JP7403418B2 - Slag removal procedure generator - Google Patents

Description

The present invention relates to a slag removal system using a plurality of slag chippers arranged in parallel, a slag removal procedure generation device, a slag removal method, and a program.

A connecting arm is installed that allows the welding traveling truck and the welding slag removal traveling truck to run in synchronization, and a chisel position adjustment device is used to connect the welding slag removal machine main body and displacement detector for bead surface tracing to the welding slag removing traveling truck. The surface scanning detector detects the unevenness or height condition of the bead surface, and based on this detection signal, the stroke of the chisel position adjustment device is adjusted, making it suitable for welding slag removal. An automatic welding slag removal device that holds a chisel of a welding slag removal machine main body in position is known (see Patent Document 1).

Japanese Patent Application Publication No. 9-216095

In lamination using welding, if slag remains in the lower layer, problems such as slag entrainment and arc start errors may occur. Therefore, it is necessary to remove the slag using a slag chipper or the like.

Here, in order to improve the working efficiency of slag removal, it is conceivable to remove slag using a plurality of slag chippers. However, when a plurality of slag chippers are simply arranged in parallel, some parts may not be touched by the slag chippers depending on the structure of the laminate-manufactured object, and there is a limit to the improvement in the work efficiency of removing slag from the laminate-manufactured object.

An object of the present invention is to improve the work efficiency of removing slag from a laminate-manufactured object compared to the case where a plurality of slag chippers are simply arranged in parallel.

With such an objective, the present invention provides a plurality of slag chippers arranged in parallel, a stroke mechanism that can independently adjust the positions of the plurality of slag chippers in the stacking direction of a laminate-produced product, and a shape of a laminate-produced product. A slag removal device comprising: an acquisition means for acquiring shape information; and a control means for controlling a stroke mechanism based on the shape information so that the positions of a plurality of slag chippers in the stacking direction are in accordance with the shape of the layered object. provide the system.

The slag removal system further includes a measuring means for measuring the height in the stacking direction of the laminate-molded object, and the control means adjusts the position of the plurality of slag chippers in the stacking direction according to the height measured by the measuring means. The stroke mechanism may be controlled in this way.

The control means may control the stroke mechanism so that when the plurality of slag chippers interfere with the laminate-molded article, the positions of the plurality of slag chippers in the stacking direction are at positions where they do not interfere with the laminate-molded article.

The present invention also provides an acquisition means for acquiring shape information indicating the shape of the laminate-manufactured object, a plurality of slag chippers arranged in parallel, and a position of the plurality of slag chippers in the stacking direction of the laminate-manufactured object that can be adjusted independently of each other. Generates control information based on shape information for controlling a stroke mechanism in a slag removal device having a stroke mechanism such that the positions of the plurality of slag chippers in the stacking direction are in accordance with the shape of the laminate-molded object. A slagging procedure generating device is also provided, comprising a generating means for generating a slag removal procedure.

The generating means may generate the control information further based on information on the height and width of the weld bead in the layer plan of the layered product. In that case, the laminate-produced article includes a first part whose height in the stacking direction is a first height, and a second part whose height in the stacking direction is a second height lower than the first height. The generating means includes a position in the stacking direction of the slag chipper facing the first part of the plurality of slag chippers, and a position corresponding to the first height, and a position facing the second part of the plurality of slag chippers. The control information for controlling the stroke mechanism may be generated so that the position of the slag chipper in the stacking direction corresponds to the second height.

The generating means generates control information for controlling the stroke mechanism so that when the plurality of slag chippers interfere with the laminate-molded object, the positions of the plurality of slag chippers in the stacking direction are at positions where they do not interfere with the laminate-molded object. It can be anything. In that case, the slag removal procedure generation device compares information indicating the positions of the plurality of slag chippers in the stacking direction with information obtained by changing the shape information based on the operation information of the positioner that determines the position and orientation of the additively manufactured object. By doing so, the apparatus may further include a determining means for determining whether or not the plurality of slag chippers interfere with the laminate-molded article.

Furthermore, the present invention includes a step of acquiring shape information indicating the shape of the laminate-molded object, a plurality of slag chippers arranged in parallel, and a step in which the positions of the plurality of slag chippers in the stacking direction of the laminate-molded object can be adjusted independently of each other. A slag removal method comprising the step of controlling a stroke mechanism in a slag removal device having a stroke mechanism based on shape information so that the positions of a plurality of slag chippers in the stacking direction are in accordance with the shape of a laminate-molded object. Also provided.

Furthermore, the present invention provides a computer with a function of acquiring shape information indicating the shape of a laminate-manufactured object, a plurality of slug chippers arranged in parallel, and a function to independently determine the positions of the plurality of slag chippers in the stacking direction of the laminate-manufactured object. control information for controlling a stroke mechanism in a slag removal device having a stroke mechanism that can be adjusted so that the positions of the plurality of slag chippers in the stacking direction are in accordance with the shape of the laminate-molded object; We also provide a program to realize the function of generating data based on the above information.

According to the present invention, the work efficiency of removing slag from a layered product is improved compared to when a plurality of slag chippers are simply arranged in parallel.

1 is a diagram showing a schematic configuration example of a metal additive manufacturing system according to an embodiment of the present invention. 1 is a diagram showing an example of the hardware configuration of a planning device in an embodiment of the present invention. (a) and (b) are diagrams showing an overview of an embodiment of the present invention. 1 is a diagram showing an example of a functional configuration of a planning device according to an embodiment of the present invention. 1 is a diagram showing an example of a functional configuration of a slag removal control device according to an embodiment of the present invention. It is a flow chart showing an example of operation of a planning device in an embodiment of the present invention. 3 is a flowchart showing an example of the operation of the slag removal control device according to the 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 includes a welding robot (manipulator) 10, a slag removal device 20, a CAD device 30, a planning device 40, a welding control device 60, and a slag removal control device 70. . Furthermore, the planning device 40 writes a welding control program for controlling the welding robot 10 in a removable recording medium 91 such as a memory card, and the welding control device 60 reads the welding control program written in the recording medium 91. is now possible. Furthermore, the planning device 40 writes a slag removal control program that controls the slag removal device 20 into a removable recording medium 92 such as a memory card, and the slag removal control device 70 writes a slag removal control program that controls the slag removal device 20 into a removable recording medium 92 such as a memory card. The program can now be read.

The welding robot 10 includes an arm 11 having a plurality of joints, and performs welding work by operating according to a welding control program read by a welding control device 60. The welding robot 10 also has a welding torch 13 at the tip of the arm 11 via the wrist 12 for modeling the layered product 100. 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, and multiple A layered product 100 is manufactured by laminating layers of beads. Although the shape of the laminate-molded article 100 shown in the figure is just an example, here, the laminate-molded article 100 includes walls 101, 102, a roof 103, a filling portion 104, and a columnar portion 105. There is. Since the metal additive manufacturing system 1 is intended to laminate a plurality of layers of beads while rotating the laminate model 100, it also includes a rotation positioner 150. The rotary positioner 150 is an example of a positioner that determines the position and orientation of a laminate-molded object. For example, the welding robot 10 forms walls 101 and 102 by forming high beads in the circumferential direction for each layer while rotating the layered product 100 with the rotation positioner 150, and then forms the beads in the axial direction. The roof portion 103 is formed by forming the roof portion 103, and then the filling portion 104 and the columnar portion 105 are formed by forming a bead lower in the circumferential direction. 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 slag removal device 20 is provided such that a cart 23 is self-propelled under a horizontally installed rail 21 via wheels 22a, 22b, and eight slag chippers 24 are arranged in parallel under the cart 23. It consists of Here, "parallel" means that all eight slag chippers 24 are moving from the cart 23 toward the laminate-molded article 100. Also. Eight slag chippers 24 are arranged in a row. Each of the eight slag chippers 24 has a needle portion 25 for removing the slags 111, 112, 114. The slag removal device 20 also includes a stroke mechanism 26 that can move the eight slag chippers 24 independently of each other in the stacking direction. Here, the stroke mechanism 26 may be realized by, for example, a slider, a telescopic arc, or the like. Furthermore, the slag removal device 20 also includes a height sensor 27 that measures the height of the bead in the laminate-molded article 100. Here, it is preferable that the height sensor 27 is non-contact in order to avoid interference with the layered product 100. Although the non-contact measurement method is not particularly limited, it is preferable to use, for example, a three-dimensional laser measuring device, an image sensor, or the like. The height sensor 27 is an example of a measuring device that measures the height of the laminate-molded object in the stacking direction. The slag removal device 20 performs slag removal work by operating according to the slag removal control program read by the slag removal control device 70. The figure shows a scene where the slag removal device 20 is removing slag from the walls 101 and 102 and the filling part 104 of the laminate-molded article 100. Further, it is assumed that the slag is removed while the laminate-molded article 100 is rotated by the rotary positioner 150. Although eight slag chippers 24 are provided here, this is just an example, and a plurality of slag chippers 24 may be provided.

The CAD device 30 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 planning device 40 creates a stacking plan and a slag removal plan for the layered object 100 based on the three-dimensional CAD data held by the CAD device 30. That is, the planning device 40 determines the trajectory of the welding torch 13 and also determines the welding conditions when the welding robot 10 performs welding. Then, a welding control program for controlling the welding robot 10 to form a bead under the determined welding conditions along the determined trajectory is generated, and this welding control program is output to the recording medium 91. Furthermore, the planning device 40 determines the trajectory of the slag chipper 24 and determines the amount of movement of the slag chipper 24 in the stacking direction by the stroke mechanism 26. Then, a slag removal control program is generated to control the slag removal device 20 to remove the slag with the slag chipper 24 while moving in the stacking direction by the determined movement amount along the determined trajectory, and this slag removal control program is generated. The program is output to the recording medium 92. In this embodiment, a planning device 40 is provided as an example of a slag removal procedure generating device.

Welding control device 60 reads a welding control program from recording medium 91 and holds it. By operating this welding control program, a bead is formed according to the lamination plan created by the planning device 40, that is, along the trajectory determined by the planning device 40, and under the welding conditions determined by the planning device 40. The welding robot 10 is controlled to do so.

The slag removal control device 70 reads and holds a slag removal control program from the recording medium 92. By operating this slag removal control program, the slag removal plan created by the planning device 40, in other words, along the trajectory determined by the planning device 40, the slag is stacked by the amount of movement determined by the planning device 40. The slag removal device 20 is controlled so that the slag is removed by the slag chipper 24 while moving in the direction. Here, a portion in which the planning device 40 and the slag removal device 20 are added to the slag removal control device 70 is an example of a slag removal system.

[Hardware configuration of planning device]
FIG. 2 is a diagram showing an example of the hardware configuration of the planning device 40.

As shown in the figure, the planning device 40 is realized by, for example, a general-purpose PC (Personal Computer) or the like, and includes a CPU 41 as a calculation means, a main memory 42 as a storage means, and a magnetic disk device (HDD: Hard Disk Drive) 43. Equipped with Here, the CPU 41 executes various programs such as an OS (Operating System) and application software, and realizes each function of the planning device 40. Further, the main memory 42 is a storage area that stores various programs and data used for their execution, and the HDD 43 is a storage area that stores input data for various programs, output data from the various programs, and the like.

The planning device 40 also has a communication I/F 44 for communicating with the outside, a display mechanism 45 consisting of a video memory, a display, etc., an input device 46 such as a keyboard and a mouse, and recording media 91, 92. and a driver 47 for reading and writing data. Note that FIG. 2 merely illustrates the hardware configuration when the planning device 40 is implemented as a computer system, and the planning device 40 is not limited to the illustrated configuration.

Further, the hardware configuration shown in FIG. 2 can also be regarded as the hardware configuration of the welding control device 60 or the slag removal control device 70. However, when describing the welding control device 60, the CPU 41, main memory 42, magnetic disk device 43, communication I/F 44, display mechanism 45, input device 46, and driver 47 in FIG. The disk device 63, communication I/F 64, display mechanism 65, input device 66, and driver 67 are represented. When describing the slag removal control device 70, the CPU 41, main memory 42, magnetic disk device 43, communication I/F 44, display mechanism 45, input device 46, and driver 47 in FIG. A magnetic disk device 73, a communication I/F 74, a display mechanism 75, an input device 76, and a driver 77 are written as.

[Overview of this embodiment]
FIGS. 3A and 3B are diagrams showing an overview of this embodiment.

FIGS. 3A and 3B show the walls 101, 102, roof 103, and filling part 104 of the additively manufactured article 100 and the slag removal device 20 from the metal additive manufacturing system 1 in FIG. A portion including eight slag chippers 24 is extracted and shown enlarged. Here, the eight slag chippers 24 will be referred to as slag chippers 24a to 24h, and the needle portions 25 of the slag chippers 24a to 24h will be referred to as needle portions 25a to 25h, respectively.

In this embodiment, the slag removal device 20 measures the height of the needle portions 25a to 25h of the slag chippers 24a to 24h with the height planned by the planning device 40 or with the height sensor 27, as shown in FIG. 3(a). By moving it according to the height, slag removal is performed while matching the stacked height. Specifically, the slag removing device 20 removes the slag 111 from the wall portion 101 using the needle portions 25a, 25b of the slag chippers 24a, 24b, and removes the slag 111 from the wall portion 101 using the needle portions 25g, 25h of the slag chippers 24g, 24h. slag 112 is removed. Then, the slag removing device 20 removes the slag 114 from the filling portion 104 using the needle portions 25c to 25f of the slag chippers 24c to 24f.

In this case, the wall portion 101 and the wall portion 102 are each an example of a first portion having a first height in the stacking direction. When the wall portion 101 is an example of the first portion, the slag chippers 24a and 24b are examples of slag chippers facing the first portion among the plurality of slag chippers, and the needle portions 25a and 25b of the slag chippers 24a and 24b are Moving the slag chipper according to the height planned by the planning device 40 or the height measured by the height sensor 27 is to make the position of the slag chipper in the stacking direction correspond to the first height. This is an example. When the wall portion 102 is an example of the first portion, the slag chippers 24g and 24h are examples of slag chippers facing the first portion among the plurality of slag chippers, and the needle portions 25g and 25h of the slag chippers 24g and 24h are planned. Moving according to the height planned by the device 40 or the height measured by the height sensor 27 is an example of making the position of the slag chipper in the stacking direction correspond to the first height. be.

Furthermore, the filling portion 104 is an example of a second portion whose height in the stacking direction is a second height lower than the first height. The slag chippers 24c to 24f are examples of slag chippers facing the second portion of the plurality of slag chippers, and the heights or height sensors 27 of the needle portions 25c to 25f of the slag chippers 24c to 24f are planned by the planning device 40. Moving the slag chipper according to the height measured in is an example of making the position of the slag chipper in the stacking direction correspond to the second height.

In addition, in the present embodiment, as shown in FIG. 3(b), when interference occurs between the roof portion 103 and the needle portions 25c to 25f of the slag chippers 24c to 24f, the slag removing device 20 Interference can also be avoided by moving in the stacking direction. Specifically, the slag removal device 20 removes the slag 111 from the wall portion 101 using the needle portions 25a and 25b of the slag chippers 24a and 24b, and removes the slag 111 from the wall portion 101 using the needle portions 25a and 25b of the slag chippers 24g and 24h, as shown in FIG. 25g and 25h are used to remove the slag 112 from the wall portion 102. On the other hand, in the slag removal device 20, since interference occurs between the roof part 103 and the needle parts 25c to 25f, the slag chippers 24c to 24f are moved in the stacking direction so that the needle parts 25c to 25f do not remove slag. .

[Details of this embodiment]
Hereinafter, the metal additive manufacturing system 1 that realizes the above outline will be explained in detail, focusing on the configuration and operation of the planning device 40 and the slag removal control device 70.

(Functional configuration of planning device)
FIG. 4 is a diagram showing an example of the functional configuration of the planning device 40 in this embodiment. As illustrated, the planning device 40 in this embodiment includes a CAD data acquisition section 51, a CAD data division section 52, a stack planning section 53, a welding control program generation section 54, a slag removal planning section 55, It includes an interference determination section 56, a slag removal control program generation section 57, and a control program output section 58.

The CAD data acquisition unit 51 acquires three-dimensional CAD data representing the three-dimensional shape of the layered object 100 from the CAD device 30. In this embodiment, three-dimensional CAD data is used as an example of shape information indicating the shape of a layered product, and a CAD data acquisition unit 51 is provided as an example of an acquisition means for acquiring shape information.

The CAD data division unit 52 divides (slices) the three-dimensional CAD data acquired by the CAD data acquisition unit 51 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 52 may convert the three-dimensional CAD data into an internal format that can be easily divided into a plurality of layers. For example, in the case of the cylindrical layered product 100 shown in FIG. 1, it is preferable to divide it into a plurality of layers radially outward from the central axis.

The stacking planning unit 53 generates a stacking plan including the position of the welding torch 13 and welding conditions when welding a bead that matches the height and width of each layer of the plurality of layer shape data generated by the CAD data dividing unit 52. . To generate such a stacking plan, a model that approximates the height and width of the bead as well as the cross-sectional shape of the bead 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. For example, we performed bead-on-plate welding or stacked several layers vertically while varying the welding speed and wire feed speed under several conditions to change the amount of welding, and measured the height and width of each layer under each condition. Create a database. 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 measured results as needed, and the position of the welding torch 13 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 unit 53 also includes temporal changes in the position (trajectory) of the welding torch 13 and temporal changes in welding conditions in the stacking plan. At this time, the stacking planning section 53 may include operation information of the rotary positioner 150 as a temporal change in the position of the welding torch 13 in the stacking plan. For example, regarding the position of the welding torch 13 in the stacking direction, temporal changes in the position of the welding torch 13 are included in the stacking plan, and regarding the position of the welding torch 13 in the circumferential direction of the layered product 100, the rotation angle of the rotary positioner 150 is included. Changes over time may be included in the stacking plan. Furthermore, the laminate planning unit 53 also includes temporal changes in the shape of the laminate-molded article 100 in the laminate plan. For example, the stacking planning unit 53 may include information in which the three-dimensional shape of the layered object 100 is changed in accordance with the operation information of the rotary positioner 150 in the stacking plan.

The welding control program generation unit 54 generates a welding control program for controlling the welding robot 10 to perform welding according to the stacking plan generated by the stacking planning unit 53.

The slag removal planning unit 55 generates a slag removal plan including the position of the slag chipper 24 according to the height and width of each layer of the plurality of layer shape data generated by the CAD data dividing unit 52. Such a slag removal plan is preferably generated by adding offsets to the height and width of the bead to the position of the slag chipper 24 obtained by the same method as the stacking planning section 53. Alternatively, such a slag removal plan may be generated by adding offsets of bead height and width to the stacking trajectory and air cut trajectory of the welding torch 13 in the stacking plan generated by the stacking planning section 53.

Further, like the stacking planning section 53, the slag removal planning section 55 also includes temporal changes (orbits) in the position of the slag chipper 24 in the slag removal plan. At this time, the slag removal planning section 55 may include operation information of the rotary positioner 150 as a temporal change in the position of the slag chipper 24 in the slag removal plan. For example, regarding the position of the slag chipper 24 in the stacking direction, temporal changes in the position of the slag chipper 24 are included in the slag removal plan, and regarding the position of the slag chipper 24 in the circumferential direction of the layered product 100, the time change of the rotation angle of the rotary positioner 150 is included. changes may be included in the slag removal plan. Furthermore, the slag removal planning unit 55 also includes temporal changes in the shape of the laminate-molded article 100 in the laminate plan. For example, the slag removal planning unit 55 may include information in which the three-dimensional shape of the layered object 100 is changed in accordance with the operation information of the rotary positioner 150 in the slag removal plan.

The interference determination section 56 determines whether or not interference occurs between the shape of the layered product 100 in the slag removal plan generated by the slag removal planning section 55 and the position of the slag chipper 24 . For example, the interference determination unit 56 determines whether such interference occurs by comparing information regarding temporal changes in the shape of the laminate-molded article 100 and information regarding temporal changes in the position of the slag chipper 24. do. In this embodiment, by comparing information indicating the positions of the plurality of slag chippers in the stacking direction with information in which the shape information is changed based on the operation information of the positioner, the plurality of slag chippers interfere with the layered object. An interference determining section 56 is provided as an example of determining means for determining whether or not the interference occurs.

The slag removal control program generation unit 57 generates a slag removal control program for controlling the slag removal device 20 to perform slag removal according to the slag removal plan generated by the slag removal planning unit 55. In this case, the slag removal control program is an example of control information for controlling the stroke mechanism so that the positions of the plurality of slag chippers in the stacking direction follow the shape of the laminate-molded object, and the slag removal control program The generation unit 57 is an example of a generation unit that generates such control information based on shape information. Further, when the interference determination unit 56 determines that interference occurs between the shape of the laminate-molded object 100 and the position of the slag chipper 24 in the slag removal plan, the slag removal control program generation unit 57 determines the position of the slag chipper 24 in the slag removal plan. A slag removal control program is generated after the slag removal control program is modified so as not to interfere with the shape of the laminate-molded article 100. In this case, the slag removal control program is an example of control information for controlling the stroke mechanism so that the positions of the plurality of slag chippers in the stacking direction do not interfere with the layered object, and the slag removal control program generation unit 57 is an example of a generation means that generates such control information when a plurality of slag chippers interfere with a laminate-molded product.

The control program output unit 58 outputs the welding control program generated by the welding control program generation unit 54 to the recording medium 91 and outputs the slag removal control program generated by the slag removal control program generation unit 57 to the recording medium 92.

(Functional configuration of welding control device and slag removal control device)
The functional configuration of the welding control device 60 in this embodiment is the same as that of the existing welding control device 60, so the explanation will be omitted, and only the functional configuration of the slag removal control device 70 in this embodiment will be explained here. .

FIG. 5 is a diagram showing an example of the functional configuration of the slag removal control device 70 in this embodiment. As illustrated, the slag removal control device 70 in this embodiment includes a slag removal control program acquisition section 81, a slag removal control program storage section 82, a height data reception section 83, and a slag removal control program execution section 84. Equipped with.

The slag removal control program acquisition unit 81 acquires the slag removal control program recorded on the recording medium 91.

The slag removal control program storage unit 82 stores the slag removal control program acquired by the slag removal control program acquisition unit 81.

The height data receiving unit 83 receives height data indicating the measured height from the height sensor 27 which measures the height each time a single layer bead is formed.

The slag removal control program execution section 84 reads out and executes the slag removal control program stored in the slag removal control program storage section 82 . Thereby, the slag removal control program execution unit 84 controls the slag removal device 20 to perform slag removal according to the slag removal plan generated by the slag removal planning unit 55. In this case, the slag removal control program execution unit 84 is an example of a control means that controls the stroke mechanism based on the shape information so that the positions of the plurality of slag chippers in the stacking direction are in accordance with the shape of the layered object. . In addition, the slag removal control program execution unit 84 controls the stroke mechanism so that when the plurality of slag chippers interfere with the layered object, the positions of the plurality of slag chippers in the stacking direction are at positions where they do not interfere with the layered object. This is also an example of a method. At this time, the slag removal control program execution unit 84 performs slag removal while correcting the position of the slag chipper 24 in the stacking direction based on the height data received by the height data reception unit 83 from the height sensor 27. In this case, the slag removal control program execution section 84 is an example of a control means that controls the stroke mechanism so that the positions of the plurality of slag chippers in the stacking direction correspond to the heights measured by the measuring means.

(Operation of planning device)
FIG. 6 is a flowchart showing an example of the operation of the planning device 40 in this embodiment.

In the planning device 40, first, the CAD data acquisition unit 51 acquires three-dimensional CAD data from the CAD device 30 (step 401).

Next, the CAD data dividing unit 52 divides the three-dimensional CAD data acquired in step 401 into a plurality of layers to generate layer shape data (step 402).

Next, the stack planning unit 53 generates a stack plan from the layer shape data generated in step 402 (step 403).

Next, the welding control program generation unit 54 generates a welding control program based on the stacking plan generated in step 403 (step 404). Specifically, a welding control program is generated that controls the welding robot 10 to form a bead according to the lamination plan.

On the other hand, the slag removal planning unit 55 generates a slag removal plan from the layer shape data generated in step 402 (step 405).

Next, the interference determining unit 56 determines whether or not the laminate-molded article 100 and the slag chipper 24 interfere at each point in the slag removal plan generated in step 405 (step 406). Here, the determination as to whether or not the laminate-molded article 100 and the slag chipper 24 will interfere may be made based on information about the shape of the laminate-molded article 100 and the position of the slag chipper 24 at each point in the slag removal plan.

If it is determined that the laminate-molded article 100 and the slag chipper 24 will interfere, the interference determination unit 56 corrects the position of the slag chipper 24 at the time when it is determined that they will interfere in the slag removal plan generated in step 405 (step 407). Specifically, the interference determination unit 56 controls the stroke mechanism 26 of the slag removal device 20 so that the slag chipper 24 moves in the stacking direction so that the laminate-molded article 100 and the slag chipper 24 do not interfere with each other. The interference determination unit 56 then advances the process to step 408.

If it is not determined that the laminate-molded article 100 and the slag chipper 24 interfere, the interference determination unit 56 advances the process to step 408 without correcting the position of the slag chipper 24.

Thereafter, the slag removal control program generation unit 57 performs slag removal control based on the slag removal plan generated in step 405 or the slag removal plan generated in step 405 and in which the position of the slag chipper 24 is corrected in step 407. A program is generated (step 408). Specifically, a slag removal control program is generated that controls the slag removal device 20 to remove slag according to the slag removal plan.

Finally, the control program output unit 58 outputs the welding control program generated in step 404 to the recording medium 91, and outputs the slag removal control program generated in step 408 to the recording medium 92 (step 409).

(Operation of welding control device and slag removal control device)
Since the operation of welding control device 60 in this embodiment is similar to the operation of existing welding control device 60, the explanation will be omitted, and here, only the operation of slag removal control device 70 in this embodiment will be explained.

In the slag removal control device 70 , first, the slag removal control program acquisition section 81 acquires the slag removal control program from the recording medium 92 and stores it in the slag removal control program storage section 82 . Then, the slag removal control program execution section 84 reads out the slag removal control program stored in the slag removal control program storage section 82 and executes it.

FIG. 7 is a flowchart showing an example of the operation of this slag removal control program execution section 84. Note that here, the j-th path of the i-th layer will be expressed as P(i,j). Further, the explanation will be given assuming that k slag chippers 24 are arranged in an array to remove slag.

The slag removal control program execution unit 84 first sets the layer index i to 1 (step 701). In other words, focus on the first layer.

The slag removal control program execution unit 84 also sets the index j of the path to 1 (step 702). In other words, focus on the first path.

Next, the slag removal control program execution unit 84 increases the layer index i by 1 up to the number of layers n, increases the pass index j by 1 up to the number of passes m, and executes the combination of each index i, j. The processing from step 702 to step 706 is performed for the data.

That is, the slag removal control program execution unit 84 determines whether welding from pass P(i,j) to pass P(i,j+k-1) has been completed (step 703). Here, any method may be used to determine whether welding from pass P(i, j) to pass P(i, j+k-1) has been completed. For example, the slag removal control program execution unit 84 may receive information on the time when welding of these passes was performed from the welding control device 60, and check whether a predetermined time has elapsed from this time. is possible.

As a result, if it is not determined that the welding from pass P(i,j) to pass P(i,j+k-1) is completed, the slag removal control program execution unit 84 repeats step 703.

On the other hand, if it is determined that welding from pass P(i, j) to pass P(i, j+k-1) is completed, the slag removal control program execution unit 84 welds welding from pass P(i, j) to pass P(i , j+k-1) is different from the planned height (step 704). Here, as the actual height of the bead, the height of the bead indicated by the height data received by the height data receiving section 83 from the height sensor 27 may be used. Further, as the planned height of the bead, the height of the bead set in the slag removal control program may be used.

As a result, it is assumed that it is determined that the actual height of the bead in any of the passes is different from the planned height. In this case, the slag removal control program execution unit 84 corrects the position of the slag chipper 24 in the stacking direction for the path in which the actual height of the bead is determined to be different from the planned height (step 705). Specifically, the slag removal control program execution unit 84 corrects the position of the slag chipper 24 in the stacking direction to match the actual height of the bead. The slag removal control program execution unit 84 then advances the process to step 706.

On the other hand, assume that it is not determined that the actual height of the bead in any pass is different from the planned height. In other words, it is assumed that it is determined that the actual height of the bead in any pass is not different from the planned height. In this case, the slag removal control program execution unit 84 advances the process to step 706 without correcting the position of the slag chipper 24 in the stacking direction.

Next, the slag removal control program execution unit 84 controls the slag removal device 20 to remove the slag of the path (i, j+k-1) from the path P (i, j) (step 706).

After that, the slag removal control program execution unit 84 adds k to the index j of the path (step 707). In other words, the focus is on k adjacent paths. Then, it is determined whether the path index j exceeds the number m of paths (step 708).

As a result, if it is determined that the path index j does not exceed the number m of paths, the slag removal control program execution unit 84 returns the process to step 703.

On the other hand, if it is determined that the pass index j exceeds the number m of passes, the slag removal control program execution unit 84 advances the process to step 709.

Thereafter, the slag removal control program execution unit 84 adds 1 to the index i of the layer (step 709). In other words, focus on the next layer. Then, it is determined whether the index i of the layer exceeds the number n of layers (step 710).

As a result, if it is determined that the index i of the layer does not exceed the number n of layers, the slag removal control program execution unit 84 returns the process to step 702.

On the other hand, if it is determined that the layer index i exceeds the number n of layers, the slag removal control program execution unit 84 ends the process.

[Effects of this embodiment]
As described above, in this embodiment, the position of each slag chipper 24 in the stacking direction is set to a position along the shape of the layered product 100 based on the shape information of the layered product 100, and slag is removed. I did it like that. As a result, when a plurality of slag chippers 24 are arranged in parallel, the work efficiency of removing slag in the layered product 100 is further improved.

[Modified example]
In the above, the slag chipper 24 having the needle portion 25 is used, but the method is not limited as long as it has the function of physically removing slag. For example, the slag chipper 24 may have a flat chisel.

Further, in the above description, the slag removal device 20 is configured to be independent from the welding robot 10, but the present invention is not limited to this. The slag removal device 20 may be configured by attaching a slag chipper 24 to the tip of the arm 11 of the welding robot 10 instead of the welding torch 13.

Furthermore, in the above description, the slag removal control device 70 changes the position of the plurality of slag chippers 24 in the stacking direction while the direction in which the plurality of slag chippers 24 are arranged coincides with the axial direction of the layered product 100. However, this is not the only limit. The slag removal control device 70 may change the direction in which the plurality of slag chippers 24 are arranged to be different from the axial direction of the laminate-molded article 100. For example, consider a case in which beads are formed at a constant angle with respect to the axial direction of the laminate-produced product 100, that is, a case in which beads are formed in a spiral shape around the axis of the laminate-produced product 100. . In such a case, the slag removal control device 70 rotates the cart 23 by a certain angle around the vertical axis so that the direction in which the plurality of slag chippers 24 are arranged is perpendicular to the direction in which the bead is formed. You can do it like this.

DESCRIPTION OF SYMBOLS 1... Metal additive manufacturing system, 10... Welding robot, 20... Slag removal device, 30... CAD device, 40... Planning device, 51... CAD data acquisition part, 52... CAD data division part, 53... Lamination planning part, 54... Welding control program generation section, 55... Slag removal planning section, 56... Interference determination section, 57... Slag removal control program generation section, 58... Control program output section, 60... Welding control device, 70... Slag removal control device, 81... Slag removal control program acquisition unit, 82...Slag removal control program storage unit, 83...Height data reception unit, 84...Slag removal control program execution unit, 91, 92...Recording medium, 150...Rotation positioner

Claims (4)

an acquisition means for acquiring shape information indicating the shape of the laminate-produced object;
The stroke mechanism of the slag removal device includes a plurality of slag chippers arranged in parallel, and a stroke mechanism that can adjust the positions of the plurality of slag chippers in the stacking direction of the laminate-molded object independently of each other. generating means for generating control information based on the shape information for controlling the position in the stacking direction to be a position along the shape of the layered object;
Equipped with
The slag removal procedure generating device, wherein the generating means generates the control information further based on information on the height and width of the weld bead in the layer plan of the layered object. The layered product includes a first portion having a first height in the layering direction, and a second portion having a second height lower than the first height in the layering direction. and a portion of
The generating means is configured such that a position in the stacking direction of a slag chipper facing the first portion of the plurality of slag chippers is a position corresponding to the first height, and a position of the slag chipper facing the first portion of the plurality of slag chippers is a position corresponding to the first height; The control information for controlling the stroke mechanism is generated so that the position of the slag chipper facing the stacking direction in the stacking direction corresponds to the second height. Slag removal procedure generator. The generating means controls the stroke mechanism so that, when the plurality of slag chippers interfere with the layered object, the positions of the plurality of slag chippers in the stacking direction are at positions where they do not interfere with the layered object. The slag removal procedure generation device according to claim 1, wherein the control information is generated. By comparing information indicating the positions of the plurality of slug chippers in the stacking direction with information obtained by changing the shape information based on operation information of a positioner that determines the position and orientation of the layered object, 4. The slag removal procedure generating device according to claim 3, further comprising determining means for determining whether or not the slag chipper interferes with the laminate-molded object.