JP7382302B2 - Welding equipment, welding work procedure creation device, welding work support device, welding method, welding work procedure creation method, and program - Google Patents

Description

The present invention relates to a welding device that performs welding using a torch that has a contact tip that supplies power to the filler metal and a nozzle that supplies shielding gas that shields the filler metal from the outside air, and a welding operation that uses such a torch. The present invention relates to a welding procedure creation device for creating a welding procedure, a welding method for welding using such a torch, a welding procedure creation method for creating a welding procedure using such a torch, and a program.

In addition to calculating the cumulative amount of time that current is applied to an arc welding device that has a nozzle inside which is equipped with a tip that holds a rod-shaped wire made of a predetermined material, this cumulative calculation value and the preset nozzle cleaning and An arc welding monitoring device is known that compares the set time for tip replacement and outputs an alarm signal for nozzle cleaning or tip replacement when the cumulative time exceeds a preset nozzle cleaning time (Patent Document 2). (see 1).

In a method for monitoring a welding process, the method comprises: measuring alignment of a welding tip; analyzing the alignment relative to at least one expected value for the alignment; generating an alarm based on the analysis; and generating a fault based on the analysis. Methods for monitoring welding processes are also known, in which the temperature of the welding tip is measured, the squeezing force of the welding tip is measured, and the temperature and squeezing force are analyzed against at least one expected value (for example, in US Pat. (see 2).

A welding device equipped with a feeding resistance upper and lower limit value setting storage means and a comparison warning means that compares the measurement result of the feeding resistance with the upper and lower limit setting values and issues a warning if the measurement result exceeds the upper and lower limit setting values. A wire feeding resistance monitoring device is also known (see Patent Document 3).

Changes in the welding current are detected through a filter that passes changes of several hertz or less, the first cycle of the welding current change is identified, the frequency of occurrence of the second cycle that appears between the fluctuations of the first cycle is measured, and the welding A welding tip life evaluation method for determining whether the tip is at its limit of use is also known (see Patent Document 4).

Japanese Patent Application Publication No. 07-227671 Special Publication No. 2004-535302 Patent No. 4719953 Japanese Patent Application Publication No. 2000-024779

If a configuration is adopted in which maintenance is performed on at most two parts among the contact tip, nozzle, and feed motor, the contact tip, nozzle, and feed motor cannot be maintained in total.

An object of the present invention is to enable total maintenance of the contact tip, nozzle, and feed motor.

With such an objective, the present invention provides a contact tip that supplies power to the wire-shaped filler metal fed by the drive of a feed motor, and a shield that shields the filler metal from the outside air. a torch having a nozzle for supplying gas; an acquisition means for acquiring welding work information indicating welding work conditions and interpass time for each pass; and a calculation means for calculating a work load for each pass based on the welding work information. If the cumulative value of the workload up to a specific pass exceeds a predetermined workload limit, maintenance of at least one of the contact tip, nozzle, and feed motor will be performed on the specific pass. Welding comprising: a determining means for determining what to do during the inter-pass time after the welding operation based on welding work information; and a control means for controlling the maintenance so that it is performed during the inter-pass time during which maintenance is determined to be performed. Provide equipment.

The determining means may decide to perform maintenance during the inter-path time based on a comparison result between the inter-path time and the time required for maintenance.

The control means may control to display information prompting to perform maintenance at the inter-path time when it is determined to perform maintenance.

The control means may be one that controls a device that automatically performs maintenance to perform maintenance during the inter-pass time when maintenance is determined to be performed.

The welding device includes a measuring means for measuring welding current during welding work, and a changing means for changing the time between passes during which maintenance is performed by correcting the work load for each pass using the welding current measured by the measuring means. It may further include the following.

The welding device further includes an imaging means for imaging the torch, and a changing means for changing the inter-pass time during which maintenance is performed by modifying the limit value of the workload based on the image taken by the imaging means. , it may be something.

The calculating means calculates the work load for each pass using the estimated wear amount of the contact tip, and the determining means determines whether maintenance of the contact tip should be carried out when the cumulative value up to a specific pass exceeds a limit value. , to decide what to do in the inter-pass time after a particular pass.

Additionally, the present invention provides a contact tip that supplies power to the wire-shaped filler metal by contacting the wire-shaped filler metal fed by the drive of the feed motor, and a shielding gas that shields the filler metal from outside air. A welding work procedure creation device for creating a welding work procedure using a torch having a nozzle, the welding work procedure creation device comprising: an acquisition means for acquiring welding work information indicating welding work conditions and interpass time for each pass; calculation means for calculating the workload for each pass based on the calculation means for calculating the workload for each pass, and when the cumulative value of the workload up to a specific pass exceeds a predetermined workload limit value, The present invention also provides a welding operation procedure creation device that includes determining means for determining, based on welding operation information, whether maintenance of at least one of the motors is to be performed during an inter-pass time after a specific pass.

The calculation means may be one that calculates the workload depending on the filler material feeding method for each pass.

The calculating means calculates the work load for each pass using the estimated wear amount of the contact tip, and the determining means determines whether maintenance of the contact tip should be carried out when the cumulative value up to a specific pass exceeds a limit value. , to decide what to do in the inter-pass time after a particular pass.

The present invention also provides a welding work support device comprising an information acquisition means for acquiring information including welding work information, work load, and limit values from the welding work procedure creation device, and a display means for displaying the information on a screen. Also provided.

Further, the present invention provides a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a shielding gas that shields the filler metal from outside air. A welding method in which welding is performed using a torch having a nozzle, the method includes a step of acquiring welding work information indicating welding work conditions and interpass time for each pass, and determining a work load for each pass based on the welding work information. and performing maintenance on at least one of the contact tip, the nozzle, and the feed motor when the cumulative value of the workload up to a specific pass exceeds a predetermined workload limit value. , a step of determining what to do at an inter-pass time after a specific pass based on welding operation information, and a step of controlling the maintenance so that it is performed at the inter-pass time at which maintenance is determined to be performed. Welding methods are also provided.

Furthermore, the present invention provides a contact tip that supplies power to the wire-shaped filler material by contacting the wire-shaped filler material that is fed by the drive of the feed motor, and a contact tip that supplies power to the filler material and a shielding gas that shields the filler metal from outside air. A method for creating a welding operation procedure using a torch having a nozzle that a step of calculating the workload for each pass on the basis of The present invention also provides a method for creating a welding work procedure, which includes the step of determining, based on welding work information, to carry out at least one maintenance of the above during the inter-pass time after a specific pass.

In addition, the present invention provides a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a contact tip that supplies power to the filler metal, and a shielding gas that shields the filler metal from outside air. A program for causing a computer to function as a welding procedure creation device for creating welding procedures using a torch having a nozzle that indicates welding conditions and interpass time for each pass. an acquisition means for acquiring work information; a calculation means for calculating a work load for each pass based on the welding work information; and a calculation means for calculating a work load for each pass based on the welding work information; function as a determining means for determining, based on welding work information, that maintenance of at least one of the contact tip, the nozzle, and the feed motor is to be performed during the inter-pass time after a specific pass when We also provide programs for

According to the present invention, it is possible to perform total maintenance on the contact tip, nozzle, and feed motor.

1 is a diagram showing a schematic configuration example of a metal additive manufacturing system according to an embodiment of the present invention. It is a sectional view showing an example of composition of a welding torch provided in a metal additive manufacturing system in an embodiment of the present invention. It is a diagram showing an example of the hardware configuration of a stacking planning device in an embodiment of the present invention. FIG. 7 is a diagram illustrating an example of timing for performing component maintenance when the inter-pass time increases. 1 is a diagram showing an example of the functional configuration of a stack planning device in an embodiment of the present invention. 1 is a diagram illustrating an example of a functional configuration of a layered planning support device according to an embodiment of the present invention. 1 is a diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention. It is a flow chart showing an example of the operation of the stacking planning device in the embodiment of the present invention. It is a flowchart which showed the 1st example of maintenance time setting processing performed by a layered planning device in an embodiment of the present invention. It is a flowchart which showed the 2nd example of maintenance time setting processing performed by a layered planning device in an embodiment of the present invention. It is a flow chart showing an example of operation of a control device in an embodiment of the present invention.

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

[Configuration of metal additive manufacturing system]
FIG. 1 is a diagram showing a schematic configuration example of a metal additive manufacturing system 1 in this embodiment.

As illustrated, the metal additive manufacturing system 1 is an example of a welding device, and includes a welding robot (manipulator) 10, a welding current measuring device 15, a camera 16, a CAD device 20, a layer planning device 30, and a control device. A device 50 is provided. Further, the stack planning device 30 writes a control program for controlling the welding robot 10 in a removable recording medium 70 such as a memory card, and the control device 50 can read the control program written in the recording medium 70. It looks like this.

The welding robot 10 includes an arm 11 having a plurality of joints, and performs welding work by operating according to a control program read by a control device 50. The welding robot 10 also has a welding torch 13 at the tip of the arm 11 via the wrist 12 for modeling a layered product 100, which is an example of a layered product. In the case of the metal additive manufacturing system 1, the welding robot 10 moves the welding torch 13 while melting the filler material (wire) 14 made of mild steel to manufacture the additively manufactured article 100. Specifically, while supplying the filler metal 14, the welding torch 13 generates an arc while flowing the shield gas to melt and solidify the filler metal 14, thereby forming multiple layers of beads 101 on the base metal 90. A laminate-molded article 100 is manufactured by laminating the layers. Although an arc is used here as a heat source for melting the filler metal 14, a laser or plasma may also be used. In addition, the welding robot 10 also includes a feeding device that feeds the filler metal 14, but a description of this will be omitted.

The welding current measuring device 15 measures the welding current flowing between the welding power source (not shown) and the welding torch 13 while manufacturing the laminate-molded object 100, and outputs the current value of the measured welding current to the control device 50. do. In this embodiment, a welding current measuring device 15 is provided as an example of a measuring means for measuring a welding current during welding work.

The camera 16 photographs the welding torch 13 during the production of the laminate-molded article 100, for example, before starting the next pass of welding, and outputs the photographed image to the control device 50. In this embodiment, a camera 16 is provided as an example of an imaging means for imaging the torch.

The CAD device 20 has a function of designing a molded object using a computer and retaining three-dimensional data (hereinafter referred to as "three-dimensional CAD data") obtained by the design.

The layer planning device 30 creates a layer plan for the layered object 100 based on three-dimensional CAD data held by the CAD device 20. That is, the trajectory of the welding torch 13 is determined, and the welding conditions when the welding robot 10 performs welding are determined. Then, a control program for controlling the welding robot 10 to form the bead 101 under the determined welding conditions along the determined trajectory is generated, and this control program is output to the recording medium 70. In this embodiment, a stack planning device 30 is provided as an example of a welding work procedure creation device.

The control device 50 reads a control program from the recording medium 70 and holds it. By operating this control program, beads are welded under the welding conditions determined by the stack planning device 30 according to the stack plan created by the stack planning device 30, that is, along the trajectory determined by the stack planning device 30. The welding robot 10 is controlled to form the welding robot 101.

[Configuration of welding torch]
FIG. 2 is a sectional view showing a configuration example of the welding torch 13 provided in the metal additive manufacturing system 1 of FIG. 1.

As illustrated, the welding torch 13 includes a torch body 131, a nozzle 132, a tip base 133, a contact tip 134, and a support section 135.

The nozzle 132 has a cylindrical shape, and is fixed to the torch body 131 by being fitted into the opening side of the torch body 131 formed in a cylindrical shape, which is the lower side in the figure. This nozzle 132 is provided to inject a shielding gas (for example, carbon dioxide gas) that shields the filler material 14 from the outside air onto the laminate-molded article 100 (see FIG. 1).

The tip base 133 is made of a conductive material and has a cylindrical shape, and is disposed inside the torch body 131 and the nozzle 132 and comes into contact with the inner circumferential surface of the torch body 131. It is fixed at 131. Further, a plurality of gas supply ports 133a penetrating the side surface of the chip base 133 are provided at a portion of the chip base 133 that faces the inner circumferential surface of the nozzle 132 via a space.

The contact tip 134 is made of a conductive material and has a cylindrical shape, and is fitted into the opening side of the tip base 133 that is the lower side in the figure, so that the contact tip 134 is inserted into the tip base 133 inside the nozzle 132. It is fixed to the torch main body 131 via. The contact tip 134 contacts the filler metal 14 to supply power thereto. Further, this contact tip 134 is removable from the tip base 133, and when the contact tip 134 becomes worn out due to long-term use, it is possible to replace the contact tip 134. There is.

The support part 135 has a cylindrical shape, and is fitted into the tip base 133 that protrudes upward from the torch body 131 at the upper opening in the figure of the torch body 131, so that the support part 135 is inserted into the tip base 133 through the tip base 133. It is fixed to the torch body 131. A base material (not shown) is provided above the support part 135 in the drawing, and the support part 135 is supported by this base material.

[Hardware configuration of layer planning device]
FIG. 3 is a diagram showing an example of the hardware configuration of the stack 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 includes 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. Equipped with. Here, the CPU 31 executes various programs such as an OS (Operating System) and application software, and realizes each function of the stack planning device 30. Further, the main memory 32 is a storage area that stores various programs and data used for their execution, and the HDD 33 is a storage area that stores input data for various programs, output data from the various programs, and the like.

The layer planning device 30 also has a communication I/F 34 for communicating with the outside, a display mechanism 35 consisting of a video memory, a display, etc., an input device 36 such as a keyboard and a mouse, and a recording medium 70. It also includes a driver 37 for reading and writing data. Note that FIG. 3 merely illustrates the hardware configuration when the stack planning device 30 is implemented as a computer system, and the stack planning device 30 is not limited to the illustrated configuration.

Further, the hardware configuration shown in FIG. 3 can also be regarded as the hardware configuration of the control device 50. However, when describing the control device 50, the CPU 31, main memory 32, magnetic disk device 33, communication I/F 34, display mechanism 35, input device 36, and driver 37 in FIG. The device 53, the communication I/F 54, the display mechanism 55, the input device 56, and the driver 57 will be expressed.

[Overview of this embodiment]
In additive manufacturing using the metal additive manufacturing system 1 having such a configuration, there are a large number of passes, so it is necessary to perform component maintenance at an appropriate time in order to avoid deteriorating the quality of the bead 101.

Furthermore, since additive manufacturing involves a large number of passes, it is preferable for production to be unmanned and automated during the manufacturing process. However, due to the heavy load placed on the equipment due to continuous operation, some problems occur, reducing productivity and hindering automation. For this reason as well, it is necessary to maintain the metal additive manufacturing system 1 in an appropriate state by appropriately performing component maintenance.

Here, in this embodiment, the contact tip 134, the nozzle 132, and the feed motor are assumed as components in the metal additive manufacturing system 1. As maintenance for these parts, it is assumed that the contact tip 134 is replaced, the nozzle 132 is cleaned, and the feed resistance is measured (for example, the load current of the feed motor is measured while the wire is inched). Although the nozzle 132 may be replaced instead of being cleaned, the following description will be made assuming that the nozzle 132 is cleaned.

First, the basic idea of this embodiment will be explained.

In this embodiment, the usage rate of the welding robot 10 is considered as an index for maintenance. The usage rate is defined as follows.

Usage rate (%) = (Using current ² / Reference current ² ) × (Arc time / (Arc time + Inter-pass time)) × 100

This usage rate takes into account the usage current and arc time. Since the current used correlates with the amount of wear on the contact tip 134 and the amount of heat generated at the tip of the filler metal 14, it can be used as an index for predicting when to replace the contact tip 134 and when to measure the feeding resistance. Furthermore, since the arc time correlates with the amount of wear on the contact tip 134 and the amount of dirt on the nozzle 132, it can be used as an index for predicting when to replace the contact tip 134 and when to clean the nozzle 132.

Specifically, the usage rate t for predicting the replacement time of the contact tip 134, the usage rate n for predicting the cleaning time of the nozzle 132, the usage rate w for predicting the measurement time of the feeding resistance, It is recommended to define it as follows.

Usage rate t (%) = (Using current ² / Reference current t ² ) × (Arc time / (Arc time + Inter-pass time)) × 100
Usage rate n (%) = (Using current ² / Reference current n ² ) × (Arc time / (Arc time + Inter-pass time)) × 100
Usage rate w (%) = (Using current ² / Reference current w ² ) × (Arc time / (Arc time + Inter-pass time)) × 100

Here, the suffixes t, n, and w attached to the usage rate and reference current are values for predicting the time to replace the contact tip 134, the time to clean the nozzle 132, and the time to measure the feeding resistance, respectively. It represents that.

Furthermore, the usage rate may be multiplied by a coefficient depending on the welding mode related to the feeding method of the filler metal 14. For example, consider a case where welding is performed in a welding mode in which the filler metal 14 is fed while repeatedly feeding forward and backward at high speed.

In this case, the wear of the contact tip 134 increases, so the usage rate t may be multiplied by a coefficient α larger than 1 to form the following equation.

Usage rate t (%) = α × (Using current ² / Reference current t ² ) × (Arc time / (Arc time + Inter-pass time)) × 100

Further, in this case, since the amount of spatter is reduced and the nozzle 132 is less contaminated, the usage rate n may be multiplied by a coefficient β smaller than 1 to form the following equation.

Usage rate n (%) = β × (Using current ² / Reference current n ² ) × (Arc time / (Arc time + Inter-pass time)) × 100

On the other hand, the limit value of the usage rate (hereinafter referred to as "acceptable limit value") for predicting the maintenance timing of the contact tip 134, the nozzle 132, and the feed motor may be, for example, 100%. However, the permissible limit value t for predicting the replacement time of the contact tip 134, the permissible limit value n for predicting the cleaning time of the nozzle 132, and the permissible limit value w for predicting the measurement time of the feeding resistance are as follows. It may be a different value.

In this way, by comparing the usage rate t, usage rate n, and usage rate w with the allowable limit value t, allowable limit value n, and allowable limit value w, respectively, the maintenance timing of the contact tip 134, nozzle 132, and feed motor can be determined. can be predicted using one index.

In addition, when integrating the usage rate calculated for each pass for multiple passes, the following three formulas are used to determine whether to replace the contact tip 134, clean the nozzle 132, or measure the feeding resistance. .

Tolerable limit value t≦Σ (usage rate t(i))
Tolerable limit value n≦Σ (usage rate n(i))
Tolerable limit value w≦Σ (usage rate w(i))

Here, Σ(utilization rate t(i)), Σ(utilization rate n(i)), and Σ(utilization rate w(i)) are the usage rate t, usage rate n, and usage of the i-th path, respectively. It represents the value obtained by integrating the rate w over multiple passes.

Using such a formula, it is possible to determine the overall usage rate in consideration of variations in the usage rate for each path.

However, the amount of wear of the contact tip 134 also increases or decreases depending on the number of arc ON/OFF operations, that is, the number of passes. That is, due to conduction when the arc is turned on, Joule heat is generated at the contact portion between the filler metal 14 and the contact tip 134, causing microscopic melting and adhesion. Then, as the filler metal 14 is fed thereafter, the adhesion is repeatedly peeled off, thereby causing wear.

Therefore, it is preferable to determine when to replace the contact tip 134 by taking into consideration not only the usage rate t but also the load factor t. For example, it is conceivable to make the determination based on the sum of the usage rate t and the load rate t. Here, the suffix t attached to the load factor also indicates that it is a value for predicting the replacement time of the contact tip 134. The sum of the usage rate t and the load rate t is defined as follows.

Sum of usage rate t and load rate t (%) = (σ + (used current ² / reference current t ² ) x (arc time / (arc time + inter-pass time))) x 100

Here, σ is the load factor t per path. As σ, it is preferable to use a value that correlates with the amount of wear per pass. Since it is difficult to measure the amount of wear per pass, it may be calculated using the following estimation formula.

Δd _k ³ =N _start ×Start _k +x _AT ×AT _kx +y _AT ×AT _ky +z _AT ×AT _kz +...

In this equation, Δd _k ³ represents the amount of wear [mm ³ ] of the k-th contact tip 134. k indicates a number assigned in the order of replacement of the contact chips 134. For convenience, the amount of wear may be set to the cube of the amount of change in the diameter d of the tip of the contact tip 134. Further, N _start represents the amount of wear [mm ³ ] per arc ON, that is, per pass, and Start _k represents the number of arc ON, that is, the number of passes, at the k-th contact tip 134. j _AT represents the wear amount [mm ³ ] per unit time during arc generation under condition j, and AT _kj represents the arc time under condition j used in the k-th contact tip 134 (j = x, y, z,...). Here, the condition is, for example, the current used, and in this case, the condition j indicates a specific current value of the current used.

Then, apply the value obtained in the experiment to the above estimation formula to find the amount of wear N _start per pass, and calculate the ratio of this amount of wear N _start per pass to the allowable amount of wear per pass. Let σ be the load factor t. Note that σ is preferably determined before creating the stacking plan.

Furthermore, here as well, it is assumed that the usage rate t may be multiplied by a coefficient depending on the welding mode related to the feeding method of the filler metal 14. For example, consider a case where welding is performed in a welding mode in which the filler metal 14 is fed while repeatedly feeding forward and backward at high speed.

In this case, the wear of the contact tip 134 increases, so the sum of the usage rate t and the load rate t may be calculated by multiplying the usage rate t by a coefficient α larger than 1 to form the following equation.

Sum of usage rate t and load rate t (%) = (σ + α × (used current ² / reference current t ² ) × (arc time / (arc time + inter-pass time))) × 100

Also in this case, when the sum of the usage rate t and the load factor t calculated for each pass is integrated for a plurality of passes, the replacement of the contact tip 134 is determined using the following formula.

Tolerable limit value t≦Σ (sum (i) of usage rate t and load rate t)

Here, Σ (sum (i) of usage rate t and load factor t) represents a value obtained by integrating the sum of usage rate t and load factor t of the i-th path for a plurality of paths.

Next, the relationship between the inter-path time and maintenance timing in this embodiment will be explained.

As the modeling progresses, the object accumulates heat, so the inter-pass time tends to increase accordingly. FIG. 4 is a diagram showing an example of the timing for performing component maintenance in such a case. In the figure, the hatched time indicates the arc ON time, and the unhatched time indicates the arc OFF time. As shown in the figure, the comparison of measurement of the feed resistance, replacement of the contact tip 134 (indicated as "feed resistance measurement + tip replacement" in the figure), cleaning of the nozzle 132 (indicated as "nozzle cleaning" in the figure), etc. It is best to carry out time-consuming maintenance in the latter half of the modeling process. On the other hand, maintenance that requires only a short time, such as measuring the feeding resistance, can be performed even during the first half of the manufacturing process. Incidentally, by adjusting the maintenance frequency, it is possible to shorten the maintenance time per time, but the frequency may be determined in consideration of productivity.

Next, correction of the maintenance timing in this embodiment will be explained.

In the above, the usage current and arc time used when calculating the usage rate and allowable limit value are the values designed in the lamination trajectory plan. However, during modeling, deviations from the plan may occur due to welding field phenomena such as generation of slag and spatter. Therefore, the maintenance timing is adjusted as appropriate based on the current value of the welding current measured by the welding current measuring device 15 and the image of the welding torch 13 taken by the camera 16. In this case, the method of correction is not particularly limited. For example, if the actual welding current differs from what was assumed at the time of planning, the maintenance period may be modified by modifying the usage rate accordingly. Alternatively, the maintenance timing may be corrected by subtracting a predetermined offset value from the allowable limit value when a sign of abnormality is detected from the photographed image of the welding torch 13.

[Details of this embodiment]
Hereinafter, the metal additive manufacturing system 1 that realizes the above outline will be described in detail, focusing on the configuration and operation of the layer planning device 30 and the control device 50.

(Functional configuration of layer planning device)
FIG. 5-1 is a diagram showing an example of the functional configuration of the stacking planning device 30 in this embodiment. As illustrated, the stack planning device 30 in this embodiment includes a CAD data acquisition section 41, a CAD data division section 42, a stack planning section 43, a maintenance period setting section 44, a control program generation section 45, A control program output section 46 is provided.

The CAD data acquisition unit 41 acquires three-dimensional CAD data representing the three-dimensional shape of the layered object 100 from the CAD device 20 .

The CAD data division unit 42 divides (slices) the three-dimensional CAD data acquired by the CAD data acquisition unit 41 into a plurality of layers, thereby generating a plurality of layer shape data each representing the shape of each layer. At this time, the CAD data dividing unit 42 may convert the three-dimensional CAD data into an internal format that can be easily divided into a plurality of layers.

The stacking planning unit 43 generates a stacking plan including welding conditions and arc target positions when welding the bead 101 that matches the height and width of each layer of the plurality of layer shape data generated by the CAD data dividing unit 42. To generate such a stacking plan, a model that approximates the height and width of the bead 101 as well as the cross-sectional shape of the bead 101 is required. These may be actual values from measurement experiments or estimated values calculated from the cross-sectional area of the amount of welded metal. In this embodiment, bead-on-plate welding and vertical stacking of several layers are performed while varying the welding speed and wire feed speed under several conditions to change the amount of welding, and the height and width of each layer are determined under each condition. Create a database of measurement results. Then, when stacking, the welding speed and amount of welding that satisfy the desired height and width of the stack are selected, the estimated shape of each layer is calculated from the measurement results as needed, and the arc target position is determined. Note that the calculation method for calculating the welded cross section may be changed depending on the material of the filler metal 14 and the state of the shape of the already laminated parts. Using this calculation method, we plan the lamination that will contain the object. Furthermore, the stacking planning section 43 also includes information on inter-pass time in the stacking planning. In this embodiment, a stack plan is used as an example of welding work information indicating welding work conditions and inter-pass time for each pass, and a stack planning section 43 is provided as an example of an acquisition means for acquiring welding work information. ing.

The maintenance timing setting unit 44 calculates the maintenance timing of the contact tip 134, the nozzle 132, and the feed motor from the stacking plan generated by the stacking planning unit 43, and sets these maintenance timings in the inter-pass time.

Specifically, the maintenance timing setting unit 44 determines the usage rate t, usage rate n, and usage rate since the previous maintenance for each of the contact tip 134, the nozzle 132, and the feed motor from the stacking plan generated by the stacking planning unit 43. Calculate the usage rate w. The usage rate t, usage rate n, and usage rate w may be values obtained by integrating the usage rate t, usage rate n, and usage rate w for each path. Here, in additive manufacturing, welding is generally performed in a welding mode related to a feeding method of the filler metal 14 depending on the characteristics of each pass. Such welding modes include a welding mode in which the filler metal 14 is fed at a constant speed, and a welding mode in which the filler metal 14 is fed while repeating forward and reverse feeding at high speed. be. Therefore, it is preferable to calculate the usage rate for each pass using a calculation formula that takes the welding mode into consideration. As a calculation formula that takes into account the feeding method of the filler metal 14, for example, as described above, the entire right side of the formula for calculating the usage rate is multiplied by a coefficient depending on the type of part and the welding mode. Good. In this embodiment, as an example of a calculation means for calculating the workload for each pass based on welding work information, a function for calculating the usage rate t, usage rate n, and usage rate w in the maintenance time setting section 44 is provided. There is.

Furthermore, if the usage rate t exceeds the allowable limit value t during modeling of a certain pass, the maintenance time setting unit 44 determines that the time to replace the contact tip 134 is approaching, and sets the inter-pass time after that pass. The time for replacing the contact tip 134 is set. If the usage rate n exceeds the allowable limit value n during the modeling of a certain pass, it is determined that the time for cleaning the nozzle 132 is approaching, and the time for cleaning the nozzle 132 is set at the inter-pass time after that pass. If the usage rate w exceeds the allowable limit value w during the modeling of a certain pass, it is determined that the time to measure the feed resistance is approaching, and the time to measure the feed resistance is set to the inter-pass time after that pass. . At this time, the inter-pass time after a certain pass is specified from the stacking plan generated by the stacking planning section 43. In this embodiment, if the cumulative value of the work load up to a specific pass exceeds a predetermined work load limit value, maintenance of at least one of the contact tip, nozzle, and feed motor is performed. As an example of a determining means for determining what to do during the inter-pass time after a specific pass, there is a function in the maintenance time setting section 44 that sets the time to replace the contact tip 134, the time to clean the nozzle 132, and the time to measure the feeding resistance. has been established.

Alternatively, the maintenance timing setting unit 44 calculates the usage rate t since the previous maintenance for the contact tip 134 from the stacking plan generated by the stacking planning unit 43, and calculates the usage rate t since the previous maintenance based on the estimated value of the wear amount of the contact tip 134. The sum of the load factors t may be calculated. The sum of the usage rate t and the load factor t may be a value obtained by integrating the sum of the usage rate t and the load factor t for each path. Here, in additive manufacturing, welding is generally performed in a welding mode related to a feeding method of the filler metal 14 depending on the characteristics of each pass. Such welding modes include a welding mode in which the filler metal 14 is fed at a constant speed, and a welding mode in which the filler metal 14 is fed while repeating forward and reverse feeding at high speed. be. Therefore, it is preferable to calculate the usage rate t for each pass using a calculation formula that takes the welding mode into consideration. As a calculation formula that takes into account the feeding method of the filler metal 14, for example, as described above, the entire term of the usage rate t in the formula for calculating the sum of the usage rate t and the load rate t may be changed depending on the welding mode. It is recommended to use a value multiplied by a coefficient. Further, the load factor t may be determined in advance using an estimated value of the wear amount of the contact tip 134. In this embodiment, the sum of the usage rate t and the load rate t in the maintenance time setting unit 44 is calculated as an example of a calculation means for calculating the workload for each pass using the estimated value of the wear amount of the contact tip. It has a function.

Furthermore, if the sum of the usage rate t and the load rate t exceeds the allowable limit value t during the modeling of a certain pass, the maintenance time setting unit 44 determines that the time to replace the contact tip 134 is approaching, and The time to replace the contact chip 134 may be set at the inter-pass time after . At this time, the inter-pass time after a certain pass is specified from the stacking plan generated by the stacking planning section 43. In this embodiment, if the cumulative value of the workload up to a specific pass exceeds a predetermined workload limit value, contact chip maintenance is performed during the inter-pass time after the specific pass. As an example of the determining means, a function is provided in the maintenance time setting section 44 to set the replacement time of the contact tip 134.

Furthermore, the maintenance time setting unit 44 compares the inter-path time and the time until all maintenance set in the inter-path time is completed. If the inter-path time is shorter, for example, some maintenance is performed on one or more previous paths, and the inter-path time is set until all maintenance set for that inter-path time is completed. It is a good idea to make it longer than the time. In the present embodiment, a maintenance timing setting unit 44 is provided as an example of a determining means for determining whether maintenance is to be performed during the inter-path time based on a comparison result between the inter-path time and the time required for maintenance.

The control program generation unit 45 generates a control program for controlling the welding robot 10 to perform welding according to the stacking plan generated by the stacking planning unit 43. Further, at this time, the control program incorporates setting information of the inter-pass time in which the maintenance timing setting unit 44 sets the maintenance timing of the contact tip 134, the nozzle 132, and the feed motor. For example, this setting information may be incorporated as a command to display information prompting the operator to replace the contact tip 134, clean the nozzle 132, and measure the feeding resistance during the interpass time. Alternatively, it may be incorporated as a command to control a device that automatically replaces the contact tip 134, automatically cleans the nozzle 132, or automatically measures the feeding resistance to perform these processes during the interpass time. .

The control program output unit 46 outputs the control program generated by the control program generation unit 45 to the recording medium 70.

Here, although not shown in FIG. 1, the stack planning device 30 may be connected to the stack planning support device 80.

The hardware configuration shown in FIG. 3 can also be considered as the hardware configuration of the layered planning support device 80. However, when describing the stacking planning support device 80, the CPU 31, main memory 32, magnetic disk device 33, communication I/F 34, display mechanism 35, input device 36, and driver 37 in FIG. A magnetic disk device 83, a communication I/F 84, a display mechanism 85, an input device 86, and a driver 87 are referred to.

FIG. 5-2 is a diagram showing an example of the functional configuration of the layered planning support device 80 in this embodiment. As illustrated, the stacking plan support device 80 in this embodiment includes an information acquisition section 91 and a display control section 92.

The information acquisition unit 91 receives from the stack planning device 30 the stack plan generated by the stack planning unit 43, the usage rate t, the usage rate n, and the usage rate w calculated by the maintenance timing setting unit 44, and the maintenance timing setting unit 44. Information including the tolerable limit value t, tolerable limit value n, and tolerable limit value w to be held is acquired. In the present embodiment, an information acquisition section 91 is provided as an example of an information acquisition means for acquiring information including welding operation information, workload, and limit values from the welding operation procedure creation device.

The display control unit 92 controls the display mechanism 85 to display the information acquired by the information acquisition unit 91. In this embodiment, a display control section 92 is provided as an example of a display means for displaying information on a screen.

(Functional configuration of control device)
FIG. 6 is a diagram showing an example of the functional configuration of the control device 50 in this embodiment. As illustrated, the control device 50 in this embodiment includes a control program acquisition section 61, a control program storage section 62, a control program execution section 63, a current value reception section 64, a photographed image reception section 65, and a control program modification section 66.

The control program acquisition unit 61 acquires a 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 control program execution unit 63 reads and executes the control program stored in the control program storage unit 62. Thereby, the control program execution unit 63 controls the welding robot 10 to form the bead 101 according to the stacking plan generated by the stacking planning unit 43. Further, the control program execution unit 63 controls the contact tip 134, the nozzle 132, and the feed motor so that maintenance is performed during the interpass time for which the maintenance time setting unit 44 has set the maintenance time. For example, information may be displayed to prompt the operator to replace the contact tip 134, clean the nozzle 132, and measure the feeding resistance during the interpass time. Alternatively, a device that automatically replaces the contact tip 134, a device that automatically cleans the nozzle 132, and a device that automatically measures the feeding resistance may be controlled to perform these processes during the interpass time. In the present embodiment, a control program execution unit 63 is provided as an example of a control means for controlling the maintenance so that the maintenance is performed during the inter-path time when it is determined that the maintenance is to be performed.

The current value receiving unit 64 receives the current value of the welding current from the welding current measuring device 15.

The photographed image receiving unit 65 receives an image of the welding torch 13 from the camera 16.

The control program modification unit 66 modifies the control program stored in the control program storage unit 62 based on the current value of the welding current received by the current value reception unit 64 or the image of the welding torch 13 received by the photographed image reception unit 65. Modify the interpass time in the embedded configuration information.

Specifically, the current value of the welding current received by the current value receiving unit 64 is used as the working current to calculate the usage rate t, usage rate n, and usage rate w again, and thereby the usage rate t and the usage rate calculated at the time of planning. n, correct the usage rate w. For each of the contact tip 134, nozzle 132, and feed motor, if the magnitude relationship between the value obtained by adding the revised usage rate to the accumulated value of the usage rate up to now and the allowable limit value is different from that at the time of planning, , change the inter-pass time during which maintenance is performed. In the present embodiment, as an example of a changing means that changes the inter-pass time during which maintenance is performed by correcting the workload for each pass using the welding current, the control program correction unit 66 uses a welding current value based on the current value of the welding current. A function is provided to change the time between passes during which maintenance is performed.

Further, the permissible limit value n is corrected based on the image of the welding torch 13 received by the photographed image receiving section 65. For example, if the nozzle 132 becomes more dirty than expected at the time of planning, the allowable limit value n is reduced. For the nozzle 132, if the magnitude relationship between the accumulated value of the usage rate up to now and the corrected allowable limit value is different from that at the time of planning, the inter-pass time during which maintenance is performed is changed. In the present embodiment, as an example of a changing means for changing the inter-pass time during which maintenance is performed by correcting the limit value of the workload based on the captured image, the welding torch 13 in the control program correction unit 66 is used. A function is provided to change the time between passes during which maintenance is performed based on images.

In order to change the inter-pass time during which maintenance is performed in this way, the data used to set the maintenance time to the inter-pass time during planning is included in the control program and sent from the stack planning device 30 to the control program. It is assumed that the data has been passed to the execution unit 63. It is assumed that the control program modification unit 66 can use this data to change the inter-pass time during which maintenance is performed.

(Operation of layer planning device)
FIG. 7 is a flowchart showing an example of the operation of the stacking planning device 30 in this embodiment.

In the stack planning device 30, first, the CAD data acquisition unit 41 acquires three-dimensional CAD data from the CAD device 20 (step 301).

Next, the CAD data dividing unit 42 divides the three-dimensional CAD data acquired in step 301 into a plurality of layers to generate layer shape data (step 302).

Next, the stack planning unit 43 generates a stack plan from the layer shape data generated in step 302 (step 303).

Next, the maintenance timing setting unit 44 uses the stacking plan generated in step 303 to perform a maintenance timing setting process for setting the maintenance timing for the contact tip 134, nozzle 132, and feed motor (step 304). Details of this maintenance time setting process will be described later.

Thereafter, the control program generation unit 45 generates a control program based on the stacking plan generated in step 303 and the maintenance timing set in the maintenance timing setting process in step 304 (step 305). Specifically, a control program is generated that controls the welding robot 10 to form the bead 101 according to the lamination plan and controls the welding robot 10 so that maintenance is performed at the maintenance time.

Finally, the control program output unit 46 outputs the control program generated in step 305 to the recording medium 70 (step 306).

FIG. 8-1 is a flowchart showing a first example of the maintenance timing setting process in step 304 of FIG. Note that here, the integrated value of the usage rate and the allowable limit value for determining when to replace the contact tip 134 are expressed as Rt and Lt, respectively, and the integrated value of the usage rate and the allowable limit value for determining when to clean the nozzle 132 are expressed as Rt and Lt, respectively. The allowable limit values are respectively written as Rn and Ln, and the integrated value of the usage rate and the allowable limit value for determining the measurement timing of the feeding resistance are respectively written as Rw and Lw. It is assumed that the maintenance time setting unit 44 reads and holds the allowable limit values Lt, Ln, and Lw from a storage area (not shown) before executing the maintenance time setting process.

When the maintenance time setting process is started, the maintenance time setting unit 44 sets the index i of the path to 1 (step 351). In other words, focus on the first path.

Next, the maintenance time setting unit 44 performs the processes of steps 361 to 391 for each index i while increasing the path index i by 1 up to the number n of paths.

That is, the maintenance timing setting unit 44 sets the integrated values Rt, Rn, and Rw of the usage rates calculated since the previous maintenance for each of the contact tip 134, the nozzle 132, and the feed motor to the allowable limit values Lt, Ln, and Lw. By comparing with the above, the maintenance period for the contact tip 134, nozzle 132, and feed motor is set. Specifically, the time to replace the contact tip 134, the time to clean the nozzle 132, and the time to measure the feeding resistance are set. Incidentally, the timing for replacing the contact tip 134, the timing for cleaning the nozzle 132, and the timing for measuring the feeding resistance may be set sequentially, but in this operation example, they are set in parallel.

First, a process for setting the replacement period of the contact chip 134 will be explained.

In this process, the maintenance time setting unit 44 calculates the usage rate Rt(i) according to the welding mode when welding the pass P(i) of index i (step 361). Here, the usage rate Rt(i) according to the welding mode is, for example, the welding mode and filler metal 14 when the filler metal 14 is fed at a constant speed to the entire right side of the usage rate calculation formula described above. It may be calculated by multiplying the welding mode by a different coefficient depending on the welding mode in which forward feeding and reverse feeding are repeated at high speed.

Next, the maintenance time setting unit 44 adds the usage rate Rt(i) calculated in step 361 to the integrated value Rt of the usage rates calculated since the previous replacement of the contact tip 134 (step 362). Then, it is determined whether the usage rate integrated value Rt exceeds the allowable limit value Lt (step 363).

As a result, if it is determined that the integrated value Rt of the usage rate exceeds the allowable limit value Lt, it means that the time to replace the contact tip 134 is approaching, so the maintenance time setting unit 44 The time to replace the contact chip 134 is set in the inter-pass time (step 364). Then, the usage rate integrated value Rt is set to 0 (step 365), and the process proceeds to step 391.

On the other hand, if it is determined that the integrated value Rt of the usage rate does not exceed the allowable limit value Lt, the replacement time of the contact tip 134 is not approaching, so the maintenance time setting unit 44 directly advances the process to step 391.

Second, a process for setting the cleaning period for the nozzle 132 will be described.

In this process, the maintenance time setting unit 44 calculates the usage rate Rn(i) according to the welding mode when welding the pass P(i) of index i (step 371). Here, the usage rate Rn(i) according to the welding mode is, for example, the welding mode and filler metal 14 when the filler metal 14 is fed at a constant speed to the entire right side of the usage rate calculation formula described above. It may be calculated by multiplying the welding mode by a different coefficient depending on the welding mode in which forward feeding and reverse feeding are repeated at high speed.

Next, the maintenance time setting unit 44 adds the usage rate Rn(i) calculated in step 371 to the integrated value Rn of the usage rates calculated since the last cleaning of the nozzle 132 (step 372). Then, it is determined whether the usage rate integrated value Rn exceeds the allowable limit value Ln (step 373).

As a result, if it is determined that the integrated value Rn of the usage rate exceeds the allowable limit value Ln, it means that the time for cleaning the nozzle 132 is approaching, so the maintenance time setting unit 44 The cleaning timing of the nozzle 132 is set to the interval time (step 374). Then, the usage rate integrated value Rn is set to 0 (step 375), and the process proceeds to step 391.

On the other hand, if it is determined that the usage rate integrated value Rn does not exceed the allowable limit value Ln, the cleaning time of the nozzle 132 is not approaching, so the maintenance time setting unit 44 directly advances the process to step 391.

Thirdly, the process of setting the measurement timing of the feeding resistance will be explained.

In this process, the maintenance time setting unit 44 calculates the usage rate Rw(i) according to the welding mode when welding the pass P(i) of index i (step 381). Here, the usage rate Rw(i) according to the welding mode is, for example, the welding mode and filler metal 14 when the filler metal 14 is fed at a constant speed to the entire right side of the usage rate calculation formula described above. It may be calculated by multiplying the welding mode by a different coefficient depending on the welding mode in which forward feeding and reverse feeding are repeated at high speed.

Next, the maintenance time setting unit 44 adds the usage rate Rw(i) calculated in step 381 to the integrated value Rw of the usage rate calculated since the previous measurement of the feeding resistance (step 382). Then, it is determined whether the integrated value Rw of the usage rate exceeds the allowable limit value Lw (step 383).

As a result, if it is determined that the integrated value Rw of the usage rate exceeds the allowable limit value Lw, it means that the time to measure the feed resistance is approaching, so the maintenance time setting unit 44 The measurement timing of the feeding resistance is set in the inter-pass time (step 384). Then, the usage rate integrated value Rw is set to 0 (step 385), and the process proceeds to step 391.

On the other hand, if it is determined that the usage rate integrated value Rw does not exceed the allowable limit value Lw, the feeding resistance measurement time is not approaching, so the maintenance time setting unit 44 directly advances the process to step 391.

When the replacement time of the contact tip 134, the cleaning time of the nozzle 132, and the measurement time of the feeding resistance are set by these processes, the maintenance time setting unit 44 adds 1 to the index i of the path (step 391). In other words, focus on the next path. Then, it is determined whether the path index i exceeds the number n of paths (step 392).

As a result, if it is determined that the path index i does not exceed the number n of paths, the maintenance time setting unit 44 returns the process to steps 361, 371, and 381.

On the other hand, if it is determined that the index i of the path exceeds the number n of paths, the maintenance time setting unit 44 adjusts the maintenance time set in steps 364, 374, and 384 so that it falls within the inter-path time. (Step 393). Specifically, for each inter-path time, the inter-path time is compared with the time until all maintenance set for that inter-path time is completed. If the inter-path time is shorter, for example, some maintenance is performed on one or more previous paths, and the inter-path time is set until all maintenance set for that inter-path time is completed. The time should be longer than the time of Thereafter, the maintenance time setting unit 44 returns the process to FIG. 7.

In this operation example, if the integrated values Rt, Ru, and Rw of the usage rates up to path P(i) exceed the allowable limit values Lt, Lu, and Lw, then the Although the maintenance times for the contact tip 134, the nozzle 132, and the feed motor are set at different times, the present invention is not limited to this. Even if the integrated values Rt, Ru, and Rw of the utilization rates up to path P(i) do not exceed the allowable limit values Lt, Lu, and Lw, respectively, even if the utilization rate of path P(i+1) is above a certain level. For example, the maintenance times for the contact tip 134, the nozzle 132, and the feed motor may be set at the interpass time after pass P(i).

FIG. 8-2 is a flowchart showing a second example of the maintenance timing setting process in step 304 of FIG. In addition, here, the integrated value of the sum of the usage rate and the load factor and the allowable limit value for determining the time to replace the contact tip 134 are expressed as Rt and Lt, respectively, and the value for determining the time to clean the nozzle 132 is expressed as Rt and Lt, respectively. The integrated value and allowable limit value of the usage rate are expressed as Rn and Ln, respectively, and the integrated value and allowable limit value of the usage rate for determining the measurement timing of the feeding resistance are expressed as Rw and Lw, respectively. Further, in order to determine when to replace the contact tip 134, a load factor determined in advance using an estimated value of the wear amount of the contact tip 134 is expressed as σ. It is assumed that the maintenance time setting unit 44 reads and holds the allowable limit values Lt, Ln, Lw and the load factor σ from a storage area (not shown) before executing the maintenance time setting process.

When the maintenance time setting process is started, the maintenance time setting unit 44 sets the index i of the path to 1 (step 451). In other words, focus on the first path.

Next, the maintenance time setting unit 44 performs steps 461 to 491 for each index i while increasing the path index i by 1 up to the number n of paths.

That is, the maintenance timing setting unit 44 determines whether the contact tip 134 is to be maintained by comparing the integrated value Rt of the sum of the usage rate and the load factor calculated since the last maintenance for the contact tip 134 with the allowable limit value Lt. Set the time. In addition, the maintenance timing setting unit 44 compares the integrated values Rn and Rw of the usage rates calculated since the previous maintenance for each of the nozzle 132 and the feed motor with the allowable limit values Ln and Lw. , to set the maintenance period for the feed motor. Specifically, the time to replace the contact tip 134, the time to clean the nozzle 132, and the time to measure the feeding resistance are set. Incidentally, the timing for replacing the contact tip 134, the timing for cleaning the nozzle 132, and the timing for measuring the feeding resistance may be set sequentially, but in this operation example, they are set in parallel.

First, a process for setting the replacement period of the contact chip 134 will be explained.

In this process, the maintenance time setting unit 44 calculates the usage rate Rt(i) according to the welding mode when welding the pass P(i) of index i (step 461). Here, the usage rate Rt(i) according to the welding mode is, for example, when the filler metal 14 is fed at a constant speed to the entire usage rate term of the above-mentioned formula for calculating the sum of the usage rate and load factor. It may be calculated by multiplying the welding mode by a different coefficient between the welding mode and the welding mode in which the filler metal 14 is fed while repeating forward and reverse feeding at high speed.

Next, the maintenance time setting unit 44 adds the pre-held load factor σ to the integrated value Rt of the sum of the usage rate and the load factor calculated since the last replacement of the contact tip 134, and calculates the load factor σ calculated in step 461. The usage rate Rt(i) is added (step 462). Then, it is determined whether the integrated value Rt of the sum of the usage rate and the load factor exceeds the allowable limit value Lt (step 463).

As a result, if it is determined that the integrated value Rt of the sum of the usage rate and the load factor exceeds the allowable limit value Lt, it means that the time to replace the contact tip 134 is approaching, and therefore the maintenance time setting unit 44 sets the path P(i ) is set at the interpass time after welding the contact tip 134 (step 464). Then, the integrated value Rt of the sum of the usage rate and the load factor is set to 0 (step 465), and the process proceeds to step 491.

On the other hand, if it is determined that the integrated value Rt of the sum of the usage rate and the load factor does not exceed the allowable limit value Lt, the replacement time of the contact tip 134 is not approaching, so the maintenance time setting unit 44 continues processing. Proceed to step 491.

Second, regarding the process of setting the cleaning period for the nozzle 132, steps 471 to 475 are the same as steps 371 to 375 in FIG. 8-1, so a description thereof will be omitted.

Thirdly, regarding the process of setting the measurement timing of the feeding resistance, steps 481 to 485 are the same as steps 381 to 385 in FIG. 8-1, so a description thereof will be omitted.

When the replacement time of the contact tip 134, the cleaning time of the nozzle 132, and the measurement time of the feeding resistance are set by these processes, the maintenance time setting unit 44 adds 1 to the index i of the pass (step 491). In other words, focus on the next path. Then, it is determined whether the path index i exceeds the number n of paths (step 492).

As a result, if it is determined that the path index i does not exceed the number n of paths, the maintenance time setting unit 44 returns the process to steps 461, 471, and 481.

On the other hand, if it is determined that the index i of the path exceeds the number n of paths, the maintenance time setting unit 44 adjusts the maintenance time set in steps 464, 474, and 484 so that it falls within the inter-path time. (Step 493). Specifically, for each inter-path time, the inter-path time is compared with the time until all maintenance set for that inter-path time is completed. If the inter-path time is shorter, for example, some maintenance is performed on one or more previous paths, and the inter-path time is set until all maintenance set for that inter-path time is completed. The time should be longer than the time of Thereafter, the maintenance time setting unit 44 returns the process to FIG. 7.

In addition, in this operation example, if the integrated value Rt of the sum of the usage rate and the load factor up to path P(i) exceeds the allowable limit value Lt, contact is made at the inter-path time after path P(i). Although the maintenance period for the chip 134 is set, the present invention is not limited to this. Even if the integrated value Rt of the sum of the usage rate and load factor up to path P(i) does not exceed the allowable limit value Lt, the sum of the usage rate and load factor of path P(i+1) remains constant. If the above is the case, the maintenance time of the contact chip 134 may be set at the inter-pass time after the pass P(i).

(Operation of control device)
In the control device 50 , first, the control program acquisition section 61 acquires a control program from the recording medium 70 and stores it in the control program storage section 62 . Then, the control program execution section 63 reads out the control program stored in the control program storage section 62 and executes it.

FIG. 9 is a flowchart showing an example of the operation of the control program execution unit 63.

The control program execution unit 63 first sets the path index i to 1 (step 501). In other words, focus on the first path.

Next, the control program execution unit 63 performs steps 502 to 505 for each index i while increasing the path index i by 1 up to the number n of paths.

That is, the control program execution unit 63 controls the welding robot 10 to weld the path P(i) of index i (step 502).

Next, the control program execution unit 63 determines whether welding of pass P(i) is completed (step 503). If it is determined that the welding of pass P(i) is not completed, the control program execution unit 63 repeats step 502, and if it is determined that the welding of pass P(i) is completed, the control program execution unit 63 repeats step 502. , it is determined whether a maintenance time is set in the inter-path time after path P(i) (step 504).

As a result, if it is determined that the maintenance time is set to the inter-pass time after pass P(i), the control program execution unit 63 performs maintenance during the inter-pass time after pass P(i). (Step 505). For example, information is displayed that prompts the operator to replace the contact tip 134, clean the nozzle 132, and measure the feeding resistance during the interpass time. Alternatively, a device that automatically replaces the contact tip 134, a device that automatically cleans the nozzle 132, and a device that automatically measures the feeding resistance are controlled to perform these processes during the interpass time. The control program execution unit 63 then advances the process to step 506.

On the other hand, if it is determined that the maintenance time is not set in the inter-pass time after the pass P(i), the control program execution unit 63 directly advances the process to step 506.

After that, the control program execution unit 63 adds 1 to the index i of the path (step 506). In other words, focus on the next path. Then, it is determined whether the path index i exceeds the number n of paths (step 507).

As a result, if it is determined that the path index i does not exceed the number n of paths, the control program execution unit 63 returns the process to step 502.

On the other hand, if it is determined that the path index i exceeds the number n of paths, the control program execution unit 63 ends the process.

[Effects of this embodiment]
As described above, in this embodiment, maintenance is performed on the contact tip 134, the nozzle 132, and the feed motor when the usage rate exceeds the allowable limit value. As a result, maintenance of at least one of the contact tip 134, the nozzle 132, and the feed motor can be set using one index.

[Modified example]
In the above description, the timing for maintenance of the contact tip 134, nozzle 132, and feed motor is set in additive manufacturing, but the timing is not limited to this. It is also possible to set the timing for maintenance of the contact tip 134, nozzle 132, and feed motor in a general multi-layer stack.

DESCRIPTION OF SYMBOLS 1... Metal additive manufacturing system, 10... Welding robot, 20... CAD device, 30... Lamination planning device, 41... CAD data acquisition part, 42... CAD data division part, 43... Lamination planning part, 44... Maintenance time setting part, 45... Control program generation section, 46... Control program output section, 50... Control device, 61... Control program acquisition section, 62... Control program storage section, 63... Control program execution section, 64... Current value receiving section, 65... Photographing Image receiving section, 66... Control program modification section, 70... Recording medium

Claims (14)

It has a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a nozzle that supplies shielding gas to shield the filler metal from outside air. Torch and
an acquisition means for acquiring welding work information indicating welding work conditions and interpass time for each pass;
Calculation means for calculating a work load for the contact tip, the nozzle, and the feed motor for each pass based on the welding work information;
A limit value of the work load for the contact tip, the nozzle, and the feed motor in which an integrated value of the work load for the contact chip, the nozzle, and the feed motor up to a specific pass is predetermined. , based on the welding work information, maintenance of at least one of the contact tip, the nozzle, and the feed motor is performed during the inter-pass time after the specific pass. a determining means for determining;
A welding apparatus comprising: a control means for controlling the maintenance so that the maintenance is performed during the inter-pass time during which the maintenance is determined to be performed. The welding apparatus according to claim 1, wherein the determining means determines to perform the maintenance during the inter-pass time based on a comparison result between the inter-pass time and the time required for the maintenance. 2. The welding apparatus according to claim 1, wherein the control means performs control to display information prompting to perform the maintenance during the inter-pass time when it is determined to perform the maintenance. The welding apparatus according to claim 1, wherein the control means controls a device that automatically performs the maintenance to perform the maintenance during the inter-pass time during which it is determined that the maintenance is to be performed. Measuring means for measuring welding current during welding work;
changing means for changing the inter-pass time during which the maintenance is performed by modifying the work load on the contact tip, the nozzle, and the feed motor for each pass based on the welding current measured by the measuring means; The welding device according to claim 1, further comprising:. an imaging means for imaging the torch;
A claim further comprising: changing means for changing the inter-pass time during which the maintenance is performed by correcting the limit value of the workload for the nozzle based on the image taken by the imaging means. Item 1. Welding device according to item 1. The calculating means calculates a workload for the contact tip for each pass using an estimated value of wear amount of the contact tip ,
The determining means may control the maintenance of the contact chip to the specific path when the cumulative value of the workload for the contact chip up to the specific path exceeds the limit value of the workload for the contact chip. 2. The welding apparatus according to claim 1, wherein the welding apparatus determines to perform the welding at a later interpass time. It has a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a nozzle that supplies shielding gas to shield the filler metal from outside air. A welding work procedure creation device that creates a welding work procedure using a torch,
an acquisition means for acquiring welding work information indicating welding work conditions and interpass time for each pass;
Calculation means for calculating a work load for the contact tip, the nozzle, and the feed motor for each pass based on the welding work information;
A limit value of the work load for the contact tip, the nozzle, and the feed motor in which an integrated value of the work load for the contact chip, the nozzle, and the feed motor up to a specific pass is predetermined. , based on the welding work information, maintenance of at least one of the contact tip, the nozzle, and the feed motor is performed during the inter-pass time after the specific pass. 1. A welding work procedure creation device comprising: a determining means for determining a welding work procedure. 9. The calculating means calculates a work load for the contact tip, the nozzle, and the feeding motor according to a feeding method of the filler material for each pass. Welding work procedure creation device. The calculating means calculates a workload for the contact tip for each pass using an estimated value of wear amount of the contact tip ,
The determining means may control the maintenance of the contact chip to the specific path when the cumulative value of the workload for the contact chip up to the specific path exceeds the limit value of the workload for the contact chip. 9. The welding work procedure creation device according to claim 8, wherein the welding work procedure creation device determines what to do at a later interpass time. From the welding work procedure creation device according to claim 8 , the welding work information , the work load for the contact tip, the nozzle, and the feed motor , and the contact tip, the nozzle, and the feed motor. an information acquisition means for acquiring information including a working load limit value for the motor ;
A welding work support device comprising: display means for displaying the information on a screen. It has a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a nozzle that supplies shielding gas to shield the filler metal from outside air. A welding method in which welding is performed using a torch,
acquiring welding work information indicating welding work conditions and interpass time for each pass;
calculating a workload for the contact tip, the nozzle, and the feed motor for each pass based on the welding work information;
A limit value of the work load for the contact tip, the nozzle, and the feed motor in which an integrated value of the work load for the contact chip, the nozzle, and the feed motor up to a specific pass is predetermined. , based on the welding work information, maintenance of at least one of the contact tip, the nozzle, and the feed motor is performed during the inter-pass time after the specific pass. Steps to decide;
A welding method comprising the step of controlling the maintenance so that the maintenance is performed during the inter-pass time during which it is determined that the maintenance is to be performed. It has a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a nozzle that supplies shielding gas to shield the filler metal from outside air. A welding work procedure creation method for creating a welding work procedure using a torch, the method comprising:
acquiring welding work information indicating welding work conditions and interpass time for each pass;
calculating a workload for the contact tip, the nozzle, and the feed motor for each pass based on the welding work information;
A limit value of the work load for the contact tip, the nozzle, and the feed motor in which an integrated value of the work load for the contact chip, the nozzle, and the feed motor up to a specific pass is predetermined. , based on the welding work information, maintenance of at least one of the contact tip, the nozzle, and the feed motor is performed during the inter-pass time after the specific pass. A method for creating a welding work procedure, the method comprising: determining a welding work procedure. It has a contact tip that supplies power to the wire-shaped filler metal fed by the drive of the feed motor, and a nozzle that supplies shielding gas to shield the filler metal from outside air. A program for causing a computer to function as a welding procedure creation device for creating welding procedures using a torch,
The computer,
an acquisition means for acquiring welding work information indicating welding work conditions and interpass time for each pass;
Calculation means for calculating a work load for the contact tip, the nozzle, and the feed motor for each pass based on the welding work information;
A limit value of the work load for the contact tip, the nozzle, and the feed motor in which an integrated value of the work load for the contact chip, the nozzle, and the feed motor up to a specific pass is predetermined. , based on the welding work information, maintenance of at least one of the contact tip, the nozzle, and the feed motor is performed during the inter-pass time after the specific pass. A program to function as a decision-making tool.