WO2023149142A1 - Dispositif de génération d'informations de commande, procédé de génération d'informations de commande, dispositif de commande de soudage et programme de génération d'informations de commande - Google Patents

Dispositif de génération d'informations de commande, procédé de génération d'informations de commande, dispositif de commande de soudage et programme de génération d'informations de commande Download PDF

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WO2023149142A1
WO2023149142A1 PCT/JP2022/048294 JP2022048294W WO2023149142A1 WO 2023149142 A1 WO2023149142 A1 WO 2023149142A1 JP 2022048294 W JP2022048294 W JP 2022048294W WO 2023149142 A1 WO2023149142 A1 WO 2023149142A1
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Prior art keywords
control information
shape
control
information generation
welding
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PCT/JP2022/048294
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English (en)
Japanese (ja)
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旭則 吉川
貴宏 篠崎
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株式会社神戸製鋼所
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Publication of WO2023149142A1 publication Critical patent/WO2023149142A1/fr

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    • 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
    • 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
    • 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
    • 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
    • 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
    • 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 control information generation device, a control information generation method, a welding control device, and a control information generation program.
  • a known technique is to build a three-dimensional structure by laminating weld beads obtained by melting and solidifying a filler material.
  • US Pat. No. 6,200,000 discloses a system and method for providing positional feedback for additive manufacturing in such technology.
  • One or both of output current, output voltage, output power, output circuit impedance, and wire feed speed are sampled during the additive manufacturing process in producing the current layer.
  • a plurality of instantaneous contact tip-to-work distances (CTWD) are determined based on at least one or both of output current, output voltage, output power, output circuit impedance, and wire feed speed.
  • An average CTWD is determined based on multiple instantaneous CTWDs.
  • a correction factor that is used to compensate for any error in current bed height is generated based at least on the average CTWD.
  • an object of the present invention is to provide a control information generation device, a control information generation method, a welding control device, and a control information generation program capable of approximating the shape of a laminated weld bead to a simulated shape based on a welding plan. do.
  • the present invention consists of the following configurations. (1) shaping a layer shape using a weld bead formed by adding a molten processing material to the surface to be processed while moving the processing position along a predetermined path based on designated control conditions; A control information generating device for generating control information for controlling a layered manufacturing device for manufacturing a three-dimensional structure in which the layer shape is stacked, a data acquisition unit that acquires a characteristic profile of a shape change of the weld bead that occurs when the control condition is changed for a pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead; a measurement unit that measures an actual shape including at least the height or width of the three-dimensional structure that has been formed; A computing unit that compares a simulated shape obtained by simulating the shape of the three-dimensional structure by laminating the bead models and the actual shape, and extracts a difference between the two shapes; a control information output unit that obtains a correction value for the
  • the welding control device according to (3); the laminate molding apparatus; Welding equipment comprising: (5) forming a layer shape using a weld bead formed by adding a molten processing material to the surface to be processed while moving the processing position along a predetermined path based on designated control conditions; A control information generation program for generating control information for controlling a layered manufacturing apparatus for manufacturing a three-dimensional structure in which the layer shape is stacked, a data acquisition step of acquiring a characteristic profile of a shape change of the weld bead that occurs when the control condition is changed for a pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead; a measuring step of measuring an actual shape including at least the height or width of the three-dimensional structure that has been shaped; A calculation step of comparing a simulated shape obtained by simulating the shape of the three-dimensional structure by laminating the bead model and the actual shape, and extracting a difference between the two shapes; a
  • the control information generating device can approximate the shape of the laminated weld bead to the simulated shape based on the welding plan while considering the properties of the weld bead.
  • FIG. 1 is an overall configuration diagram of a welding device according to an embodiment.
  • FIG. 2 is a block diagram of the control information generation device according to the embodiment.
  • FIG. 3A is an explanatory diagram schematically showing the shape of a single weld bead formed by the layered manufacturing apparatus.
  • FIG. 3B is a graph schematically showing the relationship between the condition value of the control condition and the bead height H of the formed weld bead.
  • FIG. 4 is a prediction model for predicting the bead height, and is an explanatory diagram showing a pseudo-block body obtained by laminating a plurality of bead models.
  • FIG. 5 is a graph showing a characteristic profile of shape change of a weld bead.
  • FIG. 6 is a prediction model for predicting the bead height, and is an explanatory diagram showing a pseudo-block body obtained by stacking a plurality of bead models.
  • FIG. 7 is a flow chart showing steps of a three-dimensional structure modeling method performed by the layered modeling apparatus.
  • FIG. 8 is a graph illustrating a method for eliminating height differences as the number of layers in which weld beads are laminated increases.
  • FIG. 9 is a graph illustrating another method for eliminating the difference in height as the number of layers in which weld beads are laminated increases.
  • FIG. 1 is an overall configuration diagram of a welding device that manufactures a modeled object.
  • a welding device 100 having this configuration includes a laminate molding device 11 and a welding control device 30 that controls the laminate molding device 11 .
  • the layered manufacturing apparatus 11 includes a welding robot 17 provided with a welding head having a welding torch 15 on its tip axis, a robot controller 21 for driving the welding robot 17, and a filler material (welding wire) M supplied to the welding torch 15. and a welding power source 25 for supplying a welding current.
  • the welding robot 17 is an articulated robot, and a continuously supplied filler material M is supported at the tip of the welding torch 15 attached to the tip shaft of the robot arm.
  • the position and orientation of the welding torch 15 can be arbitrarily three-dimensionally set within the range of degrees of freedom of the robot arm according to commands from the robot controller 21 .
  • a shape sensor 32 and a temperature sensor 26 that move integrally with the welding torch 15 are provided on the tip axis of the welding robot 17 .
  • the shape sensor 32 is a non-contact sensor that measures the shape of the weld bead 28 to be formed and, if necessary, the shape around the bead forming position.
  • the measurement by the shape sensor 32 may be performed at the same time as the weld bead is formed, or may be performed at different timings before and after the bead is formed.
  • a laser sensor that detects the three-dimensional shape from the position of the reflected light of the irradiated laser light or the time from the irradiation timing to the detection of the reflected light can be used.
  • the shape sensor 32 is not limited to a laser, and may be a sensor of another detection method.
  • the temperature sensor 26 is a contact sensor such as a radiation thermometer or thermography, and detects the temperature (temperature distribution) at any position of the modeled object.
  • the welding torch 15 is a gas metal arc welding torch that has a shield nozzle (not shown) and is supplied with a shield gas from the shield nozzle.
  • the arc welding method may be a consumable electrode type such as coated arc welding or carbon dioxide gas arc welding, or a non-consumable electrode type such as TIG welding or plasma arc welding, and is appropriately selected according to the layered product to be manufactured. be.
  • a contact tip is arranged inside the shield nozzle, and the contact tip holds the filler material M to which the melting current is supplied.
  • the welding torch 15 holds the filler material M and generates an arc from the tip of the filler material M in a shield gas atmosphere.
  • the filler material supply unit 23 includes a reel 29 around which the filler material M is wound.
  • the filler material M is sent from the filler material supply unit 23 to a delivery mechanism (not shown) attached to a robot arm or the like, and is sent to the welding torch 15 while being fed in the forward and reverse directions by the delivery mechanism as necessary. be paid.
  • any commercially available welding wire can be used as the filler material M.
  • MAG welding and MIG welding solid wire JIS Z 3312
  • high-strength steel and low-temperature steel arc welding flux-cored wire (JIS Z 3313) for mild steel, high-strength steel and low-temperature steel, etc. welding wire is available.
  • filler metals M such as aluminum, aluminum alloys, nickel, nickel-based alloys, etc. can be used depending on the desired properties.
  • a weld bead 28 that is a melted and solidified body of the filler material M is formed on the base plate 27 .
  • the base plate 27 is a metal plate such as a steel plate, it is not limited to a plate shape, and may have other shapes such as a block, rod, and columnar shape.
  • the layered manufacturing apparatus 11 moves the processing position along a predetermined path based on designated control conditions, and adds the filler material M, which is a molten processing material, to the surface to be processed.
  • the filler material M which is a molten processing material
  • a layered shape as shown in FIG. 1 is formed to form a three-dimensional structure in which the layered shape is laminated.
  • the welding control device 30 is a computer device similar to the robot controller 21, and includes hardware such as a processor for main control, a storage device, an input/output interface, an input section, and an output section.
  • Welding control device 30 includes a control unit 31 and a control information generation device 33 .
  • the control unit 31 controls the layered manufacturing apparatus 11 according to the results output by the control information generation device 33 .
  • the control information generation device 33 generates control information for controlling the layered manufacturing device 11 .
  • the control information generation device 33 includes a data acquisition unit 331 , a measurement unit 332 , a calculation unit 333 and a control information output unit 334 .
  • the data acquisition unit 331 acquires the characteristic profile of the shape change of the weld bead 28 that occurs when the control conditions are changed for the pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead 28.
  • the measurement unit 332 measures the actual shape including at least the height or width of the molded three-dimensional structure.
  • the calculation unit 333 compares the simulated shape obtained by simulating the shape of the three-dimensional structure by laminating bead models and the actual shape, and extracts the difference between the two shapes.
  • the control information output unit 334 obtains a correction value for the control condition that eliminates the difference from the characteristic profile, and outputs the control information corrected according to the correction value.
  • FIG. 3A is an explanatory diagram schematically showing the shape (cross-sectional shape) of a single weld bead 28 formed on the base plate 27 by the layered manufacturing apparatus 11.
  • FIG. A bead height H which is the height of the weld bead 28, is the distance from the bottom of the weld bead 28 to the top (upper surface).
  • the welding conditions include a welding current, a welding voltage, a feeding speed for sending out the filler metal (welding wire) M as a processing material, a welding speed, and the like.
  • FIG. 3B is a graph schematically showing the relationship between the condition value of the welding condition (control condition) and the bead height H of the weld bead 28 to be formed.
  • the conditional values include values such as the welding current, the welding voltage, the feeding speed for feeding the filler material M, the welding speed, and the like.
  • the graph shows that the bead height H decreases as the welding speed increases.
  • FIG. 4 is an explanatory diagram conceptually showing a predictive model for predicting the bead height H in order to cope with the situation described above.
  • a computer previously simulates the shape of the weld bead 28, particularly the cross-sectional shape, using a trapezoidal bead model, and stacks a plurality of bead models B0 , B1 , B2 , . . . Obtain the obtained pseudo block body X.
  • Such a pseudo-block body X is a predicted shape of a laminate obtained by laminating the weld beads 28 based on the welding plan.
  • the computer also considers factors such as the overlap of the bead model and the portion of the filler material M that has melted and flowed down, and the pseudo-block body X and its The final bead height H can be predicted.
  • the bead height H of the multiple-layer weld bead 28 (the height corresponding to the bead height H of the quasi-block body X) obtained in actual molding depends on the welding conditions. As a result, it may deviate from the predicted pseudo-block body X, resulting in a difference. Therefore, a more accurate prediction method is required.
  • characteristic profiles of shape changes of the weld bead 28 that occur under various welding conditions, ie, control conditions, are obtained in advance. That is, the control information generation device 33 of this configuration acquires the characteristic profile of the change in shape of the weld bead 28 that occurs when the control conditions for the pseudo block X described above are changed, using the prediction model described above.
  • the layered manufacturing apparatus 11 actually models a three-dimensional structure corresponding to the above-described pseudo block body X under various control conditions, and the control information generation device 33 determines the height Measure the actual shape including (may be width).
  • the method of measuring the actual shape is not particularly limited, for example, the surface of the weld bead 28 is scanned and measured by a measuring means using a light cutting method provided in the measuring unit 332, a measuring means such as a laser sensor, or the like. method.
  • control information generation device 33 compares the measured actual shape of the three-dimensional structure with a simulated shape obtained by simulating the shape of this three-dimensional structure by laminating bead models (pseudo block body X) in FIG. Thereby, the control information generating device 33 can extract the difference between the actual shape and the simulated shape.
  • the actual shape for comparison may be generated using the average height of the measurement results of certain welded sections.
  • the simulated shape may be a shape obtained by adding excess thickness to the simulated block body X of FIG.
  • control information generation device 33 obtains the correction value of the control condition that eliminates this difference from the characteristic profile described above, and outputs control information corrected according to the correction value.
  • FIG. 5 is a graph showing the characteristic profile of shape change of the weld bead 28 when the control condition is the welding speed.
  • the horizontal axis is the welding speed (cpm), and the vertical axis is the height difference (mm) that occurs when the welding speed is changed from the planned welding speed.
  • the welding speed is 25 cpm
  • the build height can be increased by 0.3 mm compared to welding at the planned welding speed.
  • FIG. 5 is a graph showing how the welding speed should be changed according to the deviation of the height of the three-dimensional modeled object (the height of the pseudo block X) from the plan.
  • the difference extracted by the control information generation device 33 is -0.3 mm. That is, this is a case in which the height of the three-dimensional structure actually formed is 0.3 mm smaller than the planned height (the height of the pseudo block body X). It is preferable to set the difference between the actual shape and the simulated shape to 0 as much as possible.
  • the welding speed should be set to 25 cpm in order to weld 0.3 mm higher than the welding under the planned welding conditions. In other words, by setting the welding speed to 25 cpm by the layered manufacturing apparatus 11, the difference can be set to 0 or brought closer to 0.
  • control information generating device 33 With such control, the control information generating device 33 generates a simulated shape based on the welding plan (planned shape).
  • FIG. 5 shows the profile of the shape change characteristics of a weld bead that is newly laminated by one layer on the pseudo block body X.
  • the profiles are collectively integrated so as to correspond to the difference when the weld beads for a plurality of layers are newly laminated. That is, in this case, the data acquisition unit 331 updates the characteristic profile of shape change by integrating the characteristic profiles of shape change in multiple layers.
  • the control conditions such as the welding speed can be changed using the characteristic profile of the shape change that can cope with the case where the difference is larger than 0.6 mm or smaller than -0.4 mm.
  • control information generator 33 can be provided with a plurality of types of characteristic profiles that represent the shape change characteristics of the weld bead 28, such as lamination width and lamination cross-sectional area.
  • the control information generating device 33 considers a plurality of types of profiles, comprehensively considers various characteristics of the weld bead 28, and determines the shape of the laminated weld bead 28, that is, the shape of the three-dimensional structure. , can be approximated to the planned shape (simulated shape) based on the welding plan.
  • the pseudo block body X shown in FIG. 4 is an example in which a plurality of weld beads 28 are laminated only in a single row. However, many of the actual three-dimensional structures are not formed only by such a single row, but are formed by forming a plurality of pseudo block bodies X adjacent to each other in the bead width direction (horizontal direction).
  • FIG. 6 is a prediction model for predicting the bead height, and is an explanatory diagram showing a pseudo-block body obtained by stacking a plurality of bead models.
  • FIG. 6 shows a pseudo block body W corresponding to the above three-dimensional structure, in which pseudo block bodies X 0 , X 1 , X 2 and X 3 are arranged in the width direction and shaped.
  • the height of each pseudo block X 0 , X 1 , X 2 , X 3 may change due to the influence of other (particularly adjacent) pseudo blocks.
  • the control information generation device 33 acquires the characteristic profile of the shape change of the weld bead 28 that occurs when the control conditions for the pseudo block body W are changed.
  • the characteristic profile of this example shows the shape change characteristic of the quasi-block body W in which a plurality of weld beads 28 adjacent to each other in the bead width direction are stacked.
  • the layered modeling apparatus 11 actually models a three-dimensional structure corresponding to the pseudo block W under various control conditions, and the control information generating device 33 generates the actual results including the height (or width). Measure the shape.
  • control information generating device 33 compares the measured actual shape of the three-dimensional structure with a simulated shape obtained by simulating the shape of this three-dimensional structure by laminating bead models (pseudo blocks W) in FIG. Thereby, the control information generation device 33 can extract the difference between the actual shape and the simulated shape that are more suitable for the actual three-dimensional structure.
  • FIG. 7 is a flow chart showing steps of a three-dimensional structure modeling method performed by the layered modeling apparatus 11 of the embodiment.
  • steps S1 to S5 also correspond to steps of a control information generating method performed by the control information generating device 33.
  • FIG. 7 is a flow chart showing steps of a three-dimensional structure modeling method performed by the layered modeling apparatus 11 of the embodiment.
  • steps S1 to S5 also correspond to steps of a control information generating method performed by the control information generating device 33.
  • the data acquisition unit 331 of the control information generation device 33 acquires the characteristic profile of the predicted shape of the laminate when a plurality of weld beads are laminated based on the welding plan including the pseudo block (S1).
  • the measurement unit 332 of the control information generation device 33 measures the shape (actual shape) of the actually formed laminate (S2).
  • the calculation unit 333 of the control information generation device 33 compares the simulated shape obtained by bead lamination and the actual shape, and calculates the difference between the two (S3).
  • the control information output unit 334 of the control information generation device 33 extracts a correction value that eliminates the difference (S4), and corrects the control information using the extracted correction value (S5).
  • the control unit 31 of the welding control device 30 controls the layered manufacturing device 11 according to the corrected control information, that is, the control information as a result output by the control information output unit 334, and the welding device 100 receives this control information.
  • Arc welding is performed by the operation of the lamination modeling apparatus 11 based on , and a three-dimensional structure is modeled (S6).
  • the welding control device 30 can appropriately control the layered manufacturing device 11 based on the corrected control information.
  • the welding device 100 can perform appropriate arc welding using the layered manufacturing device 11 to form a three-dimensional structure close to a simulated shape.
  • FIG. 8 is a graph illustrating a method for eliminating height differences as the number of layers in which the weld bead 28 is laminated increases.
  • the straight line L1 is the target planned height in the simulated shape, and the heights H 1 , H 2 , H 3 , H 4 . . . are the planned heights.
  • the control information generator 33 extracts the difference ⁇ h1 between the planned height H1 and the actual height H11 , which is the actual shape.
  • the control information generation device 33 found by measurement that the actual height H21 of the second layer is lower than the originally planned planned height H2 by ⁇ h2 .
  • the control information output unit 334 of the control information generation device 33 outputs the target height H32 , which is raised by ⁇ h2 from the originally planned planned height H3 for the third layer. That is, the control information output unit 334 sets a correction target value larger than the difference, and outputs control information corrected according to the correction target value. As a result, the control information generating device 33 sets a value larger than the difference as the target value, and can obtain a correction value that sufficiently contributes to correcting the height. This method can be applied not only to correcting the stacking height, but also to stacking width, stacking cross-sectional area, and the like.
  • FIG. 9 is a graph illustrating another method for eliminating the difference in height as the number of layers in which the weld bead 28 is laminated increases.
  • the straight line L2 is the target planned height in the simulated shape, and the heights H1 , H2 , H3 , H4 , H5 , H6, ... are the planned heights.
  • control information generator 33 extracts the difference ⁇ h1 between the planned height H1 and the actual height H11 , which is the actual shape.
  • the control information generation device 33 found by measurement that the actual height H21 of the second layer is lower than the originally planned planned height H2 by ⁇ h2 .
  • control information output unit 334 of the control information generation device 33 sets the target height H32 , which is raised by ⁇ h1 + ⁇ h2 from the initially planned planned height H3 , in the third layer, as in the example of FIG. Output.
  • the control information generating device 33 found by measurement that the actual height H31 of the third layer is also lower than the originally planned planned height H3 by ⁇ h3 . Therefore, the control information output unit 334 of the control information generation device 33 outputs the target height H42 , which is raised by ⁇ h1 + ⁇ h2 + ⁇ h3 from the initially planned planned height H4 for the fourth layer. As a result, the control information generating device 33 sets a value larger than the difference as the target value, and can obtain a correction value that sufficiently contributes to correcting the height.
  • the method shown in FIG. 9 can suppress accumulation of differences more than the method shown in FIG. This method can be applied not only to correcting the stacking height, but also to stacking width, stacking cross-sectional area, and the like.
  • a control information generating device for generating control information for controlling a layered manufacturing device for manufacturing a three-dimensional structure in which the layer shape is stacked, a data acquisition unit that acquires a characteristic profile of a shape change of the weld bead that occurs when the control condition is changed for a pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead; a measurement unit that measures an actual shape including at least the height or width of the three-dimensional structure that has been formed; A computing unit that compares a simulated shape obtained by simulating the shape of the three-dimensional structure by laminating the bead models and the actual shape, and extracts a difference between the two shapes; a control information output unit that obtains a correction value for the
  • this control information generation device it is possible to extract the difference between the actual shape and the simulated shape that are more suitable for the actual three-dimensional structure.
  • control information generating device (4) The control information generating device according to any one of (1) to (3), wherein the data acquisition unit updates the characteristic profile of the shape change by accumulating a plurality of layers of the characteristic profile of the shape change. .
  • the control conditions can be changed using the characteristic profile of the shape change that can cope with the case where the difference between the actual shape and the simulated shape exceeds a predetermined range.
  • the control information generation device according to 1.
  • the shape of the laminated weld bead that is, the shape of the three-dimensional structure is determined by taking into account multiple types of profiles and comprehensively considering various characteristics of the weld bead. It is possible to approximate the simulated shape (planned shape) based on the plan.
  • a control information generation method for generating control information for controlling a layered manufacturing apparatus for manufacturing a three-dimensional structure in which the layer shape is stacked, a data acquisition step of acquiring a characteristic profile of a shape change of the weld bead that occurs when the control condition is changed for a pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead; a measuring step of measuring an actual shape including at least the height or width of the three-dimensional structure that has been shaped; A calculation step of comparing a simulated shape obtained by simulating the shape of the three-dimensional structure by laminating the bead model and the actual shape, and extracting a difference between the two shapes; a control information output step of obtaining a correction value for the control condition that eliminates the difference from the characteristic
  • a welding control device comprising a control unit that controls the layered manufacturing device according to a result output by the control information generation device. According to this welding control device, it is possible to appropriately control the layered manufacturing apparatus based on the corrected control information.
  • the welding control device according to (7); the laminate molding apparatus; Welding equipment comprising: According to this welding device, it is possible to perform appropriate arc welding and form a three-dimensional structure close to a simulated shape using the layered manufacturing device.
  • a control information generation program for generating control information for controlling a layered manufacturing apparatus for manufacturing a three-dimensional structure in which the layer shape is stacked, a data acquisition step of acquiring a characteristic profile of a shape change of the weld bead that occurs when the control condition is changed for a pseudo block body obtained by laminating a plurality of bead models simulating the shape of the weld bead; a measuring step of measuring an actual shape including at least the height or width of the three-dimensional structure that has been shaped; A calculation step of comparing a simulated shape obtained by simulating the shape of the three-dimensional structure by laminating the bead model and the actual shape, and extracting a difference between the two shapes; a control information output step of obtaining a correction value for the control condition that eliminates the difference from the characteristic

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  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

La présente invention concerne un dispositif de génération d'informations de commande qui comprend : une unité d'acquisition de données pour acquérir un profil caractéristique de changements de forme d'un cordon de soudage qui se produisent lorsqu'une condition de commande est modifiée pour un pseudo-corps de bloc obtenu par empilement d'une pluralité de modèles de billes simulant la forme du cordon de soudage ; une unité de mesure pour mesurer une forme réelle comprenant au moins une hauteur ou une largeur d'une structure tridimensionnelle moulée ; une unité de calcul pour comparer une forme simulée, simulant la forme de la structure tridimensionnelle en empilant les modèles de billes, et la forme réelle, et extraire une différence entre les deux formes ; et une unité de sortie d'informations de commande pour obtenir à partir du profil caractéristique une valeur corrigée de la condition de commande qui élimine la différence et délivrer des informations de commande qui ont été corrigées en fonction de la valeur corrigée.
PCT/JP2022/048294 2022-02-04 2022-12-27 Dispositif de génération d'informations de commande, procédé de génération d'informations de commande, dispositif de commande de soudage et programme de génération d'informations de commande WO2023149142A1 (fr)

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JP2022016343A JP2023114157A (ja) 2022-02-04 2022-02-04 制御情報生成装置、制御情報生成方法、溶接制御装置及び制御情報生成プログラム

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021074981A (ja) * 2019-11-11 2021-05-20 株式会社神戸製鋼所 造形物の製造方法、造形物の製造装置、及びプログラム
WO2021129671A1 (fr) * 2019-12-24 2021-07-01 华中科技大学 Procédé de modélisation de cordon de soudure, dispositif et système de fabrication additive de fil-arc
WO2022014240A1 (fr) * 2020-07-15 2022-01-20 株式会社神戸製鋼所 Dispositif d'apprentissage automatique, système de moulage de stratifié, procédé d'apprentissage automatique pour condition de soudage, procédé de réglage pour condition de soudage et programme
WO2022019013A1 (fr) * 2020-07-20 2022-01-27 株式会社神戸製鋼所 Dispositif d'apprentissage automatique, système de moulage de stratifié, procédé d'apprentissage automatique pour condition de soudage, procédé de détermination de condition de soudage et programme

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021074981A (ja) * 2019-11-11 2021-05-20 株式会社神戸製鋼所 造形物の製造方法、造形物の製造装置、及びプログラム
WO2021129671A1 (fr) * 2019-12-24 2021-07-01 华中科技大学 Procédé de modélisation de cordon de soudure, dispositif et système de fabrication additive de fil-arc
WO2022014240A1 (fr) * 2020-07-15 2022-01-20 株式会社神戸製鋼所 Dispositif d'apprentissage automatique, système de moulage de stratifié, procédé d'apprentissage automatique pour condition de soudage, procédé de réglage pour condition de soudage et programme
WO2022019013A1 (fr) * 2020-07-20 2022-01-27 株式会社神戸製鋼所 Dispositif d'apprentissage automatique, système de moulage de stratifié, procédé d'apprentissage automatique pour condition de soudage, procédé de détermination de condition de soudage et programme

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