WO2022149426A1 - 積層造形物の製造方法 - Google Patents
積層造形物の製造方法 Download PDFInfo
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- WO2022149426A1 WO2022149426A1 PCT/JP2021/046395 JP2021046395W WO2022149426A1 WO 2022149426 A1 WO2022149426 A1 WO 2022149426A1 JP 2021046395 W JP2021046395 W JP 2021046395W WO 2022149426 A1 WO2022149426 A1 WO 2022149426A1
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000012937 correction Methods 0.000 claims abstract description 146
- 239000011324 bead Substances 0.000 claims abstract description 82
- 238000003466 welding Methods 0.000 claims abstract description 77
- 238000004519 manufacturing process Methods 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 239000002184 metal Substances 0.000 claims description 18
- 229910052751 metal Inorganic materials 0.000 claims description 18
- 239000000945 filler Substances 0.000 claims description 17
- 238000010030 laminating Methods 0.000 claims description 10
- 238000002844 melting Methods 0.000 claims description 5
- 230000008018 melting Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000003475 lamination Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
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- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 2
- 238000010894 electron beam technology Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005121 nitriding Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000007778 shielded metal arc welding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
- B22F10/22—Direct deposition of molten metal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/30—Process control
- B22F10/38—Process control to achieve specific product aspects, e.g. surface smoothness, density, porosity or hollow structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/90—Means for process control, e.g. cameras or sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/34—Laser welding for purposes other than joining
- B23K26/342—Build-up welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F2999/00—Aspects linked to processes or compositions used in powder metallurgy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Definitions
- the present invention relates to a method for manufacturing a laminated model.
- a 3D printer using a metal material melts a metal powder or a metal wire by using a heat source such as a laser or an arc, and laminates the molten metal to form a modeled object.
- Patent Document 1 describes the height of the formed modeled object by a measuring unit, and the processing conditions when newly laminating at the measurement position according to the measurement result. The technique of feedback control is disclosed.
- the normal feedback control cannot correct the processing conditions in time and is stable. It may be difficult to stack the beads. For example, at the start and end portions of the bead, the height deviation of the bead in the lower layer tends to be large, which makes it difficult to handle with normal feedback control.
- an object of the present invention is to provide a method for manufacturing a laminated model, which can form a good model by always stably forming a welded bead by appropriately performing feedback control.
- the present invention has the following configuration.
- a method for manufacturing a laminated model in which a welded bead obtained by melting and solidifying a filler metal by the torch is laminated while moving the torch to form a model.
- a modeling step in which the torch is moved to laminate the welded beads based on a laminating plan that defines the shape of the welded bead obtained from the target shape of the modeled object and the trajectory of the torch for forming the welded bead.
- the base measurement process for acquiring the measured height by measuring the height of the base at the planned movement position of the torch when laminating the welded beads with a shape sensor, and The planned height of the base at the planned movement position of the torch is obtained from the stacking plan, the difference height is obtained by comparing the measured height acquired by the base measurement process with the planned height, and the difference height is reduced.
- Welding condition setting process for setting welding conditions in feedback correction, and correction ratio update processing for selecting from a plurality of preset correction ratios and updating the correction ratio in the welding conditions based on the selected correction ratio. , To execute, Manufacturing method of laminated model.
- a welded bead can always be stably formed and a good model can be formed.
- FIG. 1 It is a schematic schematic block diagram of the manufacturing system which manufactures a laminated model by the manufacturing method of embodiment of this invention. It is a figure which shows the wall part in which the weld bead is laminated, and (A) and (B) are schematic side views respectively. It is a figure which shows the modeling process which forms the wall part by laminating the welding beads, and (A)-(E) are schematic side views of the wall part respectively. It is a graph which shows the correction ratio under the welding condition. It is a figure which shows the shape of the welded bead, (A) is the schematic plan view of the welded bead which has a bent part, (B) is the schematic plan view of the welded bead which has an intersection.
- FIG. 1 is a schematic schematic configuration diagram of a manufacturing system 100 for manufacturing a laminated model by the manufacturing method of the embodiment of the present invention.
- the laminated model manufacturing system 100 having this configuration includes a welding robot 11, a robot controller 13, a filler material supply unit 15, a welding power supply 19, and a control unit 21.
- the welding robot 11 is an articulated robot, and the torch 23 is supported on the tip axis.
- the position and posture of the torch 23 can be arbitrarily set three-dimensionally within the range of the degree of freedom of the robot arm.
- the torch 23 holds the filler material (welding wire) M continuously supplied from the filler material supply unit 15 in a state of protruding from the tip of the torch.
- a shape sensor 25 is provided on the tip shaft of the welding robot 11 together with the torch 23.
- the torch 23 has a shield nozzle (not shown), and shield gas is supplied to the welded portion from the shield nozzle.
- the arc welding method may be either a consumable electrode type such as shielded metal arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG welding or plasma arc welding, and is appropriately selected according to the laminated model to be manufactured. Weld.
- a contact tip is arranged inside the shield nozzle, and the filler metal M to which the melting current is supplied is held by the contact tip.
- the torch 23 generates an arc from the tip of the filler metal M in a shield gas atmosphere while holding the filler metal M.
- the filler metal M is fed to the torch 23 by a feeding mechanism (not shown) attached to a robot arm or the like. Then, when the filler metal M that is continuously fed is melted and solidified while moving the torch 23, a welded bead 29 that is a molten solidified body of the filler metal M is formed on the base plate 27.
- the base plate 27 is made of a metal plate such as a steel plate, and basically a plate larger than the bottom surface (bottom layer surface) of the laminated model W is used.
- the base plate 27 is not limited to a plate shape, and may be a base having another shape such as a block body or a rod shape.
- the heat source for melting the filler metal M is not limited to the above-mentioned arc.
- a heat source by another method such as a heating method using a combination of an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser may be adopted.
- the amount of heating can be controlled more finely, the state of the welded bead can be maintained more appropriately, and the quality of the laminated model can be further improved.
- any commercially available welding wire can be used.
- JIS Z high tension steel and low temperature steel
- the wire specified in 3313) or the like can be used.
- An active metal such as titanium can also be used as the filler metal M. In that case, it is necessary to create a shield gas atmosphere in the welded portion in order to avoid oxidation and nitriding due to the reaction with the atmosphere during welding.
- the shape sensor 25 is arranged side by side on the torch 23 and is moved together with the torch 23.
- the shape sensor 25 is a sensor that measures the shape of the base portion when forming the welded bead B.
- a laser sensor that acquires the reflected light of the irradiated laser light as height data is used.
- a three-dimensional shape measurement camera may be used.
- the robot controller 13 receives an instruction from the control unit 21 to drive each unit of the welding robot 11 and controls the output of the welding power supply 19 as needed.
- the control unit 21 is composed of a computer device including a CPU, memory, storage, etc., and executes a drive program prepared in advance or a drive program created under desired conditions to drive each unit such as the welding robot 11.
- the torch 23 is moved according to the drive program, and the welded beads 29 having a plurality of layers are laminated on the base plate 27 based on the created lamination plan, whereby the laminated model W having a multilayer structure is formed.
- the database 17 is connected to the control unit 21. In this database 17, data of a plurality of correction ratios under the welding conditions at the time of feedback correction are stored in advance.
- FIG. 2 is a schematic side view of a laminated model in which a linear welded bead 29 is laminated on a base plate 27 to form a wall portion Wo.
- FIG. 3 is a process diagram showing a modeling process in which the welded beads 29 are laminated to form the wall portion Wo.
- one end (the left end in (A) of FIG. 2) is set as the starting end, and the torch 23 is moved from this starting end to form a welded bead 29. Is started, and the torch 23 is moved to the end on the other end (right end in FIG. 2A) side to complete the formation of the welded bead 29. Then, the formation of the linear welded beads 29 is repeated to form a wall portion Wo in which a plurality of linear welded beads 29 are laminated.
- the control unit 21 measures the shape of the base by the shape sensor 25 juxtaposed with the torch 23, and performs feedback correction for correcting the welding condition based on the measurement result.
- the thickness of the welded bead 29 formed tends to be unstable. Specifically, in the start region As, the thickness of the welded bead 29 tends to be thick and swells, and in the end region Ae, the thickness of the weld bead 29 tends to be thin and hangs down. Therefore, in the start region As and the end region Ae where the thickness becomes unstable, there is a possibility that the correction cannot be made in time by the normal feedback correction.
- the correction ratio of the welding condition in the feedback correction may be increased, but in the intermediate region Am where the welded bead 29 can be stably formed, a sudden correction is performed. On the contrary, large unevenness will occur.
- the following feedback correction is performed in the molding process of laminating the welded beads 29.
- the height of the base at the planned movement position of the torch 23 when laminating the welded beads 29 is measured by the shape sensor 25. Then, the measured height Hr, which is the height of the base measured by the shape sensor 25, is acquired.
- Correction ratio update process Select from a plurality of preset correction ratios according to the shape characteristics of the torch 23 at the planned movement position.
- the plurality of correction ratios are determined in advance in order to stably form the welded bead 29 for various shape characteristics by, for example, an experiment, and are stored in the database 17.
- the correction ratio under the welding conditions (for example, the ratio of increase / decrease in the welding speed with respect to the difference height ⁇ H) is updated based on the selected correction ratio. For example, in a portion where the thickness is unstable such as the start region As and the end region Ae when modeling the wall portion Wo, a correction ratio corresponding to the shape characteristics of these portions is selected from the database 17 and drawn out for welding.
- the correction ratio is not selected and the welding conditions set in the welding condition setting process. Maintain the correction ratio in. For example, in a portion where the thickness is stable, such as an intermediate region Am when modeling the wall portion Wo, the correction ratio under the welding conditions set in the welding condition setting process is maintained.
- a maintenance period for maintaining the changed state of the correction ratio as it is may be set at the same time.
- the correction interval ⁇ t may be set by time or may be set by a length along the path. Further, the correction interval ⁇ t peculiar to a specific correction ratio may be set. If the correction interval ⁇ t is not provided, the correction control will be performed in a short time according to the local height (base height) change of the existing welded bead, and the correction control is transient depending on the conditions. It may be a reaction. In that case, the height of the newly formed welded bead may increase more than the local unevenness of the base.
- FIG. 4 is a graph showing the correction ratio under welding conditions.
- FIG. 5 is a schematic plan view showing the shape of the welded bead 29.
- the shape sensor 25 juxtaposed to the torch 23 is arranged at the start end portion of the base U of the model WA in which the welded beads 29 are already laminated, and the shape sensor 25 and the torch are arranged. 23 is moved along the model WA. Then, the height of the start end region As of the base U in the model WA is measured by the shape sensor 25, and the measured height Hr is acquired (base measurement process).
- FIG. 4 shows the correction ratio between the difference height ⁇ H and the welding speed in the feedback correction, and the control unit 21 welds, for example, the correction ratio Fa (solid line in FIG. 4) at the time of normal feedback correction. Set as a condition.
- the control unit 21 performs a correction ratio update process for updating the correction ratio under the welding conditions. Specifically, since the start region As is a region of shape characteristics having a large change in height, the shape of the start region As is obtained from a plurality of correction ratios set for each shape characteristic stored in the database 17. The correction ratio Fb (dotted line in FIG. 4) corresponding to the characteristic is selected. Then, the correction ratio Fa under the welding conditions is updated to the selected correction ratio Fb.
- This correction ratio Fb has a larger change rate of the welding speed with respect to the difference height ⁇ H than the correction ratio Fa, and by updating to this correction ratio Fb, the welding speed with respect to the difference height ⁇ H in the feedback correction. Can be changed quickly.
- the shape sensor 25 and the torch 23 are moved toward the end side along the model WA, and the weld bead 29 is laminated on the start region As in the base U by the torch 23.
- feedback correction is performed by the correction ratio Fb that can quickly change the welding speed with respect to the difference height ⁇ H. Therefore, the height of the welded bead 29 formed by the torch 23 can be quickly corrected for a large change in the shape of the differential height ⁇ H.
- the control unit 21 performs a correction ratio update process for updating the correction ratio under the welding conditions.
- the intermediate region Am is a region having stable shape characteristics in which the amount of change in height is relatively small
- the control unit 21 does not select the correction ratio from the database 17 in the correction ratio update process, and welds.
- the correction ratio Fa (solid line in FIG. 4) under the welding conditions set in the condition setting process is maintained.
- the shape sensor 25 and the torch 23 are moved toward the terminal side along the model WA, and the weld bead 29 is laminated on the intermediate region Am in the base U by the torch 23.
- feedback correction is performed by the correction ratio Fa that gently changes the welding speed with respect to the difference height ⁇ H. Therefore, the height of the welded bead 29 formed by the torch 23 can be smoothly corrected for a small change in the shape of the differential height ⁇ H.
- the control unit 21 performs a correction ratio update process for updating the correction ratio under the welding conditions. Specifically, since the terminal region Ae is a region of shape characteristics having a large amount of change in height, the control unit 21 is based on a plurality of correction ratios set for each shape characteristic stored in the database 17.
- the correction ratio Fb (dotted line in FIG. 4) corresponding to the shape characteristic of the terminal region Ae is selected, and the correction ratio Fa under the welding conditions is updated to the selected correction ratio Fb.
- the correction ratio corresponding to the shape characteristic of the end region Ae is defined as the correction ratio Fb corresponding to the shape characteristic of the start region As.
- the correction ratios corresponding to the shape characteristics of the start region As and the end region Ae may be different from each other.
- the weld bead 29 is laminated on the terminal region Ae by the torch 23 that has reached the terminal region Ae.
- feedback correction is performed by the correction ratio Fb that can quickly change the welding speed with respect to the difference height ⁇ H. Therefore, the height of the welded bead 29 formed by the torch 23 can be quickly corrected for a large change in the shape of the differential height ⁇ H.
- the method for manufacturing a laminated model according to the present embodiment feedback correction for reducing the difference height ⁇ H between the planned height Hp based on the lamination plan and the actually measured measured height Hr.
- the correction ratio of the welding condition in the above is updated to the correction ratio selected from a plurality of correction ratios set and prepared in advance.
- the welded bead 29 can be stably formed by performing feedback correction at an appropriately selected correction ratio for cases of various height deviations.
- the shape of the shaped portion of the welded bead 29 is formed.
- the welded bead 29 can be stably formed in an appropriate control mode according to the characteristics.
- correction ratio is not limited to the case where a plurality of correction ratios are set in advance according to the shape characteristics.
- the plurality of correction ratios may be preset according to the positions specified based on the stacking plan.
- the designated position includes, for example, a position that is likely to fluctuate locally in a frame portion, a filling portion in the frame portion, a corner portion of the frame portion, an overhang portion, and the like.
- the bent portion 51 when the welded bead 29 is bent and laminated and as shown in FIG. 5B, the welded bead 29 is crossed in a cross shape.
- the laminated height of the welded beads 29 tends to fluctuate locally. Therefore, these bent portions 51, intersections 53, or both of them are set as designated positions, and the correction ratio corresponding to these designated positions is set.
- the correction ratio corresponding to the designated position is selected at the designated position such as the bent portion 51 and the intersection 53, and the correction ratio under the welding condition of the feedback correction is updated to the selected correction ratio. do.
- the welded bead 29 can be formed while responding to abrupt height fluctuations at designated positions such as the bent portion 51 and the intersecting portion 53.
- the base profile is obtained from the measurement result of the shape sensor 25 on the front side in the moving direction of the torch 23, and the shape characteristic of the planned movement position of the torch 23 is obtained in real time from this base profile and the target profile obtained from the stacking plan. May be good.
- the correction ratio update process a plurality of correction ratios set in advance are selected according to the shape characteristics obtained during modeling, and the correction ratio under the welding conditions is updated based on the selected correction ratio. You may.
- the bead 29 can be formed.
- the correction ratio of the welding speed with respect to the differential height ⁇ H is used as a parameter in the feedback correction, but the parameter of the correction ratio with respect to the differential height ⁇ H is not limited to the welding speed, but the filler metal M. It may be the feeding rate of the above or the amount of heat input for generating an arc.
- the formation height of the welded bead 29 can be increased by increasing the feeding speed, and the welding bead 29 can be increased by decreasing the feeding speed.
- the formation height of the can be lowered.
- the formation height of the welded bead 29 can be lowered by increasing the heat input amount, and the formation height of the welded bead 29 can be increased by reducing the heat input amount. Can be done.
- the shape sensor 25 is juxtaposed on the torch 23 is illustrated, but the shape sensor 25 does not necessarily have to be juxtaposed on the torch 23.
- a robot for moving the shape sensor 25 may be provided separately from the welding robot 11, and the shape of the base on the front side in the moving direction of the torch 23 forming the welding bead 29 may be measured by this robot.
- the present invention is not limited to the above-described embodiment, and can be modified or applied by those skilled in the art based on the combination of the configurations of the embodiments with each other, the description of the specification, and the well-known technique. It is also a matter of the present invention to do so, and it is included in the scope of seeking protection.
- a method for manufacturing a laminated model in which a welded bead obtained by melting and solidifying a filler metal by the torch is laminated while moving the torch to form a model.
- a modeling step in which the torch is moved to laminate the welded beads based on a laminating plan that defines the shape of the welded bead obtained from the target shape of the modeled object and the trajectory of the torch for forming the welded bead.
- the base measurement process for acquiring the measured height by measuring the height of the base at the planned movement position of the torch when laminating the welded beads with a shape sensor, and The planned height of the base at the planned movement position of the torch is obtained from the stacking plan, the difference height is obtained by comparing the measured height acquired by the base measurement process with the planned height, and the difference height is reduced.
- Welding condition setting process for setting welding conditions in feedback correction, and correction ratio update processing for selecting from a plurality of preset correction ratios and updating the correction ratio in the welding conditions based on the selected correction ratio.
- a method of manufacturing a laminated model A method of manufacturing a laminated model.
- the correction ratio of the welding condition in the feedback correction for reducing the difference height between the planned height based on the laminated plan and the actually measured height is set and prepared in advance. Update to the selected correction ratio from the multiple correction ratios. As a result, it is possible to stably form a welded bead by performing feedback correction at an appropriately selected correction ratio for cases of various height deviations.
- the base profile is obtained from the measurement result of the shape sensor, and the shape characteristic of the planned movement position of the torch is obtained from the base profile and the target profile obtained from the lamination plan.
- Manufacture of the laminated model according to (2) wherein the correction ratio is selected from a plurality of preset correction ratios according to the shape characteristics, and the correction ratio under the welding conditions is updated based on the selected correction ratio.
- Method According to this method for manufacturing a laminated model, the shape characteristic of the torch's planned movement position is obtained in real time from the base profile and the target profile, and the correction ratio is selected according to the shape characteristic. That is, while sensing the shape of the base in real time, it is possible to stably form a welded bead in an appropriate control mode even for unexpectedly large height deviations and local irregularities.
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Abstract
Description
トーチを移動させながら、前記トーチによって溶加材を溶融及び凝固させた溶着ビードを積層させて造形物を造形する積層造形物の製造方法であって、
前記造形物の目標形状から求めた前記溶着ビードの形状及び前記溶着ビードを形成するための前記トーチの軌道を定めた積層計画に基づいて、前記トーチを移動させて前記溶着ビードを積層させる造形工程を含み、
前記造形工程において、
前記溶着ビードを積層させる際の前記トーチの移動予定位置における下地の高さを形状センサによって計測して計測高さを取得する下地計測処理と、
前記積層計画から前記トーチの移動予定位置における下地の計画高さを求め、前記下地計測処理で取得した前記計測高さと前記計画高さとを比較して差分高さを求め、前記差分高さを小さくするフィードバック補正における溶接条件を設定する溶接条件設定処理と、 予め設定しておいた複数の補正割合から選択し、選択した補正割合に基づいて前記溶接条件における補正割合を更新させる補正割合更新処理と、
を実行する、
積層造形物の製造方法。
図1は、本発明の実施形態の製造方法で積層造形物を製造する製造システム100の模式的な概略構成図である。
本構成の積層造形物の製造システム100は、溶接ロボット11と、ロボットコントローラ13と、溶加材供給部15と、溶接電源19と、制御部21と、を備える。
図2は、ベースプレート27上に線状の溶着ビード29を積層させて壁部Woを造形した積層造形物の概略側面図である。図3は、溶着ビード29を積層させて壁部Woを造形する造形工程を示す工程図である。
溶着ビード29を積層させる際のトーチ23の移動予定位置における下地の高さを形状センサ25によって計測する。そして、この形状センサ25によって計測した下地の高さである計測高さHrを取得する。
積層計画からトーチ23の移動予定位置における下地の計画高さHpを求め、下地計測処理で取得した計測高さHrと計画高さHpとを比較して差分高さΔH(ΔH=Hr-Hp)を求め、差分高さΔHを小さくするように溶接条件を設定する。
トーチ23の移動予定位置の形状特性に応じて、予め設定しておいた複数の補正割合から選択する。この複数の補正割合は、例えば、実験等によって、様々な形状特性に対して安定して溶着ビード29を形成するために予め割り出したもので、データベース17に格納されている。そして、選択した補正割合に基づいて、溶接条件における補正割合(例えば、差分高さΔHに対する溶接速度の増減の割合)を更新させる。例えば、壁部Woを造形する際の始端領域As及び終端領域Aeなどの厚さが不安定となる部分では、これらの部分の形状特性に対応した補正割合をデータベース17から選択して引き出し、溶接条件の補正割合を選択した補正割合に更新させる。なお、この補正割合更新処理において、トーチ23の移動予定位置が、溶接条件の補正割合の更新が必要でない形状特性である場合は、補正割合を選択せず、溶接条件設定処理で設定した溶接条件における補正割合を維持する。例えば、壁部Woを造形する際の中間領域Amなどの厚さが安定した部分では、溶接条件設定処理で設定した溶接条件における補正割合を維持する。
補正間隔Δtを設けない場合、既設の溶着ビードの局所的な高さ(下地の高さ)変化に合わせて短時間の間に補正制御することになり、条件によっては、補正制御が過渡的な反応になることがある。その場合、新たに形成した溶着ビードの高さが、下地の局所的な凹凸よりも増加する可能性を生じる。
そこで、補正間隔Δtを設けて補正制御の感度を抑えることで、局所的に急峻な高さ変化を生じさせず、緩やかな凹凸の下地形状となるように反応を緩和できる。これにより、次に形成する層(上層)の高さ補正が比較的容易になる。
図4は、溶接条件における補正割合を示すグラフである。図5は、溶着ビード29の形状を示す概略平面図である。
図3の(A)に示すように、トーチ23に並設されている形状センサ25を、既に溶着ビード29を積層させた造形体WAの下地Uにおける始端部分に配置させ、形状センサ25及びトーチ23を造形体WAに沿って移動させる。そして、造形体WAにおける下地Uの始端領域Asの高さを形状センサ25によって計測し、計測高さHrを取得する(下地計測処理)。
トーチ23による始端領域Asへの溶着ビード29の形成時に、トーチ23に並設されている形状センサ25が下地Uの中間領域Amの高さを引き続き計測する(下地計測処理)。そして、計測高さHrと計画高さHpとを比較し、差分高さΔH(ΔH=Hr-Hp)を求め、差分高さΔHを小さくするように、例えば、通常のフィードバック補正時の補正割合Fa(図4における実線)の溶接条件に設定する(溶接条件設定処理)。
図3の(D)に示すように、形状センサ25が造形体WAの下地Uにおける終端領域Aeに達したら、終端領域Aeの高さを形状センサ25によって計測し、計測高さHrを取得する(下地計測処理)。そして、計測高さHrと積層計画から下地Uの計画高さHpとを比較し、差分高さΔH(ΔH=Hr-Hp)を求め、差分高さΔHを小さくするように、補正割合Fa(図4における実線)の溶接条件に設定する(溶接条件設定処理)。
(1) トーチを移動させながら、前記トーチによって溶加材を溶融及び凝固させた溶着ビードを積層させて造形物を造形する積層造形物の製造方法であって、
前記造形物の目標形状から求めた前記溶着ビードの形状及び前記溶着ビードを形成するための前記トーチの軌道を定めた積層計画に基づいて、前記トーチを移動させて前記溶着ビードを積層させる造形工程を含み、
前記造形工程において、
前記溶着ビードを積層させる際の前記トーチの移動予定位置における下地の高さを形状センサによって計測して計測高さを取得する下地計測処理と、
前記積層計画から前記トーチの移動予定位置における下地の計画高さを求め、前記下地計測処理で取得した前記計測高さと前記計画高さとを比較して差分高さを求め、前記差分高さを小さくするフィードバック補正における溶接条件を設定する溶接条件設定処理と、 予め設定しておいた複数の補正割合から選択し、選択した補正割合に基づいて前記溶接条件における補正割合を更新させる補正割合更新処理と、
を実行する、積層造形物の製造方法。
この積層造形物の製造方法によれば、積層計画に基づく計画高さと実際に計測した計測高さとの差分高さを小さくするフィードバック補正における溶接条件の補正割合を、予め設定して用意しておいた複数の補正割合から選択した補正割合に更新する。これにより、様々な高さのずれのケースに対して適切に選択した補正割合でフィードバック補正して安定的に溶着ビードを形成できる。
この積層造形物の製造方法によれば、例えば、平均的かつ緩やかな高さずれの位置においては、補正割合を小さく設定し、局所的かつ大きい高さずれに対しては補正割合を大きく設定することにより、溶着ビードの造形部位の形状特性に応じて適切な制御モードで安定的に溶着ビードを形成できる。
この積層造形物の製造方法によれば、積層計画に基づいて予め把握できる位置に応じて適切な制御モードで安定的に溶着ビードを形成できる。
この積層造形物の製造方法によれば、下地プロファイルと目標プロファイルとからトーチの移動予定位置の形状特性をリアルタイムで求め、この形状特性に応じて補正割合を選択する。つまり、リアルタイムで下地の形状をセンシングしながら、予期しない大きな高さずれ、及び局所的な凹凸に対しても適切な制御モードで安定的に溶着ビードを形成できる。
29 溶着ビード
25 形状センサ
Fa,Fb 補正割合
ΔH 差分高さ
M 溶加材
U 下地
W 積層造形物
Claims (6)
- トーチを移動させながら、前記トーチによって溶加材を溶融及び凝固させた溶着ビードを積層させて造形物を造形する積層造形物の製造方法であって、
前記造形物の目標形状から求めた前記溶着ビードの形状及び前記溶着ビードを形成するための前記トーチの軌道を定めた積層計画に基づいて、前記トーチを移動させて前記溶着ビードを積層させる造形工程を含み、
前記造形工程において、
前記溶着ビードを積層させる際の前記トーチの移動予定位置における下地の高さを形状センサによって計測して計測高さを取得する下地計測処理と、
前記積層計画から前記トーチの移動予定位置における下地の計画高さを求め、前記下地計測処理で取得した前記計測高さと前記計画高さとを比較して差分高さを求め、前記差分高さを小さくするフィードバック補正における溶接条件を設定する溶接条件設定処理と、
予め設定しておいた複数の補正割合から選択し、選択した補正割合に基づいて前記溶接条件における補正割合を更新させる補正割合更新処理と、
を実行する、
積層造形物の製造方法。 - 前記複数の補正割合は、前記溶着ビードを積層する場所の形状特性に対応して設定されている、
請求項1に記載の積層造形物の製造方法。 - 前記補正割合を変更した状態を所定期間維持させる補正間隔を設ける、
請求項1に記載の積層造形物の製造方法。 - 前記補正割合を変更した状態を所定期間維持させる補正間隔を設ける、
請求項2に記載の積層造形物の製造方法。 - 前記複数の補正割合は、前記積層計画に基づいて指定した位置の形状特性に応じて予め設定されている、
請求項2~4のいずれか1項に記載の積層造形物の製造方法。 - 前記補正割合更新処理は、前記形状センサの計測結果から下地プロファイルを求め、前記下地プロファイルと前記積層計画から求めた目標プロファイルとから、前記トーチの移動予定位置の形状特性を求め、この形状特性に応じて、予め設定しておいた複数の前記補正割合から選択し、選択した補正割合に基づいて前記溶接条件における補正割合の更新を行う、
請求項2~4のいずれか1項に記載の積層造形物の製造方法。
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