MANUFACTURING METHOD, MANUFACTURING SYSTEM, AND MANUFACTURING PROGRAM FOR ADDITIVE MANUFACTURED OBJECT

Abstract

A welding robot (20) forms a laminate-molded object (11) by forming and laminating a melt bead (61) of each layer (L1 to Lk) so that a height (h.sub.now) of the melt bead (61) of each layer (L1 to Lk) is within a range of a tolerance () with respect to a planned height (h.sub.k). When the height (h.sub.now) of the melt bead (61) is lower than a value obtained by subtracting the tolerance () from the planned height (h.sub.k), the welding robot (20) forms another melt bead (61a) over the melt bead (61). When the height (h.sub.now) of the melt bead (61) is higher than a value obtained by adding the tolerance () to the planned height (h.sub.k), the melt bead (61) is removed by a cutting robot (30).

Claims

1. A method for manufacturing a laminate-molded object, comprising: acquiring shape data representing the shape of a shaped object; dividing the shaped object into a plurality of parallel layers based on the shape data and generating layer shape data representing the shape of each layer; and forming a melt bead of each layer and laminating the melt bead until the shape of the shaped object is formed, wherein the formation of the melt bead of each layer includes: forming the melt bead by a laminating device based on the layer shape data of each layer; measuring the height of the formed melt bead; comparing whether the measured height of the melt bead is within a range of a tolerance with respect to a planned height; forming another melt bead over the melt bead when the height of the melt bead is lower than a value obtained by subtracting the tolerance with respect to the planned height; and removing the melt bead when the height of the melt bead is higher than a value obtained by adding the tolerance to the planned height.

2. The method for manufacturing a laminate-molded object according to claim 1, wherein the measuring and the comparing are performed again after the another melt bead forming or the melt bead removing is performed.

3. A system for manufacturing a laminate-molded object, comprising: a laminating device for forming melt beads of a plurality of layers based on layer shape data representing the shape of the layers, in which a shaped object is divided into the plurality of layers parallel to each other; a cutting device capable of cutting the melt bead formed by the laminating device; a height measuring device for measuring the height of the formed melt bead; and a control device which controls the laminating device to form the melt bead of the plurality of layers based on the layer shape data of each layer, controls the laminating device to form another melt bead over the melt bead when the height of the melt bead measured by the height measuring device for each formation of the melt bead of each layer is lower than a value obtained by subtracting a tolerance from a planned height, and controls the cutting device to remove the melt bead when the height of the melt bead is higher than a value obtained by adding the tolerance to the planned height.

4. A computer program product, for manufacturing a laminate-molded object, comprising a non-transitory computer readable storage medium having instructions encoded thereon that, when executed by a processor, cause the processor to execute process, the process comprising forming a melt bead of each layer using layer shape data representing the shape of each layer, in which the shape object is divided into a plurality of layers based on shape data representing the shape of the shape object, and performing a procedure of laminating the melt bead until the shape of the shaped object is formed, wherein the formation of the melt bead of each layer includes: forming the melt bead by a laminating device based on the layer shape data of each layer; measuring the height of the formed melt bead; comparing whether the measured height of the melt bead is within a range of a tolerance with respect to a planned height; forming another melt bead over the melt bead when the height of the melt bead is lower than a value obtained by subtracting the tolerance from the planned height; and removing the melt bead when the height of the melt bead is higher than a value obtained by adding the tolerance to the planned height.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 is an external view of a system for manufacturing a laminate-molded object according to the invention.

[0032] FIG. 2 is a flow chart of a program illustrating a procedure for forming the laminate-molded object.

[0033] FIG. 3 is a view schematically illustrating a procedure for forming the laminate-molded object.

[0034] FIG. 4A is a view schematically illustrating a case where a bead of a next layer is formed when an actual bead lamination position is lower than a planned bead lamination position.

[0035] FIG. 4B is a view schematically illustrating a case where the bead of the next layer is formed when the actual bead lamination position is higher than the planned bead lamination position.

MODES FOR CARRYING OUT THE INVENTION

[0036] Hereinafter, an embodiment of a manufacturing method and a manufacturing system of a laminate-molded object according to the invention will be described in detail based on the drawings. The following embodiment is merely specific examples of the invention and do not limit the technical scope of the invention.

[0037] As illustrated in FIG. 1, a laminate-molded object manufacturing system 10 according to the embodiment includes a welding robot 20, a cutting robot 30, a height measuring device 40, a control device 50, a CAD/CAM device 51, a trajectory planning unit 52, and a memory 53. That is, in the embodiment, the existing welding robot 20 is used as the laminating device of the invention and the existing cutting robot 30 is used as the cutting device of the invention.

[0038] The laminate-molded object manufacturing system 10 moves a welding torch 22 based on layer shape data representing the shapes of layers L1 to Lk of a laminate-molded object 11 and laminates melt beads 61 over the plurality of layers L1 to Lk while melting a filler material (wire) W by the welding robot 20, in such a manner that the laminate-molded object manufacturing system 10 forms the laminate-molded object 11.

[0039] In FIG. 1, a case where a substantially cylindrical shape is formed by continuously laminating the melt beads 61 helically (that is, an end portion of the melt bead 61 of a front layer and a start portion of the melt bead 61 of a next layer are continuous) is illustrated as an example of the laminate-molded object 11. However, the laminate-molded object 11 can be set to any shape.

[0040] The welding robot 20 is an articulated robot and includes the welding torch 22 at the tip portion of a tip arm 21. The tip arm 21 is movable in three dimensions, and by controlling the attitude and position of the tip arm 21 with the control device 50, the welding torch 22 can be moved to any position in any attitude.

[0041] The welding torch 22 includes a substantially cylindrical shield nozzle to which shield gas SG (see FIG. 3) is supplied, a contact tip (not illustrated) disposed inside the shield nozzle, and a filler material W which is held by the contact tip and supplied with a melting current. While supplying the filler material W, the welding torch 22 generates an arc while flowing the shield gas SG, in such a manner that the welding torch 22 melts and solidifies the filler material W and laminates the melt beads 61 on a base 60 to form the laminate-molded object 11. The welding torch 22 may be a non-fusible electrode type that supplies a filler material from the outside.

[0042] The cutting robot 30 is an articulated robot as similar to the welding robot 20 and is provided with a metal processing tool 32 such as an end mill or a grinding wheel at the tip portion of the tip arm 31. Thus, the cutting robot 30 can be moved three-dimensionally by the control device 50 so that the machining posture thereof can take any posture.

[0043] The cutting robot 30 processes the melt bead 61 formed by the welding robot 20 to the desired height with metal processing tool 32, if necessary.

[0044] The height measuring device 40 is a device for measuring a height h.sub.now of the melt bead 61 and any height measuring device such as a contact type or a non-contact type can be used. However, the melt bead 61 immediately after formation is at a high temperature, it is preferable to use a non-contact-type measuring device such as a laser type or an imaging type. The height measuring device 40 measures the height h.sub.now of the melt bead 61 every time one layer of the melt bead 61 is formed.

[0045] The CAD/CAM device 51 creates shape data of the laminate-molded object 11 to be formed, and then divides it into a plurality of layers to generate layer shape data representing the shapes of the respective layers L1 to Lk. The trajectory planning unit 52 generates a moving trajectory of the welding torch 22 based on the layer shape data. The memory 53 stores the generated layer shape data, the movement trajectory of the welding torch 22, and the like.

[0046] The control device 50 controls the welding robot 20 based on the layer shape data and the movement trajectory of the welding torch 22, which are stored in the memory 53, by executing the manufacturing program stored inside and controls the movement of the welding robot 20 and the cutting robot 30 according to the state of the melt bead 61 in each layer, as described below.

[0047] Next, with reference to FIGS. 2 and 3, a specific procedure of forming the laminate-molded object 11 using the laminate-molded object manufacturing system 10 of the embodiment will be described in detail.

[0048] As illustrated in the flow chart of FIG. 2, first, the shape data representing the shape of the laminate-molded object 11 is created by the CAD/CAM device 51 and the CAD/CAM device 51 divides the input shape data (CAD data) into a plurality of layers L1 to Lk and generates the layer shape data representing the shapes of the respective layers L1 to Lk (Step S1). The layer shape data representing the shapes of the respective layer L1 to Lk becomes the movement trajectory of the welding torch 22, that is, the lamination trajectory of the melt bead 61.

[0049] It is preferable to divide the shape data of the laminate-molded object 11 into the plurality of layers in a direction substantially perpendicular to a laminating direction of the melt beads 61. That is, when the melt beads 61 are vertically laminated to form the laminate-molded object 11, it is divided horizontally, and when the melt beads 61 are horizontally laminated to form the laminate-molded object 11, it is divided vertically. In the following description, a case where the melt beads 61 are vertically laminated to form the laminate-molded object 11 will be described.

[0050] Next, based on the layer shape data, the trajectory planning unit 52 creates a specific melt-bead-61 laminating plan such as the movement trajectory of the welding torch 22 in each of the layers L1 to Lk and a planned height h.sub.k of the melt bead 61 in which the melt beads 61 of the respective layers L1 to Lk are laminated (Step S2).

[0051] Then, the numerical value of the counter included in the control device 50 is set to k=1 (Step S3) and the planned height h.sub.k of the melt bead 61 when the melt bead 61 of the first layer is laminated (formed) is set to h.sub.1 (Step S4). In this case, the planned height h.sub.k is the total height of the laminated melt beads 61. The planned height of the melt bead 61 for each of the layers L1 to Lk may be the same or the height may be different for each layer according to the layer shape data of each of the layers L1 to Lk.

[0052] Then, as illustrated in FIG. 3, the welding torch 22 is moved along the planned movement trajectory and the melt bead 61 of the first layer is laminated on the base 60 (Step S5). Then, the height h.sub.now of the melt bead 61 of the first layer is measured by the height measuring device 40. In addition, the measurement of the height h.sub.now of the melt bead 61 is performed every time the melt bead 61 of each of the layers L1 to Lk is formed.

[0053] Next, it is compared whether the height h.sub.now of the melt bead 61 measured is within the range of a tolerance with respect to the planned height h.sub.k. Specifically, it is determined whether the height h.sub.now of the melt bead 61 measured is equal to or larger than a value obtained by subtracting the tolerance from the planned height h.sub.k (Step S6).

[0054] When, in Step S6, it is determined that the height h.sub.now of the melt bead 61 is smaller than the value obtained by subtracting the tolerance from the planned height h.sub.k, the process returns to Step S5 and an additional melt bead 61a is further laminated on the melt bead 61 of the first layer, and further the height h.sub.now of the melt bead 61 is measured again to compare with the planned height h.sub.k.

[0055] Thereby, the height h.sub.now of the melt bead 61 is brought close to the planned height h.sub.k. As a result, the adverse effect on the quality of the laminate-molded object 11 due to the melt bead 61 of the next layer being laminated while the height h.sub.now of the melt bead 61 is smaller than the planned height h.sub.k can be suppressed.

[0056] Then, when it is determined that the height h.sub.now of the melt bead 61 is equal to or larger than a value obtained by subtracting the tolerance from the planned height h.sub.k, the process proceeds to the next step and it is determined whether the height h.sub.now of the melt bead 61 is equal to or smaller than a value obtained by adding the tolerance to the planned height h.sub.k (Step S7).

[0057] When the height h.sub.now of the melt bead 61 is larger than the value obtained by adding the tolerance to the planned height h.sub.k, cutting is performed by the metal processing tool 32 of the cutting robot 30 so that the height h.sub.now of the melt bead 61 becomes the planned height h.sub.k (Step S8).

[0058] After cutting the melt bead 61 with the cutting robot 30, the process returns to Step S6 and the height h.sub.now of the melt bead 61 after cutting is measured again by the height measuring device 40 and compared with the planned height h.sub.k. Further, when cutting of the melt bead 61 ensures that the height h.sub.now of the melt bead 61 is within the range of the tolerance with respect to the planned height h.sub.k, as indicated by the broken line in FIG. 2, the process may proceed to Step S9 of determining whether the planned number of layers of melt beads 61 is laminated.

[0059] In a case where, in Step S7, the height h.sub.now of the melt bead 61 is larger than the value obtained by adding the tolerance to the planned height h.sub.k, when the melt bead 61 of the next layer (the second layer) is laminated, the welding torch 22 or the filler material W may come in contact with the laminated melt bead 61 of the first layer, which may lead to stopping of the welding robot 20 or damage to the welding torch 22. However, this can be prevented by cutting the height h.sub.now of the melt bead 61 to the planned height h.sub.k.

[0060] In a case where, in Step S7, the height h.sub.now of the melt bead 61 is equal to or smaller than the value obtained by adding the tolerance to the planned height h.sub.k, it is determined that the height h.sub.now of the melt bead 61 is within the range of the tolerance , and then it is determined whether the planned number of layers of the melt beads 61 is laminated (Step S9).

[0061] When, in step S9, it is determined that the lamination of the planned number of layers of the melt beads 61 is not completed, the value of the counter is incremented and set to k=2 (Step S10) and the process returns to Step S4. Then, the planned height h.sub.k is changed to a new planned height h.sub.k, which is the total height of the melt beads 61 of the first and second layers and the melt bead 61 of the next layer (second layer) is laminated on the melt bead 61 of the first layer.

[0062] Then, similarly, lamination of the melt bead 61 is repeatedly performed until lamination of the planned number of layers of the melt beads 61 is completed, in such a manner that the laminate-molded object 11 is formed.

[0063] When it is determined in Step S9 that lamination of the planned number of layers of the melt beads 61 is complete, the creation program for the laminate-molded object 11 is finished.

[0064] As described above, according to the method and system for manufacturing laminate-molded object of the embodiment, shape data representing the shape of laminate-molded object 11 is acquired and the layer shape data representing the shape of each of the layers L1 to Lk is generated by dividing the laminate-molded object 11 into the plurality of layers L1 to Lk based on the shape data. Then, the welding robot 20 forms the laminate-molded object 11 by laminating the melt beads 61 of respective layers L1 to Lk. The formation of the melt bead 61 of each of the layers L1 to Lk includes a step of forming the melt bead 61 by the welding robot 20 based on the layer shape data of each of the layers L1 to Lk, a step of measuring the height h.sub.now of the formed melt bead 61 by the height measuring device 40, a step of forming another melt bead 61a over the melt bead 61 with the welding robot 20 when, comparing the height h.sub.now of the measured melt bead 61 to the planned height h.sub.k within the range of the tolerances , the height h.sub.now of the melt bead 61 is lower than the value obtained by subtracting the tolerance from the planned height h.sub.k, and a step of removing the melt bead 61 with the cutting robot 30 when the height h.sub.now of the melt bead 61 is higher than the value obtained by adding the tolerance to the planned height h.sub.k. Therefore, it becomes possible to make the height h.sub.now in each of the layers L1 to Lk within the range of the tolerance with respect to the planned height h.sub.k at the time of laminate molding, and as a result, it is possible to form the laminate-molded object 11 with high accuracy by suppressing an error with a previously planned molten metal lamination position.

[0065] Since the distance between the welding torch 22 and the melt bead 61 is appropriate during molding, shielding properties by the shield gas can be secured. Therefore, not only does it lead to quality security, but it will also prevent stoppage and damage due to collisions of the welding torch 22 or the filler material W with the melt bead 61.

[0066] Further, the comparison between the height h.sub.now of the melt bead 61 measured by the height measuring device 40 and the planned height h.sub.k is performed again after laminating the additional melt bead 61a or after cutting the melt bead 61 with the cutting robot 30, the laminate-molded object 11 can be formed with higher accuracy.

[0067] Further, according to the program for manufacturing the laminate-molded object of the embodiment, the welding robot 20 performs the procedure of forming the laminate-molded object 11 by laminating and forming the melt bead 61 of each of the layers L1 to Lk. In addition, the formation of the melt bead 61 of each of the layers L1 to Lk executes a procedure of forming the melt bead 61 by the welding robot 20 based on the layer shape data of each of the layers L1 to Lk, a procedure of measuring the height h.sub.now of the formed melt bead 61 by the height measuring device 40, a procedure of forming another melt bead 61a over the melt bead 61 with the welding robot 20 when, comparing the height h.sub.now of the measured melt bead 61 to the planned height h.sub.k within the range of the tolerances , the height h.sub.now of the melt bead 61 is lower than the value obtained by subtracting the tolerance from the planned height h.sub.k, and a procedure of removing the melt bead 61 with the cutting robot 30 when the height h.sub.now of the melt bead 61 is higher than the value obtained by adding the tolerance to the planned height h.sub.k. Therefore, it becomes possible to make the height h.sub.now in each of the layers L1 to Lk within the range of the tolerance with respect to the planned height h.sub.k at the time of laminate molding, and as a result, it is possible to form the laminate-molded object 11 with high accuracy by suppressing an error with a previously planned molten metal lamination position.

[0068] In Step S6, when laminating another melt bead 61a, a different filler material W and a different welding torch may also be used to laminate another melt bead 61a of appropriate height according to the lamination error, with different welding conditions. Alternatively, another melt bead 61a may be laminated under the same conditions as those of the melt bead 61 in anticipation of the cutting process in Step S8 in advance.

[0069] The invention is not limited to the embodiment described above and appropriate modifications, improvements, and the like can be made.

[0070] For example, in the embodiment described above, an example in which arc welding is applied as the melt lamination method is described. However, a laminating device by other metal molding lamination method, for example, a molding lamination method by laser such as Selective Laser Melting (SLM) or Laser Metal Deposition (LMD), electron beam welding, or the like are also applicable.

[0071] This application is based on Japanese Patent Application (Japanese Patent Application No. 2017-047553) filed on Mar. 13, 2017, the contents of which are incorporated herein by reference.

DESCRIPTION OF REFERENCE NUMERALS AND SIGNS

[0072] 10 laminate-molded object manufacturing system [0073] 11 laminate-molded object [0074] 20 welding robot (laminating device) [0075] 30 cutting robot (cutting device) [0076] 40 height measuring device [0077] 50 control device [0078] 61 melt bead [0079] 61a another melt bead [0080] L1 to Lk layers [0081] tolerance [0082] h.sub.now height of a melt bead [0083] h.sub.k planned height of a melt bead (planned height)