Robotic additive manufacturing apparatuses, systems and methods

• US 10,528,034 B2
• Filed: 08/25/2017
• Issued: 01/07/2020
• Est. Priority Date: 02/25/2015
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Schweiz AG (ABB Limited)
• Inventors: Zhang, George Q., Li, Xiongzi, Wappling, Daniel X., Spaak, Anders, Zhang, Biao, Boca, Remus, Fuhlbrigge, Thomas A.
• Primary Examiner(s): Brown, Michael J
• Application Number:
  US15/687,201
• Publication Number:
  US 20170351245A1
• Time in Patent Office: 865 Days
• Field of Search: 700 30, 700 98, 700248
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B29C 64/118 using filamentary material being melted, e.g. fused deposition modelling [FDM]
• CPC Class Codes: B33Y 10/00 Processes of additive manufacturing
• CPC Class Codes: B33Y 30/00 Apparatus for additive manufacturing; Details thereof or accessories therefor
• CPC Class Codes: B33Y 50/00 Data acquisition or data processing for additive manufacturing
• CPC Class Codes: B33Y 50/02 for controlling or regulating additive manufacturing processes
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G05B 19/4099 Surface or curve machining, making 3D objects, e.g. desktop manufacturing
• CPC Class Codes: G05B 2219/35134 3-D cad-cam
• CPC Class Codes: G05B 2219/49007 Making, forming 3-D object, model, surface
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

Claims

1. A method comprising:

generating robot control instructions using one or more inputs providing part geometry information and addition path information for a part, the robot control instructions executable by a robot controller to control a robot including a robotic arm and an additive manufacturing tool coupled with the robotic arm, the instructions including instructions to control position of the additive manufacturing tool and operation of the additive manufacturing tool to output additive material to produce the part;

operating an additive manufacturing simulation engine to execute the robot control instructions effective to generate a virtual part, the virtual part including virtual part geometry information and virtual part addition path information indicating characteristics of a material addition path resulting from execution of the robot control instructions by the simulation engine, at least one of the virtual part geometry information varying from the geometry information provided by the one or more inputs and the virtual part addition path information varying from the addition path information provided by the one or more inputs;

analyzing the virtual part geometry information and the virtual part addition path information relative to the one or more inputs;

if the analyzing indicates that the virtual part does not satisfy one or more conditions repeating the generating with a change to the one or more inputs to generate modified robot control instructions, repeating the operating with the modified robot control instructions to generate a second virtual part; and

if the analyzing indicates that the virtual part satisfies the one or more conditions, operating the robot controller to execute the robot control instructions to create a tangible part.

2. The method of claim 1 wherein the one or more inputs comprise CAD parameters defining a net part geometry, building parameters defining material addition path characteristics, and robot parameters defining characteristics of the robot.

3. The method of claim 2 wherein the generating comprises processing the CAD parameters and the building parameters to generate path code defining a plurality of layers and a corresponding plurality of material addition paths and processing the robot parameters and the path code to generate the robot control instructions.

4. The method of claim 2 wherein the analyzing includes comparing a net geometry of the virtual part with the CAD parameters and comparing one or more addition path characteristics of the virtual part with the building parameters.

5. The method of claim 1 wherein the analyzing includes operating a modeling engine to model one or more of mechanical characteristics, thermodynamic characteristics, and electrical characteristics of the virtual part and evaluating the modeled characteristics relative to one or more criteria.

6. The method of claim 1 wherein the one or more inputs comprise robot parameters defining characteristics of the robot.

7. The method of claim 1 wherein the additive manufacturing tool is adjustable in six degrees of freedom by the robotic arm.

17. The method of claim 1 wherein the one or more files comprise a CAD file, a building parameter file, robot system parameter file.

18. The method of claim 17 wherein the generating comprises processing the CAD file and the building parameter file to generate intermediate code defining one or more layers and a corresponding one or more material addition paths.

19. The method of claim 18 wherein the generating comprises processing the intermediate code and the robot system parameter file to generate the robot control code.

20. The method of claim 17 wherein the analyzing includes modeling one or more of mechanical characteristics, thermodynamic characteristics, and electrical characteristics of the virtual part.

8. A system comprising:

a code generator structured to automatically generate robot control code from a plurality of user-provided input parameters defining a net geometry for a part, a material addition path for the part, and characteristics of a robot system, the robot control code including instructions for producing a tangible part by controlling a robot and an additive manufacturing device adjustable by the robot;

a part production simulator structured to receive and execute the robot control code to produce a virtual part including virtual part net geometry characteristics and virtual part material addition path characteristics, at least one of the virtual part net geometry characteristics deviating from the net geometry defined by the input parameters and the virtual part material addition path characteristics deviating from the material addition path defined by the input parameters; and

a part analyzer structured to analyze the virtual part relative to one or more criteria, if the one or more criteria are not satisfied modify one or more of the input parameters, re-execute the robot control code to generate a second virtual part and re-evaluate the second virtual part relative to the one or more criteria, and if the one or more conditions are satisfied provide the robot control code for execution by the robot system to operate the robot and the device to create the tangible part.

9. The system of claim 8 wherein the part analyzer is structured to evaluate deviation of the virtual part net geometry characteristics from the net geometry defined by the input parameters relative to a first limit and deviation of the virtual part material addition path characteristics from the material addition path defined by the input parameters relative to a second limit.

10. The system of claim 8 wherein the part analyzer is structured to model one or more of a mechanical characteristic, a thermodynamic characteristic, and an electrical characteristic of the virtual part and to evaluate the modeled characteristics relative to one or more model criteria.

11. The system of claim 10 wherein the part analyzer is structured to model said one more of the mechanical characteristic, the thermodynamic characteristic, and the electrical characteristic using a finite element analysis tool.

12. The system of claim 8 wherein the part production simulator is structured to generate path code defining a plurality of layers and a corresponding plurality of material addition paths.

13. The system of claim 8 further comprising the robot system including a robotic arm, an additive manufacturing tool coupled with the robotic arm, and a robot controller structured to execute the robot control code to produce the tangible part.

14. The system of claim 8 wherein the code generation system and the simulation system are configured as subsystems of a common computing system.

15. A method comprising:

generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters, the robot control code including instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom by the robot system;

simulating execution of the robot control code by a controller of the robot system to generate a virtual part file, the virtual part file including virtual part geometry parameters and virtual part material addition parameters;

analyzing the virtual part net geometry parameters relative to the part geometry parameters of the one or more files and the virtual part material addition parameters relative to the material addition parameters of the one or more files; and

executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

16. The method of claim 15 comprising if the analyzing indicates that the virtual part does not satisfy the one or more conditions, repeating the generating with a change to the one or more files to generate second robot control code, repeating the simulating with the second robot control code to generate a second virtual part file and repeating the analyzing relative to the second virtual part file.