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1.发明公开
公开(公告)号：EP4338881A1
公开(公告)日：2024-03-20
申请号：EP22837382.5
申请日：2022-06-06
Inventor： KATAOKA, Yasuto , YOSHIKAWA, Akinori , SATO, Shinji , HUANG, Shuo , TAMURA, Eiichi , TSUBAKI, Shota
Abstract: A fault-monitoring device includes: a shape profile acquisition unit that acquires a shape profile of the existing weld bead; a feature amount extraction unit that extracts a feature amount of a concave shape formed by the plurality of existing weld beads included in the shape profile; a fault position identification unit that identifies a fault candidate location where the welding fault is expected to occur according to the extracted feature amount; and a control unit that causes the shape profile acquisition unit to update the shape profile when the welding device newly forms the weld bead and repeatedly executes the extraction of the feature amount by the feature amount extraction unit and the identification of the fault candidate location by the fault position identification unit.
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2.发明公开
公开(公告)号：EP4450198A1
公开(公告)日：2024-10-23
申请号：EP22922165.0
申请日：2022-12-20
Inventor： HUANG, Shuo , YOSHIKAWA, Akinori
Abstract: A manufacturing method of an additively manufactured object includes: a process of setting an observation model obtained based on measurement information collected from at least one or more measurement instruments provided in the building device and a state transition model indicating a state transition of a shape index of the additively manufactured object extracted from the trajectory plan; a process of extracting an observation physical quantity of the shape index from the observation model and extracting a state physical quantity of the shape index from the state transition model; a process of obtaining a state transition estimation value of the shape index by integrating the observation physical quantity and the state physical quantity; and a process of updating a formation condition of a welding bead according to the state transition estimation value.
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3.发明公开
公开(公告)号：EP4306321A1
公开(公告)日：2024-01-17
申请号：EP22788195.0
申请日：2022-04-13
Inventor： YOSHIKAWA, Akinori
Abstract: An additively manufacturing method includes: a step of measuring a filler metal feed speed at which the filler metal is fed to the welding torch during the formation of the weld bead; a step of acquiring a reference welding speed that is a moving speed of the welding torch corresponding to the measured filler metal feed speed; a step of measuring a height of the formed weld bead; a step of acquiring a welding speed correction value with which the height of the weld bead to be formed is adjusted based on a difference between the measured height of the weld bead and a height of a tip of the filler metal that protrudes from the tip of the welding torch; a step of correcting the reference welding speed with the welding speed correction value and determining a welding speed at which the weld bead is formed; and a step of forming the weld bead at the determined welding speed.
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4.发明公开
公开(公告)号：EP4269013A1
公开(公告)日：2023-11-01
申请号：EP22745555.7
申请日：2022-01-07
Inventor： KATAOKA, Yasuto , TAMURA, Eiichi , YOSHIKAWA, Akinori , HUANG, Shuo , SATO, Shinji
Abstract: A shape sensor is provided for acquiring a shape profile along an extension direction of an existing weld bead, and a control unit includes a welding information acquisition unit for acquiring welding information during formation of an adjacent weld bead when forming the adjacent weld bead at a position adjacent to the existing weld bead, and a defect candidate extraction unit for determining an angle characteristic portion having a base angle equal to or greater than a threshold in the existing weld bead based on the shape profile, determining a welding characteristic portion of the welding information based on the welding information, and extracting the welding characteristic portion corresponding to the angle characteristic portion as a defect candidate by associating the welding characteristic portion with the angle characteristic portion.
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Patent Agency Ranking
公开(公告)号：EP4177002A1
公开(公告)日：2023-05-10
申请号：EP21858109.8
申请日：2021-07-21
Inventor： HIDA, Masatoshi , YOSHIKAWA, Akinori
Abstract: According to the present invention, an internal molding step for molding an internal molded part inside a frame includes: a pre-measurement process for measuring the shape of a substrate on which a weld bead layer is to be laminated; a deviation quantity calculation process for generating a real measurement profile of the substrate from real measurement values of the measured shape of the substrate, determining a plan profile of the substrate from a lamination plan, and calculating a deviation quantity of the real measurement profile from the plan profile; and a pre-correction process for correcting a welding condition of a weld bead constituting the weld bead layer in the lamination plan so as to reduce the deviation quantity when laminating the weld bead layer on the substrate.
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公开(公告)号：EP4137259A1
公开(公告)日：2023-02-22
申请号：EP21808495.2
申请日：2021-05-14
Inventor： YOSHIKAWA, Akinori , HIDA, Masatoshi
IPC: B23K9/04 , B23K9/032 , B23K9/095 , B29C64/118 , B29C64/393 , B33Y10/00 , B33Y50/02
Abstract: According to the present invention, the shape profile of an existing weld bead is measured by means of a non-contact type shape sensor provided integrally with a welding torch on a robot tip end shaft, midway through molding of a laminate molded object on the basis of a lamination trajectory plan. First geometric information relating to the bead shape is extracted from the shape profile and the target position of the welding torch, second geometric information corresponding to the first geometric information is extracted from the lamination trajectory plan, and an offset amount is calculated from the first geometric information and the second geometric information. In accordance with the offset amount, the lamination traj ectory plan is updated by updating at least one of the bead height and the bead width of the weld bead determined by the lamination trajectory plan, and the welding conditions are updated in accordance with the result of updating the lamination trajectory plan.
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公开(公告)号：EP4360793A1
公开(公告)日：2024-05-01
申请号：EP22849131.2
申请日：2022-06-29
Inventor： HUANG, Shuo , YOSHIKAWA, Akinori
CPC classification number: B33Y30/00 , B23K9/032 , B23K9/12 , B33Y50/02 , B23K31/00 , B23K9/04 , B23K9/127
Abstract: A method for controlling a modeling device correcting a target position of a welding torch includes: a step of acquiring a reference profile prepared in advance and including a shape of a positioning index body implemented by at least a part of a base metal or a weld bead; a step of measuring a shape of the positioning index body by a shape measurement unit attached to the welding torch or the manipulator to acquire an actual profile; a step of comparing the reference profile with the actual profile of the positioning index body to obtain a deviation amount of the target position of the welding torch based on a positional deviation of the positioning index body between the reference profile and the actual profile; and a step of outputting an operation correction command of the manipulator for correcting the target position of the welding torch according to the deviation amount.
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公开(公告)号：EP4245450A1
公开(公告)日：2023-09-20
申请号：EP21917647.6
申请日：2021-12-15
Inventor： YOSHIKAWA, Akinori
IPC: B23K9/04 , B23K9/032 , B33Y10/00 , B29C64/393 , B29C64/118 , B33Y50/02
Abstract: In a building step, a base measurement processing of acquiring a measured height by measuring, using a shape sensor, a height of a base at a position where a torch is to be moved when depositing weld beads; a welding condition setting processing of obtaining a planned height of the base at the position where the torch is to be moved from a deposition plan, comparing the measured height acquired in the base measurement processing and the planned height to obtain a differential height, and setting a welding condition in a feedback correction for reducing the differential height; and a correction ratio update processing of performing a selection from a plurality of correction ratios set in advance and updating a correction ratio in the welding condition based on a selected correction ratio are executed.
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公开(公告)号：EP4183509A1
公开(公告)日：2023-05-24
申请号：EP21858110.6
申请日：2021-07-21
Inventor： YOSHIKAWA, Akinori
Abstract: This system for manufacturing a laminate molded product comprises: a torch provided to a robot arm; a measurement unit that contactlessly measures the shape of a laminated welding bead by using a shape sensor attached to the torch and that outputs measurement information pertaining to a representative height of the welding bead and/or the cross-sectional area of the welding bead; a switching unit that, on the basis of the shape of the welding bead and/or position information pertaining to the welding bead as retained in a lamination plan, switches between the measurement information items outputted by the measurement unit; and a correction unit that corrects the conditions for laminating the welding bead on the basis of the measurement information and the lamination plan.
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