Abstract: A motion trajectory generation method for generating a motion trajectory of a robot having a plurality of drive axes upon carrying out work at a work position includes: an obtaining step of obtaining a motion condition identified and corresponding to the work position; and a generation step of generating a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, in which in the generation step, priority levels in the search are determined on the basis of the motion condition and work directions for a plurality of work positions, and the search for the plurality of motion trajectories is carried out on the basis of the priority levels.

Abstract: A method for generating a movement route of a robot having a plurality of motion axes includes the steps of disposing a virtual area near the robot in accordance with each of a plurality of attitudes at an operation position of the robot, determining interference between the robot and the virtual area and between the robot and a surrounding environment, and generating the movement route of the robot while evaluating each of the plurality of attitudes on a basis of a result of the step of determining. In the step of generating, an attitude with which no interference with the virtual area is caused is highly evaluated.

Abstract: A method for manufacturing an additively-manufactured object includes a depositing planning step of creating a depositing plan and a building step of repeatedly depositing the weld beads based on the depositing plan. The building step includes a frame portion building step of building a frame portion and an internal building step of building an internal building portion. The internal building step includes a pre-measurement process of measuring a shape of a base on which the weld bead layer is to be deposited, a deviation amount calculation process of creating a measured profile of the base based on the measured shape of the base, determining a planned profile of the base based on the depositing plan, and calculating a deviation amount of the measured profile with respect to the planned profile, and a pre-correction process of correcting a welding condition of the weld beads.

Abstract: The shape profile of an existing weld bead is measured by 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 deposition track plan, and an offset amount is calculated from the first geometric information and the second geometric information. In accordance with the offset amount, the deposition track plan is updated by updating at least one of the bead height and the bead width of the weld bead determined by the deposition track plan, and the welding conditions are updated in accordance with the update result of the deposition track plan.

Abstract: A circumferential welding method is a method for circumferentially welding at least one of a V-shaped groove and an I-shaped groove by, using a vertical articulated robot, moving a welding torch with the welding torch directed downward. The circumferential welding is performed by moving the welding torch so as to draw a circular trajectory while adjusting a rotation angle of the welding torch in such a manner that a rotation center of a wrist of a robot main body of the vertical articulated robot is located at all times on a side where the robot main body is installed relative to the welding torch.

Abstract: A robot slider position setting device sets a position of a robot slider that moves while being loaded with a robot that performs predetermined work on a workpiece by using a tool provided at a distal end of the robot. The robot slider position setting device includes an interference-region-information storage unit that stores interference region information indicating an interference region with which the robot interferes in a predetermined ambient environment, an approaching-direction determination unit that determines a direction of an arm of the robot as an arm approaching direction such that the direction does not overlap the interference region by fixing a wrist rotation center of the robot in a state where the tool is in an orientation according to a predetermined working position, and a position determination unit that determines the position of the robot, slider based on the arm approaching direction determined by the approaching-direction determination unit.

Abstract: In preparing a built-up object by depositing beads, in a step of dividing into the bead model, a trapezoidal bead model a cross section of which is a trapezoidal shape is applied to a position where the bead is formed in a portion not adjacent to an existing bead, and a parallelogram bead model a cross section of which is a parallelogram is applied to a position where the bead is formed adjacent to a bead that is already formed, in the parallelogram bead model opposite sides in the deposition direction of the bead being parallel to each other, and opposite sides in the bead arrangement direction being parallel to a side of another bead mode that is adjacent.

Abstract: A multi-joint-robot linear-member-shape simulator receives a position of at least one via point via which the linear member extends between a start-point position and an end-point position of the linear member, an initial position of an adjustment via point that adjusts a length of the linear member, and an adjustment parameter of the adjustment via point, and repeatedly executes shape control for determining the shape of the linear member and a length adjustment for determining the length of the linear member when the linear member has the determined shape by using the input position of the via point and the input initial position of the adjustment via point as an initial value until a difference between an actual length of the linear member and the determined length thereof becomes smaller than or equal to a permissible value. When the shape control is to be executed, the adjustment parameter is changed.

Abstract: A building time for building an additively-manufactured object is calculated on the basis of the inter-pass time and the welding pass time and is compared with a preset upper limit value, and welding conditions in a depositing plan are repeatedly modified until the building time is equal to or less than the upper limit value. Alternatively, corrections are repeatedly performed until the shape difference between a building shape of built-up object shape data relating to the additively-manufactured object created on the basis of the inter-pass time and the inter-pass temperature, and a building shape of three-dimensional shape data, is smaller than a near net value.

Abstract: A method for manufacturing an additively-manufactured object, in which a plurality of weld beads obtained by melting and solidifying a filler metal are deposited on a base portion to build a built-up object, includes: a support bead forming step of forming a support bead on the base portion; and a depositing step of depositing a weld bead on the support bead. When the support bead is formed to be inclined from a vertical direction in the support bead forming step, a ratio H/W of a height H to a width W of the support bead is set to 0.35 or more.

Abstract: An excess metal amount setting method includes: a thermal shrinkage prediction step of predicting a thermal shrinkage amount in the deposited body after manufacturing; a thermal shrinkage modifying step of obtaining a thermal deformation modifying profile by expanding a target profile according to the thermal shrinkage amount; a release strain prediction step of predicting an elastic deformation amount due to release strain of the deposited body after machining; an elastic deformation modifying step of obtaining an elastic deformation modifying profile by deforming the thermal deformation modifying profile according to the elastic deformation amount in a direction opposite to a deformation direction due to the release strain; and an excess metal amount setting step of adjusting an outer edge shape of the deposited body so that an excess metal amount from the elastic deformation modifying profile to an outer edge of the deposited body falls within a predetermined reference range.

Abstract: A method for manufacturing an additively-manufactured object, includes: an additively-manufacturing step of building a layered body by depositing a weld bead obtained by melting and solidifying a filler metal, the layered body having an opening along a forming direction of the weld bead and an internal space surrounded by the weld bead; and a closing step of forming a closing wall portion connecting an edge portion of the opening with the weld bead for closing. In the additively-manufacturing step, the opening is formed with a width dimension larger than a bead width of the weld bead, and in the closing step, the closing wall portion having a width dimension larger than the bead width is formed by the weld bead to close the opening.

Abstract: Provided is a setting assistance device capable of informing that which welding condition should be corrected with a value as the limit in order to achieve the target quality. In a setting assistance device (40) of a welding condition which is a condition in welding, an input receiving unit (42) accepts designation of the target quality in welding, and a welding condition information output unit (44) outputs an item of a welding condition to be corrected to achieve the target quality, and limit information indicating a limit of a value which can be taken by the item of the welding condition to achieve the target quality, in accordance with the acceptance of the designation of the target quality by the input receiving unit (42).

Abstract: In an interference evaluation device, an axis value obtaining unit obtains posture information indicating a posture to be taken by a welding robot, on the basis of teaching information for teaching an operation to the welding robot. A reference point calculation unit, an extension direction calculation unit, and an evaluation value setting unit generate evaluation information indicating a degree of bend of a torch cable, which is caused by the torch cable contacting an arm of the welding robot, by using the posture information obtained by the axis value obtaining unit. The torch cable is included in a welding tool attached to an end of the arm and extending in a direction away from a welding torch of the welding tool. An evaluation value output unit outputs the evaluation information generated by the reference point calculation unit, the extension direction calculation unit, and the evaluation value setting unit.

Abstract: A welding and processing condition setting system includes an input device, a display device, a control device, and a database. The input device receives a retrieving operation of at least processing condition information input by an operator. The control device is configured to extract a processing condition parameter of the processing condition information from at least one of master condition data and user condition data according to the retrieving operation, extract a welding condition parameter of welding condition information corresponding to the extracted processing condition parameter from at least one of the master condition data and the user condition data, and calculate an evaluation item which is a result obtained by evaluating at least one of a welding amount and a working efficiency in the extracted welding condition parameters. The display device displays at least one parameter of the welding condition parameters, and the evaluation item.

Abstract: A welding condition generating method in flat position welding is a method for determining welding conditions for welding in a single V groove, a single bevel groove, or a fillet groove in a flat position using a welding robot. The method includes preparing conditions A and B, each including a plurality of different parameters used in calculation for determining the welding conditions; and generating the welding conditions by combining parameters included in the conditions A and B. The condition A includes at least one of the following parameters: a joint shape, a groove shape, a groove angle, a gap width, and the presence or absence of backing. The condition B includes at least one of the following parameters: a welding gas type, a welding wire diameter, a welding wire type, a welding wire extension length, a welding source type, a power source characteristic, and a torch type.

Abstract: In a setting assistance device for assisting setting of a welding condition, an input receiving unit receives a new welding condition that is specified, and a reliability output unit outputs a degree of appropriateness of the new welding condition relative to a plurality of well-tested welding conditions, which are welding conditions that have been used in the past and well-tested, in response to reception of the new welding condition by the input receiving unit.

Abstract: When setting welding conditions of arc welding, an operator sets the shape of a material to be welded, the specifications of welding, and welding conditions using a teach pendant. An apparatus for supporting setting of welding conditions in multi-pass welding of the present invention automatically calculates the state of the bead layering cross-section including at least one of the number of bead layers, the number of passes, and the layering direction, and the state of the bead layering cross-section including at least one of the number of bead layers, the number of passes, and the layering direction, obtained by the calculation is displayed on a display section.

Abstract: A welding and processing condition setting system includes an input device, a display device, a control device, and a database. The input device receives a retrieving operation of at least processing condition information input by an operator. The control device is configured to extract a processing condition parameter of the processing condition information from at least one of master condition data and user condition data according to the retrieving operation, extract a welding condition parameter of welding condition information corresponding to the extracted processing condition parameter from at least one of the master condition data and the user condition data, and calculate an evaluation item which is a result obtained by evaluating at least one of a welding amount and a working efficiency in the extracted welding condition parameters. The display device displays at least one parameter of the welding condition parameters, and the evaluation item.

Abstract: In an interference evaluation device, an axis value obtaining unit obtains posture information indicating a posture to be taken by a welding robot, on the basis of teaching information for teaching an operation to the welding robot. A reference point calculation unit, an extension direction calculation unit, and an evaluation value setting unit generate evaluation information indicating a degree of bend of a torch cable, which is caused by the torch cable contacting an arm of the welding robot, by using the posture information obtained by the axis value obtaining unit. The torch cable is included in a welding tool attached to an end of the arm and extending in a direction away from a welding torch of the welding tool. An evaluation value output unit outputs the evaluation information generated by the reference point calculation unit, the extension direction calculation unit, and the evaluation value setting unit.