13 control unit 15 welding torch 17 welding robot 21 robot drive unit 23 filler material supply unit 25 welding power supply unit 27 reel 29 base plate 30 molded object 31 bead formation path/requirement extraction unit 33 basic posture selection unit 34 simulation unit 35 Control command generator 37 Basic posture database 39 Interlocking information database 41 Positioner device 43 Slider device 100 Layered manufacturing device 200 Welding system B Welding bead M Filler material PS1, PS2, PS3 Welding path TD Welding direction W Work θ Tilt angle

Claims (7)

A control method for a layered manufacturing apparatus in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held by a manipulator held at the tip of an arm to move the welding torch to form a weld bead,
A step of extracting a bead forming pass of the weld bead and requirements required for the bead forming pass from a lamination plan that defines a bead forming trajectory and welding conditions for forming the weld bead;
a step of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating control commands to form the weld bead in the selected basic position along the bead forming path;
A method of controlling a laminate manufacturing apparatus, comprising: The basic posture information includes the movable range of the welding torch by the manipulator, the welding target position accuracy of the welding torch, the accuracy of the bead formation trajectory along which the welding torch moves, and changes in the feed resistance of the filler material. 2. The method of controlling a layered manufacturing apparatus according to claim 1, comprising either the quantity or the quantity. The requirements include a bead length along the formation direction of the welding bead, shape accuracy of the welding bead, lamination molding time, welding conditions, or a combination thereof,
3. The method of controlling a layered manufacturing apparatus according to claim 1, wherein a basic attitude of said manipulator that satisfies said requirement is selected in said selection of said basic attitude. simulating the movement of the manipulator to form the weld bead along the bead forming path in the selected basic posture;
a step of determining whether the motion of the manipulator obtained by the simulation includes a pre-registered unacceptable posture of the manipulator;
modifying the selected basic pose to another basic pose when determined to include the unacceptable pose;
The control method for the laminate modeling apparatus according to any one of claims 1 to 3, comprising 5. The apparatus according to claim 1, wherein said basic attitude information further includes at least one of a slider device for moving said manipulator and a positioner device for supporting a base on which said welding bead is formed, and interlocking information between said manipulator and said manipulator. The control method of the layered manufacturing apparatus according to any one of the items. A manipulator in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is held at the tip of an arm by a manipulator that moves the welding torch to form a weld bead,
a requirement extracting unit for extracting a bead forming path of the welding bead and requirements required for the bead forming path from a lamination plan that defines a bead forming trajectory and welding conditions for forming the welding bead;
a basic posture selection unit that selects a basic posture of the manipulator that conforms to the requirement from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
a control command generator that generates a control command for forming the welding bead in the basic posture selected along the bead forming path;
A layered manufacturing device. A control procedure for a layered manufacturing apparatus in which a welding torch that melts and solidifies a wire-shaped filler material while generating an arc is provided with a manipulator held at the tip of an arm, and the manipulator moves the welding torch to form a weld bead. is a program that causes a computer to execute
to the computer;
A function of extracting a bead formation pass of the weld bead and requirements required for the bead formation pass from a lamination plan that defines a bead formation trajectory and welding conditions for forming the weld bead;
a function of selecting a basic posture of the manipulator that meets the requirements from basic posture information in which a plurality of basic postures of the manipulator corresponding to the posture of the welding torch are registered;
generating a control command to form the weld bead in the selected basic position along the bead forming path;
program to realize

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