Three-dimensional modeling device and method for manufacturing three-dimensional modeled object

Abstract

A three-dimensional modeling apparatus and a method of manufacturing a three-dimensional modeled object reduce the likelihood that waste material adhering to a cleaning mechanism will re-adhere to a head and affect modeling accuracy. The three-dimensional modeling apparatus includes an ejection section that ejects modeling material from a nozzle, a table on which modeling material is layered, a drive section that changes the relative positions of the ejection section and the table, a cleaning mechanism that includes a brush and a squeegee, and a control section. The control section performs a cleaning operation in which the nozzle is reciprocated in a manner that causes the nozzle to cross the cleaning mechanism multiple times, thereby causing at least one of the brush and the squeegee to contact the nozzle. The control section causes the nozzle to reciprocate in a manner that causes the nozzle to contact different positions of the brush or the squeegee during the cleaning operation. The temperature of the nozzle during the cleaning operation is lower than the temperature of the nozzle when the layers are layered.

Description

Technical Field

[0001] This disclosure relates to a three-dimensional modeling device and a method for manufacturing a three-dimensional model. Background Technology

[0002] Patent Document 1 discloses a three-dimensional molding apparatus equipped with an end-cleaning component, which includes a dusting plate and a brush. In this three-dimensional molding apparatus, the extrusion head is cleaned by bringing the extrusion head into contact with the dusting plate and the brush.

[0003] Patent Document 1: Japanese Patent Publication No. 2010-530326

[0004] When cleaning is performed by reciprocating the tip of the head relative to cleaning mechanisms such as dusting plates and brushes, the waste adhering to the cleaning mechanism may re-adhere to the head, affecting the accuracy of the shaping. Summary of the Invention

[0005] According to a first aspect of this disclosure, a three-dimensional modeling apparatus is provided, characterized by comprising: an injection unit having a plasticizing mechanism for plasticizing a plasticizing material to generate a modeling material, and a nozzle, and ejecting the modeling material from the nozzle; a worktable for stacking the modeling material; a drive unit for changing the relative position of the injection unit and the worktable; a cleaning mechanism having a brush and a scraper; and a control unit capable of performing a cleaning process for cleaning the nozzle, and controlling the injection unit and the drive unit to stack the material on the worktable, wherein the brush and the scraper are positioned at a height capable of contacting the nozzle, and the brush and the scraper are positioned at a height capable of contacting the nozzle. The scraper has a melting point higher than the plasticizing temperature of the plasticizing material and a hardness lower than that of the nozzle. The control unit performs a cleaning action in the cleaning process. In the cleaning action, the nozzle is moved back and forth by repeatedly traversing the cleaning mechanism, so that at least one of the brush and the scraper comes into contact with the nozzle. In the cleaning action, the control unit moves the nozzle back and forth by making the nozzle come into contact with different positions of the brush or the scraper. The temperature of the nozzle in the cleaning action is lower than the temperature of the nozzle when the layers are stacked.

[0006] According to a second aspect of this disclosure, a method for manufacturing a three-dimensional model is provided, characterized in that it is used in a three-dimensional modeling apparatus, the three-dimensional modeling apparatus comprising: an injection unit having a plasticizing mechanism for plasticizing a plasticizing material to generate a modeling material, and a nozzle, and ejecting the modeling material from the nozzle; a worktable for stacking the modeling material; a driving unit for changing the relative position of the injection unit and the worktable; and a cleaning mechanism having a brush and a scraper, the brush and the scraper being disposed at a height capable of contacting the nozzle, the brush and the scraper having a melting point higher than the plasticizing temperature of the plasticizing material, and having a melting point higher than the nozzle. The manufacturing method for a low-hardness material comprises: a lamination process in which the injection unit and the drive unit are controlled to laminate layers on a worktable; and a cleaning process in which a cleaning action is performed, wherein the nozzle is reciprocated such that it repeatedly traverses the cleaning mechanism, thereby bringing at least one of the brush and the scraper into contact with the nozzle; wherein the reciprocating motion of the nozzle is performed in such a way that it contacts the brush or the scraper at different positions during the cleaning action; and wherein the temperature of the nozzle during the cleaning action is lower than the temperature of the nozzle during the lamination of the layers. Attached Figure Description

[0007] Figure 1 This is a diagram showing the schematic structure of the three-dimensional modeling device in the first embodiment.

[0008] Figure 2 It is a diagram showing the general structure of the ejection section.

[0009] Figure 3 It is a schematic three-dimensional diagram showing the structure of the screw.

[0010] Figure 4 This is a top view showing the structure of the cylinder.

[0011] Figure 5 This is an explanatory diagram showing the general structure of a cleaning facility.

[0012] Figure 6 This is a flowchart of the 3D modeling process.

[0013] Figure 7 This is an illustration of the cleaning process.

[0014] Figure 8 This is a graph showing the relationship between the contact start position and the modeling progress rate.

[0015] Figure 9 This is a detailed flowchart of the cleaning process.

[0016] Figure 10 This is a diagram representing an example of the execution history of a cleaning process.

[0017] Figure 11 This is an illustrative diagram of another example of a cleaning action.

[0018] Figure 12 This is an illustrative diagram of another example of a cleaning action.

[0019] Figure 13 This is an illustrative diagram of another example of a cleaning action.

[0020] Figure 14 This is an illustrative diagram of another example of a cleaning action.

[0021] Figure 15 This is a flowchart of the three-dimensional modeling process in the second embodiment.

[0022] Figure 16 This is a diagram illustrating an example of a cleaning mode.

[0023] Figure 17 This is a diagram showing the schematic structure of the three-dimensional modeling device in the third embodiment.

[0024] Figure 18 This is a diagram showing the schematic structure of the three-dimensional modeling device in the fourth embodiment.

[0025] Figure 19 This is a diagram showing the schematic structure of the three-dimensional modeling device in the fifth embodiment.

[0026] Figure 20 This is a diagram showing the schematic structure of the ejection section in the fifth embodiment.

[0027] Explanation of reference numerals in the attached figures

[0028] 10-13…3D modeling device; 16…blower; 17…manifold; 18…outlet end; 20…material receiving section; 22…supply path; 23…material receiving section; 30…plasticizing mechanism; 31…screw housing; 32…drive motor; 40…material conveying mechanism; 41…screw; 42…groove forming surface; 43…side surface; 44…material inlet; 45…screw groove; 46…protrusion; 47…central part of screw; 49 …wheel; 50…cylinder; 52…opposing screw surface; 54…guide groove; 56…connecting hole; 58…heater; 60…nozzle; 61…nozzle flow path; 63…nozzle opening; 65…flow inlet; 68…shroud; 70…flow adjustment section; 71…first nozzle; 72…second nozzle; 73…nozzle; 74…nozzle flow path; 75…valve drive section; 80…through hole; 90…heating block; 91…frame section; 92…shroud ; 93…Shield opening; 94…Opening; 100…Injection section; 101…First injection section; 102…Second injection section; 103…Injection section; 110…Frame; 111…Shaping space; 140…Material conveying mechanism; 165…Inlet; 180…Through hole; 190…Heating block; 210…Drive section; 211…First drive section; 212…Second drive section; 220…Workbench; 250…Cleaning machine Structure; 251…brush; 252…scraper; 253…cleaning section; 254…first inclined surface; 255…second inclined surface; 256…third inclined surface; 258…fixture; 260…waste removal container; 261…first cleaning mechanism; 262…second cleaning mechanism; 270…waste removal section; 280…support section; 300…control section; 310…processor; 320…storage section; 400…display device. Detailed Implementation

[0029] A. First implementation method:

[0030] Figure 1 This is a diagram showing a schematic structure of the three-dimensional modeling device 10 in the first embodiment. Figure 1 The diagram shows arrows along the mutually orthogonal X, Y, and Z directions. The X, Y, and Z directions are along three mutually orthogonal spatial axes: the X-axis, Y-axis, and Z-axis, each including both directions along one side of the X-axis, Y-axis, and Z-axis and their opposite directions. The X-axis and Y-axis are axes along the horizontal plane, and the Z-axis is an axis along the vertical line. The -Z direction is the vertical direction, and the +Z direction is the direction opposite to the vertical direction. The -Z direction is also called "down," and the +Z direction is called "up." Figure 1 The X, Y, and Z directions in this diagram represent the same directions as the X, Y, and Z directions in other diagrams.

[0031] The three-dimensional modeling device 10 of this embodiment includes an injection unit 100, a material receiving unit 20, a frame 110, a drive unit 210, a worktable 220, a cleaning mechanism 250, a control unit 300, and a display device 400 serving as a notification unit.

[0032] The injection unit 100 includes a plasticizing mechanism 30 that plasticizes at least a portion of the plasticizing material supplied from the material receiving unit 20 to generate a molding material, and a nozzle 60. The injection unit 100 ejects the molding material plasticized by the plasticizing mechanism 30 from the nozzle 60 toward the worktable 220. The injection unit 100 is also referred to as an injection head, ejection section, extrusion section, extrusion head, or simply head. Furthermore, in this specification, "injection" also includes the meaning of "ejection" or "extrusion".

[0033] The frame 110 has a shaping space 111 inside. A worktable 220 for stacking shaping materials is arranged in the shaping space 111. The frame 110 may also have an opening that connects the shaping space 111 to the outside, or a door that can be opened and closed. The user opens the door to open the opening, so that the shaped object shaped by the worktable 220 can be taken out from the opening.

[0034] The drive unit 210 changes the relative position of the injection unit 100 and the worktable 220. In this embodiment, the drive unit 210 includes a first drive unit 211 that moves the worktable 220 in the Z direction, and a second drive unit 212 that moves the injection unit 100 in the X and Y directions. The first drive unit 211 is configured as a lifting device and includes a motor for moving the worktable 220 in the Z direction. The second drive unit 212 is configured as a horizontal conveying device and includes a motor for sliding the injection unit 100 in the X direction and a motor for sliding the injection unit 100 in the Y direction. Each motor is driven under the control of the control unit 300. Furthermore, in other embodiments, the drive unit 210 may be a structure that moves the worktable 220 or the injection unit 100 in the X, Y, and Z directions, or it may be a structure that moves the worktable 220 in the X and Y directions while moving the injection unit 100 in the Z direction.

[0035] The cleaning mechanism 250 includes a brush 251 and a scraper 252 for cleaning the nozzle 60. The cleaning mechanism 250 is horizontally positioned in a region different from the worktable 220. Vertically, the cleaning mechanism 250 is positioned at a height where the brush 251 and scraper 252 can contact the nozzle 60. In this embodiment, the cleaning mechanism 250 is connected to the frame 110 via a support 280. A waste removal container 260 is located below the cleaning mechanism 250. Waste removed by the cleaning mechanism 250 falls and is collected in the waste removal container 260. The scraper 252 is also referred to as a dusting plate. The cleaning mechanism 250 is also referred to as a chip wiping assembly.

[0036] The control unit 300 is configured as a computer, which includes one or more processors 310, a storage unit 320 consisting of a main storage device and an auxiliary storage device, and an input / output interface for inputting and outputting signals to and from the outside. In this embodiment, the control unit 300, by causing the processor 310 to execute a program stored in the storage unit 320, can control the injection unit 100 and the drive unit 210 based on modeling data used for modeling a three-dimensional object, and perform the three-dimensional modeling processing described later and the cleaning processing for cleaning the nozzle. Alternatively, the control unit 300 may not be configured as a computer, but rather as a combination of multiple circuits.

[0037] A display device 400 is connected to the control unit 300. The display device 400 is, for example, a liquid crystal display or an organic EL display. In this embodiment, the display device 400 is provided in the frame 110, but the display device 400 may also be disposed separately from the frame 110.

[0038] Figure 2 This is a diagram showing the schematic structure of the injection unit 100. The injection unit 100 includes a plasticizing mechanism 30, a nozzle 60, and a flow adjustment unit 70. The plasticizing mechanism 30 includes a material conveying mechanism 40 and a heating block 90. ​​Material contained in the material receiving section 20 is supplied to the injection unit 100. Under the control of the control unit 300, the injection unit 100 plasticizes at least a portion of the material supplied from the material receiving section 20 through the plasticizing mechanism 30 to generate molding material, and then injects the generated molding material from the nozzle 60 onto the worktable 220 and stacks it. In addition, the material stacked on the worktable 220 is sometimes referred to as stacked material. Sometimes, the three-dimensional modeling method of shaping a three-dimensional object by injecting material from the nozzle 60 and stacking the injected material is also referred to as material extrusion (ME).

[0039] In this embodiment, "plasticization" includes the concept of melting and refers to a change from a solid to a fluid state. Specifically, in the case of materials undergoing a glass transition, plasticization means raising the material's temperature above the glass transition point. In the case of materials not undergoing a glass transition, plasticization means raising the material's temperature above its melting point.

[0040] In this embodiment, the material receiving section 20 contains materials in the form of granules, powders, etc. In this embodiment, the material contained in the material receiving section 20 is granular resin. The material receiving section 20 in this embodiment is composed of a hopper. The material contained in the material receiving section 20 is supplied to the material conveying mechanism 40 of the plasticizing mechanism 30 via a supply passage 22 provided below the material receiving section 20, which connects the material receiving section 20 to the injection section 100.

[0041] The heating block 90 has a heater 58. The heater 58 is controlled by the control unit 300 and heated to a plasticizing temperature for plasticizing the material. The plasticizing temperature varies depending on the type of material used, for example, the glass transition point or melting point of the material. If the material is ABS resin, the plasticizing temperature is set, for example, to the glass transition point of ABS resin, approximately 110°C. The heating block 90 has a through hole 80. The through hole 80 is configured to allow the nozzle 60 to be installed and removed. The material conveying mechanism 40 conveys the molding material toward the nozzle flow path 61 of the nozzle 60 installed in the through hole 80 of the heating block 90. ​​The plasticizing mechanism 30 heats and plasticizes the material while conveying it from the material receiving unit 20 to the material conveying mechanism 40 toward the nozzle flow path 61 of the nozzle 60 using the heat of the heating block 90.

[0042] The material conveying mechanism 40 of this embodiment includes a screw housing 31, a screw 41 housed within the screw housing 31, and a drive motor 32 for driving the screw 41. The heating block 90 of this embodiment includes a housing portion 91 having an opening 94, and a cylinder 50 disposed within the housing portion 91. A connecting hole 56 is provided in the cylinder 50. The through hole 80 of this embodiment is formed by communicating with the opening 94 and the connecting hole 56. Furthermore, the heater 58 is housed within the cylinder 50. In addition, the screw 41 of this embodiment is a so-called flat screw, sometimes also referred to as a "vortex".

[0043] The screw 41 has a generally cylindrical shape, with its height being smaller than its diameter along its central axis RX. The screw 41 has a groove forming surface 42 on the surface opposite the cylinder 50, where a screw groove 45 is formed. The groove forming surface 42 faces the screw opposing surface 52 of the cylinder 50, which will be described later. Furthermore, in this embodiment, the central axis RX coincides with the rotation axis of the screw 41. Detailed information regarding the structure of the screw 41 will be provided later.

[0044] The drive motor 32 is connected to the surface of the screw 41 opposite to the groove forming surface 42. The drive motor 32 is driven under the control of the control unit 300. The screw 41 rotates around the central axis RX by the torque generated by the rotation of the drive motor 32. Alternatively, the drive motor 32 may not be directly connected to the screw 41, for example, it may be connected via a speed reducer.

[0045] The cylinder 50 has a screw-opposing surface 52 that faces the groove forming surface 42 of the screw 41. The housing portion 91 is arranged to cover the surface of the cylinder 50 opposite to the screw-opposing surface 52, i.e., the lower surface of the cylinder 50. The aforementioned connecting hole 56 and opening 94 are provided at a position overlapping with the central axis RX of the screw 41. That is, the through hole 80 is located at a position overlapping with the central axis RX.

[0046] As described above, the nozzle 60 is detachably mounted in the through hole 80 of the heating block 90. ​​The nozzle 60 is also referred to as a nozzle head. The nozzle 60 is provided with the aforementioned nozzle flow path 61. The nozzle flow path 61 has a nozzle opening 63 at the top of the nozzle 60 and a flow inlet 65 at the rear end of the nozzle 60. The nozzle opening 63 is located in the -Z direction of the flow inlet 65. In this embodiment, the nozzle 60 sprays material that flows into the nozzle flow path 61 through the through hole 80 and the flow inlet 65 out from the nozzle opening 63 toward the worktable 220. A heater for heating the material within the nozzle flow path 61 may also be provided around the nozzle flow path 61.

[0047] The nozzle 60 has a shroud 68 located above the tip of the nozzle 60. More specifically, the shroud 68 is disposed around the outer periphery of the nozzle 60 between the nozzle opening 63 and the heating block 90. ​​The shroud 68 has a horizontally oriented disc shape. The shroud 68 inhibits heat transfer from the heating block 90 toward the laminated material.

[0048] The flow rate adjustment unit 70 changes the opening degree of the nozzle flow path 61 by rotating within it. In this embodiment, the flow rate adjustment unit 70 is configured as a butterfly valve. The flow rate adjustment unit 70 is driven by a valve drive unit 75 under the control of the control unit 300. The valve drive unit 75 is, for example, configured as a stepper motor. By controlling the rotation angle of the butterfly valve using the valve drive unit 75, the control unit 300 can adjust the flow rate of the molding material flowing from the material delivery mechanism 40 to the nozzle 60, that is, the flow rate of the molding material ejected from the nozzle 60. The flow rate adjustment unit 70 can not only adjust the flow rate of the molding material, but also control the opening / closing of the molding material flow.

[0049] Figure 3 This is a schematic perspective view showing the structure on the side of the slot forming surface 42 of the screw 41. Figure 3In the diagram, the position of the central axis RX of the screw 41 is indicated by a single-dot dashed line. As described above, a screw groove 45 is provided on the groove forming surface 42. The central portion 47 of the screw 41, i.e., the screw central portion 47, is configured as a recess that connects to one end of the screw groove 45. The screw central portion 47 is opposite to the communicating hole 56 of the cylinder 50. The screw central portion 47 intersects with the central axis RX.

[0050] The screw groove 45 of the screw 41 forms a so-called spiral groove. The screw groove 45 extends in a spiral shape, arcing from the center portion 47 of the screw towards the outer periphery of the screw 41. The screw groove 45 may also be configured to extend in an involute curve or spiral shape. A raised rib portion 46 is provided on the groove forming surface 42, forming the side wall portion of the screw groove 45 and extending along each screw groove 45. The screw groove 45 continues to the material inlet 44 formed on the side surface 43 of the screw 41. The material inlet 44 is the portion that receives material supplied via the supply path 22 of the material receiving portion 20.

[0051] exist Figure 3 An example of a screw 41 with three screw grooves 45 and three protrusions 46 is shown. The number of screw grooves 45 and protrusions 46 provided on the screw 41 is not limited to three; it may have only one screw groove 45, or it may have two or more screw grooves 45. Furthermore, in Figure 3 The illustration shows an example of a screw 41 with material inlets 44 formed in three locations. The number of material inlets 44 provided on the screw 41 is not limited to three locations; it can be provided in only one location or in multiple locations with two or more locations.

[0052] Figure 4 This is a top view showing the structure of the screw-opposing surface 52 side of the cylinder 50. As described above, a connecting hole 56 is formed in the center of the screw-opposing surface 52. A plurality of guide grooves 54 are formed around the connecting hole 56 in the screw-opposing surface 52. One end of each guide groove 54 is connected to the connecting hole 56, and extends in a spiral shape from the connecting hole 56 toward the outer periphery of the screw-opposing surface 52. Each guide groove 54 functions to guide the molding material to the connecting hole 56. Alternatively, one end of the guide groove 54 may not be connected to the connecting hole 56. Furthermore, the guide grooves 54 may not be formed in the cylinder 50.

[0053] Figure 5This is an explanatory diagram showing the schematic structure of the cleaning mechanism 250. As described above, the cleaning mechanism 250 includes a brush 251 and a scraper 252. The brush 251 is composed of multiple bristles arranged side by side along the Y direction. The scraper 252 is a flat plate-shaped member along both the Z and Y directions. The tips of both the brush 251 and the scraper 252 face the +Z direction. The tip of the scraper 252 is positioned below the tip of the brush 251. As described above, the brush 251 and the scraper 252 are positioned at a height that allows them to contact the nozzle 60. Furthermore, the tip of the brush 251 is positioned at a height that allows it to contact the cover 68 provided on the nozzle 60, while the tip of the scraper 252 is positioned at a height that does not contact the cover 68. In this embodiment, the brush 251 and the scraper 252 are integrated by a fastener 258 and can be replaced simultaneously when needed. Alternatively, the brush 251 and the scraper 252 can also be replaced individually.

[0054] The brush 251 and scraper 252 have melting points higher than the plasticizing temperature of the plasticized material plasticized in the injection section 100. Furthermore, the brush 251 and scraper 252 have a hardness lower than that of the nozzle 60. In this embodiment, hardness refers to Vickers hardness. Furthermore, in this embodiment, the elastic modulus of the scraper 252 is higher than that of the brush 251. In this embodiment, elastic modulus refers to Young's modulus. The nozzle 60 is formed, for example, of a metal such as cemented carbide, tool steel, or SUS, while the brush 251 and scraper 252 are formed, for example, of a metal such as SUS, iron, or brass. Additionally, the brush 251 and scraper 252 may also be formed of resin. Furthermore, the brush 251 may also be formed of natural fibers or chemical fibers, and the scraper 252 may also be formed of ceramic. Furthermore, in other embodiments, the elastic modulus of the scraper 252 and the brush 251 may be the same, or the elastic modulus of the brush 251 may be higher than that of the scraper 252.

[0055] The cleaning mechanism 250 also includes a cleaning section 253. The cleaning section 253 is also referred to as a cleaning shelf. In this embodiment, the cleaning section 253, the scraper 252, and the brush 251 are arranged side by side in the +X direction. That is, the scraper 252 is disposed between the cleaning section 253 and the brush 251. The top tip of the cleaning section 253 in the +Z direction is lower than the top tip of the scraper 252. In the cleaning process described later, the waste ejected from the nozzle 60 falls onto the cleaning section 253 and gathers into a ball shape on the cleaning section 253, and then falls into the waste removal container 260. The upper surface of the cleaning section 253 is configured as an inclined surface to facilitate the falling of waste. More specifically, the cleaning section 253 has a first inclined surface 254, a second inclined surface 255, and a third inclined surface 256 in order of distance from the scraper 252 from far to near and in order of vertical position from low to high. The first inclined surface 254, the second inclined surface 255, and the third inclined surface 256 are inclined such that the position of their ends in the +X direction is higher than the position of their ends in the -X direction. In this embodiment, the inclination angle of the second inclined surface 255 and the third inclined surface 256 relative to the horizontal plane is larger than the inclination angle of the first inclined surface 254 relative to the horizontal plane.

[0056] Figure 6 This is a flowchart illustrating the three-dimensional modeling process for manufacturing a three-dimensional object. This three-dimensional modeling process is executed when the control unit 300 of the three-dimensional modeling device 10 receives a specified operation from the user.

[0057] In step S100, the control unit 300 acquires modeling data from an external computer, recording medium, or the like. The modeling data contains modeling path data, organized by layer to form the three-dimensional model, representing the movement path of the nozzle 60. The modeling path data is linked to injection amount data, representing the amount of material ejected from the nozzle 60.

[0058] Next, the control unit 300 begins performing a layering process in step S110. This layering process involves controlling the drive unit 210 and the injection unit 100 according to the modeling data, causing the modeling material to be injected from the injection unit 100 onto the worktable 220 in layers, thereby modeling a three-dimensional object composed of multiple layers. Step S110 is also referred to as the layering process.

[0059] During the layering process, in step S120, the control unit 300 determines whether to perform a cleaning process. For example, the control unit 300 determines to perform a cleaning process if it detects an abnormality in the injection of molding material in the plasticizing mechanism 30, if a predetermined number of layers are formed, if the type of molding material is changed, or if it receives a cleaning instruction contained in the molding data. If it determines to perform a cleaning process, the control unit 300 controls the flow adjustment unit 70 to temporarily stop the injection of molding material from the nozzle 60. In step S130, it selects the cleaning action for the nozzle 60 in the cleaning process. Specifically, in step S130, the control unit 300 selects one of several cleaning actions that move the nozzle 60 along different trajectories. In this embodiment, the contact start positions between the nozzle 60 and the cleaning mechanism 250 are different for each of the several cleaning actions with different trajectories.

[0060] Figure 7 This is an explanatory diagram of the cleaning action in this embodiment. Figure 7 The image shows a view from above of the top of the nozzle 60, the brush 251 of the cleaning mechanism 250, and the scraper 252. The path of the nozzle 60's movement is shown in dashed lines. Figure 7 As shown, the cleaning mechanism 250 has a long side direction. In this embodiment, the long direction is the Y direction. In this embodiment, during the cleaning operation, the control unit 300 contacts the tip of the nozzle 60 with the scraper 252, and then contacts the tip of the nozzle 60 with the brush 251. Then, the control unit 300 moves the nozzle 60 back and forth by repeatedly traversing the brush 251 and the scraper 252. Specifically, in this embodiment, the control unit 300 moves the nozzle 60 along the length direction of the cleaning mechanism 250 in an M-shaped or W-shaped track, or in other words, a triangular wave shape, starting from the initial contact position between the nozzle 60 and the cleaning mechanism 250. Thus, during the cleaning operation, the control unit 300 can move the nozzle 60 back and forth in the X direction by contacting the nozzle 60 with different positions of the brush 251 or the scraper 252 each time the nozzle 60 passes by the brush 251 or the scraper 252. In this embodiment, the control unit 300 moves the nozzle 60 in such a way that it starts moving the nozzle 60 from the initial contact position and returns the nozzle 60 to the initial contact position. Furthermore, in this embodiment, the control unit 300 contacts both the brush 251 and the scraper 252 during the cleaning operation, but it may also contact either of them.

[0061] Figure 8This is a graph showing the relationship between the contact start position and the modeling progress rate. In this embodiment, in step S130 described above, the control unit 300 determines the contact start position based on the current modeling progress rate. The modeling progress rate refers to the ratio of the number of layers stacked so far to the total number of layers constituting the three-dimensional model. For example, if the three-dimensional model is composed of 10 layers, and the number of layers stacked so far is 4, then the modeling progress rate is 40%. Thus, in this embodiment, multiple cleaning actions with contact start positions corresponding to the modeling progress rate are prepared, and the control unit 300 selects and executes the cleaning action corresponding to the current modeling progress rate from these multiple cleaning actions. The control unit 300 starts from the determined contact start position and proceeds according to... Figure 7 The nozzle 60 is moved by reciprocating once along the length of the cleaning mechanism 250 on the track shown. For example, if the contact start position is not at the end of the cleaning mechanism 250 in the length direction, the control unit 300 moves the nozzle 60 from the contact start position along... Figure 7 The track shown moves in the +Y direction, and after reaching the end in the +Y direction, it moves in the -Y direction. After reaching the end in the -Y direction, the nozzle 60 is moved back to the contact start position. Alternatively, the control unit 300 can move the nozzle 60 by moving a predetermined distance along the length of the cleaning mechanism 250. Furthermore, in other embodiments, the contact start position may be determined not based on the molding progress rate, but based on the time since molding began, the amount of material sprayed up to this point, and the length of the molding path up to this point.

[0062] exist Figure 6 After selecting the cleaning action in step S130, the control unit 300 performs the cleaning process in step S140. Step S140 is also referred to as the cleaning process.

[0063] Figure 9 This is a detailed flowchart of the cleaning process. During cleaning, in step S300, the control unit 300 controls the drive unit 210 to move the nozzle 60 onto the cleaning unit 253, and then controls the flow adjustment unit 70 to eject a predetermined amount of material from the nozzle 60 toward the cleaning unit 253. The material ejected toward the cleaning unit 253 is also referred to as waste. The waste ejected to the cleaning unit 253 falls along the inclined surface of the cleaning unit 253 into the waste removal container 260. The amount of material ejected is, for example, equivalent to the volume of the nozzle flow path 61.

[0064] In step S310, the control unit 300 controls the flow adjustment unit 70 to stop the ejection of waste material from the nozzle 60. If the ejection of waste material stops, the molten material no longer flows into the nozzle 60, thus reducing the temperature of the nozzle 60. If the nozzle 60 is equipped with a heater, the control unit 300 can also stop the heater from step S310 until the cleaning operation in step S320 (described later) ends. If the nozzle 60 is equipped with a cooling unit, the control unit 300 can also start the cooling unit from step S310 until the cleaning operation in step S320 (described later) ends.

[0065] In step S320, the control unit 300 performs the cleaning action selected in step S130 above when the temperature of the nozzle 60 is lower than the temperature of the nozzle 60 during the stacking process.

[0066] return Figure 6 The following explanation is provided. If the cleaning process in step S140 is completed, or if it is determined in step S120 that cleaning will not be performed, the control unit 300 determines in step S150 whether the layering process has been completed for all layers, i.e., whether the modeling of the three-dimensional object has been completed. If the layering process is not completed, the control unit 300 returns the process to step S110 to continue the layering process. If the layering process is completed, the control unit 300 stores the cleaning process execution history in the storage unit 320 in step S160.

[0067] Figure 10 This diagram illustrates an example of a cleaning process execution history. In this embodiment, the control unit 300 counts the number of times the nozzle 60 passes through each position along the length of the cleaning mechanism 250, and records this distribution as a cleaning process execution history in the storage unit 320. This execution history is reset when the cleaning mechanism 250 is replaced with a new one. The control unit 300 can detect the replacement of the cleaning mechanism 250 either by using sensors or by receiving a specified operation from the user.

[0068] exist Figure 6In step S170, the control unit 300 performs a wear determination process to determine the wear state of the cleaning mechanism 250. In this wear determination process, the control unit 300 refers to the execution history of cleaning processes stored in the storage unit 320. If it detects that there is one or more cleaning locations where the number of cleaning cycles exceeds a predetermined number, it determines that there is wear. If wear is determined in step S180, the control unit 300 controls subsequent cleaning operations in step S190 to prevent the cleaning operation from passing through the worn area, i.e., the cleaning location determined to be worn, in subsequent cleaning operations. That is, the worn area is excluded from the target location of the cleaning operation. Furthermore, in other embodiments, for example, in subsequent cleaning operations, when the nozzle 60 passes through the worn area, the more progressive the wear, the more the nozzle 60 is moved in the -Z direction to use the worn portion for cleaning. Additionally, the control unit 300 may display a prompt to replace the cleaning mechanism on the display device 400 when wear has reached a certain level. If no wear is determined in step S180, the control unit 300 skips the processing in step S190.

[0069] According to the three-dimensional modeling apparatus 10 of this embodiment described above, during the cleaning operation, the nozzle 60 is moved back and forth such that it contacts different positions of the brush 251 or scraper 252. This results in the temperature of the nozzle 60 during the cleaning operation being lower than the temperature of the nozzle 60 during layering. Therefore, it is possible to prevent waste material from accumulating and adhering to specific areas of the cleaning mechanism 250. Furthermore, it is possible to prevent the waste material adhering to the cleaning mechanism 250 from being heated and softened due to contact with the nozzle 60. As a result, it is possible to prevent the waste material adhering to the cleaning mechanism 250 from re-adhering to the nozzle 60, thereby preventing the waste material adhering to the cleaning mechanism 250 from affecting the modeling accuracy.

[0070] Furthermore, in this embodiment, during the cleaning process, a selected cleaning action is performed from among multiple cleaning actions that move the nozzle 60 along different paths. Therefore, the nozzle 60 can be cleaned separately using multiple cleaning actions that move the nozzle 60 along different paths. In particular, in this embodiment, the contact start position between the nozzle 60 and the cleaning mechanism 250 is different for each of the multiple cleaning actions with different paths. Therefore, it is possible to effectively suppress the adhesion of waste to specific positions of the cleaning mechanism 250, thereby effectively preventing the waste adhering to the cleaning mechanism from re-adhering to the nozzle 60.

[0071] Furthermore, in this embodiment, since the contact start position in the cleaning operation is changed according to the shaping progress rate, a different cleaning operation is performed each time a cleaning operation is performed compared to the previous cleaning operation. Therefore, it is possible to effectively suppress waste from adhering to specific locations on the cleaning mechanism 250, thereby more effectively preventing waste adhering to the cleaning mechanism 250 from re-adhering to the nozzle 60.

[0072] Furthermore, in this embodiment, the execution history of the cleaning process is stored in the storage unit 320. Therefore, the control unit 300 can use the execution history to confirm the wear condition of the cleaning mechanism 250. As a result, the cleaning operation can be performed in a way that excludes worn parts of the cleaning mechanism 250, and the movement of the nozzle 60 can be controlled in a way that brings the nozzle 60 into contact with the worn parts.

[0073] Furthermore, in this embodiment, the elastic modulus of the scraper 252 of the cleaning mechanism 250 is higher than that of the brush 251. Therefore, it is easier to remove the material adhering to the nozzle 60 by the scraper 252.

[0074] Furthermore, in this embodiment, since the top of the scraper 252 is positioned below the top of the brush 251 in the cleaning mechanism 250, the material adhering to the top of the nozzle 60 can be effectively removed by the scraper 252.

[0075] Furthermore, in this embodiment, since the top of the brush 251 is positioned at a height that can contact the cover 68, and the top of the scraper 252 is positioned at a height that does not contact the cover 68, the material attached to the cover 68 can be removed by the brush 251.

[0076] In addition, in this embodiment, after the control unit 300 removes the molding material attached to the tip of the nozzle 60 by contacting the tip of the nozzle 60 with the scraper 252 during the cleaning operation, it contacts the tip of the nozzle 60 with the brush 251, thus enabling efficient cleaning of the nozzle 60.

[0077] In addition, in this embodiment, during the cleaning process, after the waste material is ejected from the nozzle 60 on the cleaning unit 253, the control unit 300 moves the nozzle 60 toward the brush 251 and the scraper 252, so that the nozzle 60 can be cleaned after the molding material remaining in the nozzle flow path 61 is removed.

[0078] Furthermore, in this embodiment, during the modeling of the three-dimensional object, layering and cleaning processes are repeatedly performed. However, the cleaning process can be performed not only during modeling but also before the modeling of the three-dimensional object begins or after the modeling of the three-dimensional object is completed.

[0079] Figures 11-14These are illustrative diagrams illustrating other examples of cleaning actions. In Figure 11 An example is shown where the nozzle 60 moves along the length of the cleaning mechanism 250 in a trajectory representing a rectangular wave. Figure 12 An example is shown where the nozzle 60 moves along the length of the cleaning mechanism 250 in a trajectory representing a sine wave. Figure 13 The figures show an example of moving the nozzle 60 along a track representing a sawtooth wave shape along the length of the cleaning mechanism 250. As shown in these figures, the control unit 300 can reciprocate the nozzle 60 along various tracks during the cleaning operation. Additionally, as... Figure 14 As shown, the control unit 300 can also make the nozzle 60 cross the brush 251 more times than the scraper 252 during the cleaning operation. This can suppress the wear of the scraper 252.

[0080] B. Second implementation method:

[0081] Figure 15 This is a flowchart of the three-dimensional modeling process in the second embodiment. The structure of the three-dimensional modeling device 10 in the second embodiment is the same as that of the three-dimensional modeling device 10 in the first embodiment.

[0082] like Figure 15 As shown, in the three-dimensional modeling process of the second embodiment, after the control unit 300 acquires the modeling data in step S100, it selects a cleaning mode in step S105. The cleaning mode includes multiple cleaning actions with different tracks, and in this embodiment, multiple cleaning modes are stored in the storage unit 320.

[0083] Figure 16 This diagram illustrates an example of a cleaning mode. In this embodiment, Mode A and Mode B are stored as cleaning modes in the storage unit 320. In Mode A, the cleaning action trajectory is defined such that the contact start position during the cleaning action moves from the -Y direction to the +Y direction as the modeling progress rate increases. Then, in Mode B, the cleaning action trajectory is defined such that the contact start position during the cleaning action moves from the +Y direction to the -Y direction as the modeling progress rate increases. In step S105 above, the control unit 300 alternately selects Mode A and Mode B each time it performs three-dimensional modeling processing, that is, each time it models a three-dimensional object.

[0084] In the three-dimensional modeling process of the second embodiment, the control unit 300 in Figure 15In step S130, the cleaning mode selected in step S105 is used to select a cleaning action corresponding to the modeling progress rate, and this cleaning action is performed in the cleaning process of step S140. The processes of steps S110 to S120 and S150 to S190 are the same as the processes of the three-dimensional modeling process in the first embodiment, so the description is omitted.

[0085] According to the second embodiment described above, the storage unit 320 stores multiple cleaning modes, each including different cleaning actions along different tracks. The control unit 300 performs the cleaning process using a cleaning mode selected from these multiple cleaning modes each time a three-dimensional object is shaped. Therefore, it is possible to effectively prevent waste material from adhering to specific locations on the cleaning mechanism 250, thereby preventing waste material adhering to the cleaning mechanism 250 from re-adhering to the nozzle 60. Furthermore, while two cleaning modes are shown in this embodiment, the storage unit 320 may store three or more cleaning modes.

[0086] C. Third implementation method:

[0087] Figure 17 This is a diagram showing the schematic structure of the three-dimensional modeling device 11 in the third embodiment. The three-dimensional modeling device 11 of the third embodiment differs from the three-dimensional modeling device 10 of the first embodiment in that it has a waste removal unit 270, but its other structures are the same as those of the three-dimensional modeling device 10 of the first embodiment.

[0088] The waste removal unit 270 removes waste adhering to the brush 251 or scraper 252 provided with the cleaning mechanism 250. In this embodiment, the waste removal unit 270 is composed of an air compressor that injects compressed air. The control unit 300... Figure 6 or Figure 15 At the start or end of the three-dimensional modeling device shown, or before or after the execution of the cleaning process in step S140, the waste removal unit 270 is driven to remove the waste attached to the cleaning mechanism 250.

[0089] According to the third embodiment described above, since the waste removal unit 270 can be used to remove the waste adhering to the brush 251 and the scraper 252, it is possible to more effectively prevent the waste adhering to the cleaning mechanism 250 from re-adhering to the nozzle 60.

[0090] Furthermore, the waste removal unit 270 can remove both the waste attached to the brush 251 and the waste attached to the scraper 252, or it can remove the waste attached to either the brush 251 or the scraper 252 by being oriented to either of them.

[0091] In addition, the waste removal unit 270 is not limited to an air compressor. For example, it can also be composed of a brush that can move on the cleaning mechanism 250, and the waste attached to the brush 251 and scraper 252 is removed by rubbing the brush against the cleaning mechanism 250.

[0092] D. Fourth Implementation Method:

[0093] Figure 18 This diagram illustrates the schematic structure of the three-dimensional modeling apparatus 12 in the fourth embodiment. In this fourth embodiment, the three-dimensional modeling apparatus 12 includes two injection sections and two cleaning mechanisms. Specifically, the injection sections in this embodiment include a first injection section 101 equipped with a first nozzle 71 for injecting a first modeling material and a second injection section 102 equipped with a second nozzle 72 for injecting a second modeling material. The first and second modeling materials can be, for example, a combination of a modeling material and a support material; alternatively, they can be, for example, a combination of materials of different colors and textures. The structures of the first injection section 101 and the second injection section 102 are the same as those of the injection section 100 in the first embodiment.

[0094] The cleaning mechanism in this embodiment includes: a first cleaning mechanism 261, equipped with a brush and a scraper for cleaning the first nozzle 71; and a second cleaning mechanism 262, equipped with a brush and a scraper for cleaning the second nozzle 72. The structures of the first cleaning mechanism 261 and the second cleaning mechanism 262 are the same as those of the cleaning mechanism 250 in the first embodiment. Furthermore, in this embodiment, the two cleaning mechanisms 261 and 262 are arranged at a predetermined interval in the X direction, and the cleaning parts, scrapers, and brushes of each cleaning mechanism 261 and 262 are arranged side-by-side facing the -Y direction. Additionally, in this embodiment, the long side direction of the first cleaning mechanism 261 and the second cleaning mechanism 262 is the X direction.

[0095] In this embodiment, the control unit 300 uses two ejection units 101 and 102 and two cleaning mechanisms 261 and 262 to perform the operation. Figure 6 The three-dimensional modeling process is shown. In the three-dimensional modeling process of this embodiment, the layering process is performed separately using two injection units 101 and 102. Then, in Figure 9 In the cleaning process shown, the control unit 300 performs cleaning on the first nozzle 71 of the first ejection unit 101 and the second nozzle 72 of the second ejection unit 102 respectively. Figure 7 The cleaning action shown allows the first cleaning mechanism 261 and the second cleaning mechanism 262 to simultaneously clean the first nozzle 71 and the second nozzle 72.

[0096] According to the fourth embodiment described above, the two nozzles 71 and 72 of the two injection units 101 and 102 can be cleaned simultaneously, thus shortening the time required for cleaning. As a result, three-dimensional modeling processing can be performed efficiently. Furthermore, in this embodiment, an example is shown in which each of the three-dimensional modeling apparatus 12 has two injection units and two cleaning mechanisms, but there may also be three or more injection units and cleaning mechanisms.

[0097] E. Fifth implementation method:

[0098] Figure 19 This diagram shows a schematic structure of the three-dimensional modeling apparatus 13 in the fifth embodiment. The main difference between the three-dimensional modeling apparatus 13 in the fifth embodiment and the first embodiment is the structure of the injection unit; the other structures and the processing content of the three-dimensional modeling process are the same as in the first embodiment. Therefore, the structure of the injection unit will be mainly described below.

[0099] The three-dimensional modeling apparatus 13 of this embodiment includes an injection unit 103, a material receiving unit 23, a frame 110, a drive unit 210, a worktable 220, and a control unit 300. The three-dimensional modeling apparatus 13 also includes a blower 16. The blower 16 is configured as a blower that delivers air to the injection unit 103 via a manifold 17. In this embodiment, a portion of the manifold 17, the injection unit 103, the drive unit 210, and the worktable 220 are housed in the modeling space 111 within the frame 110.

[0100] In this embodiment, the material receiving section 23 is configured as a support for receiving filamentous material. The material receiving section 23 is configured to allow the material contained inside to be rolled out toward the outside of the material receiving section 23.

[0101] Figure 20 This diagram shows a schematic structure of the injection unit 103 according to this embodiment. The injection unit 103 includes: a heating block 190 serving as a plasticizing mechanism, having a heater and a through hole 180; a nozzle 73 detachably mounted to the through hole 180; and a material conveying mechanism 140 conveying material MF towards the nozzle flow path 74 of the nozzle 73 mounted on the heating block 190. Additionally, the injection unit 103 includes a protective cover 92, which is disposed in the Z direction between the material conveying mechanism 140 and the heating block 190 to suppress heat transfer from the heating block 190 to the material conveying mechanism 140. The material conveying mechanism 140 of this embodiment differs from that of the first embodiment in that it does not include a screw housing 31 and a screw 41, but is instead composed of two wheels 49. The heating block 190 also differs from that of the first embodiment in that it does not include a cylinder 50 or a housing portion 91.

[0102] In this embodiment, the nozzle 73 is mounted to the heating block 190 by inserting it through the through hole 180 in the -Z direction and the shroud opening 93 provided in the shroud 92. In this embodiment, the dimensions of the nozzle 73 in the Z direction and the nozzle flow path 74 in the Z direction are longer than the dimensions of the through hole 180 in the Z direction. In this embodiment, the inlet 165 provided at the rear end of the nozzle 73 is located on the +Z direction side of the heating block 190, and more specifically, on the +Z direction side of the shroud 92.

[0103] The two wheels 49 constituting the material conveying mechanism 140, through their rotation, pull the material MF from the material receiving section 23 outward and guide it between the two wheels 49, and convey it towards the nozzle flow path 74 of the nozzle 73 mounted in the through hole 180 of the heating block 190. The heating block 190 plasticizes the material MF conveyed towards the nozzle flow path 74 of the nozzle 73 by the heat from a heater (not shown) built into the heating block 190.

[0104] In this embodiment, the material MF is cooled near the inlet 165 of the nozzle 73 by air supplied from the blower 16 via the manifold 17. This suppresses plasticization of the material MF near the inlet 165 and allows for efficient delivery of the material MF into the inlet 165. Furthermore, the outlet end 18 of the manifold 17 is located on the +Z direction side of the shroud 92. This facilitates the guidance of the air supplied from the manifold 17 towards the inlet 165 by the shroud 92, thus efficiently cooling the material MF near the inlet 165.

[0105] Furthermore, the structure of the cleaning mechanism 250 in this embodiment is the same as that in the first embodiment, but the tip of the brush 251 does not contact the protective cover 92 during the cleaning process. The reason for this is that, in this embodiment, the protective cover 92 is located above the heating block 190.

[0106] In the three-dimensional modeling device 13 of the present embodiment described above, the cleaning mechanism 250 can also be used to clean the nozzle 73.

[0107] F. Other implementation methods:

[0108] (F1) In the above embodiment, the control unit 300 selects the cleaning action to be used from a plurality of cleaning actions with different contact start positions to perform the cleaning process. Conversely, the control unit 300 may also select from... Figure 7 , Figures 11-14 Choose the cleaning action to use from among several cleaning actions with different track shapes shown.

[0109] (F2) In the above embodiment, the control unit 300 moves the nozzle 60 from the scraper 252 side to the brush 251 side when the cleaning operation begins. Conversely, the control unit 300 may also move the nozzle 60 from the brush 251 side to the scraper 252 side when the cleaning operation begins.

[0110] (F3) The control unit 300 may also, at the start of the cleaning operation, store the cleaning operation that moves the nozzle 60 from the scraper 252 side to the brush 251 side and the cleaning operation that moves the nozzle 60 from the brush 251 side to the scraper 252 side as cleaning operations with different tracks, and select the cleaning operation to be used from among them. Alternatively, the control unit 300 may also store cleaning operations with tracks from the +Y direction to the -Y direction and cleaning operations with tracks from the -Y direction to the +Y direction, and select the cleaning operation to be used from among them.

[0111] (F4) In the above embodiment, the control unit 300 causes the contact start position in the cleaning operation to change according to the shaping progress rate. In contrast, the control unit 300 may also randomly select the contact start position using a random number. However, even when the contact start position is randomly selected, it is preferable to randomly select the contact start position from a range other than the contact start position in the previous cleaning operation.

[0112] (F5) In the above embodiment, the cleaning mechanism 250 includes a cleaning section 253. In contrast, the cleaning mechanism 250 may also not include a cleaning section 253.

[0113] (F6) In the above embodiment, nozzles 60 and 73 are equipped with shields 68 and 92. In contrast, nozzles 60 and 73 may also be without shields 68 and 92.

[0114] (F7) In the above embodiments, the recording of the cleaning history and the wear determination process may not be performed. That is, they may be omitted. Figure 6 , Figure 15 The processing of steps S160 to S190 in the process.

[0115] (F8) In the above embodiment, the cleaning mechanism 250 is disposed in a region different from the worktable 220 in the horizontal direction. Conversely, the cleaning mechanism 250 may also be disposed in a region that overlaps with the worktable 220 in the horizontal direction, but is a region different from the modeling region of the worktable 220 for modeling three-dimensional objects. Thus, a compact three-dimensional modeling device can be provided.

[0116] G. Other methods:

[0117] This disclosure is not limited to the embodiments described above, and can be implemented in various structures without departing from its spirit. For example, in order to solve part or all of the above-described problems, or to achieve part or all of the above-described effects, the technical features of the embodiments corresponding to the technical features in the various methods described below can be appropriately replaced or combined. In addition, such technical features can be appropriately deleted in this specification unless they are described as essential features.

[0118] (1) According to a first aspect of this disclosure, a three-dimensional modeling apparatus is provided. The three-dimensional modeling apparatus includes: an injection unit having a plasticizing mechanism for plasticizing a plasticizing material to generate a modeling material, and a nozzle, from which the modeling material is injected; a worktable for stacking the modeling material; a drive unit for changing the relative position of the injection unit and the worktable; a cleaning mechanism having a brush and a scraper; and a control unit capable of performing a cleaning process to clean the nozzle and controlling the injection unit and the drive unit to stack the material on the worktable, wherein the brush and the scraper are positioned at a height capable of contacting the nozzle, and the brush and the scraper have a height greater than that of the plasticizing material. The material has a high plasticizing temperature and a melting point, and has a hardness lower than that of the nozzle. The control unit performs a cleaning action in the cleaning process. In the cleaning action, the nozzle is moved back and forth by repeatedly traversing the cleaning mechanism, so that at least one of the brush and the scraper comes into contact with the nozzle. In the cleaning action, the control unit moves the nozzle back and forth by making the nozzle come into contact with different positions of the brush or the scraper. The temperature of the nozzle in the cleaning action is lower than the temperature of the nozzle when the layers are stacked.

[0119] In this manner, during the cleaning process, the nozzle reciprocates by contacting different points with the brush or scraper. Consequently, the temperature of the nozzle during the cleaning process is lower than that during the layering process, thus preventing waste adhering to the cleaning mechanism from re-adhering to the nozzle. As a result, the impact of waste adhering to the cleaning mechanism on the shaping accuracy can be suppressed.

[0120] (2) In the above-described manner, the control unit may also execute a selected cleaning action from among a plurality of cleaning actions that move the nozzle along different trajectories. According to this method, it is possible to clean the nozzle separately using multiple cleaning actions that move the nozzle along different trajectories.

[0121] (3) In the above method, the contact start position between the nozzle and the cleaning mechanism may be different in each of the multiple cleaning actions with different tracks. In this way, it is possible to effectively suppress the adhesion of waste to specific positions of the cleaning mechanism, and thus more effectively suppress the re-adhesion of waste adhering to the cleaning mechanism to the nozzle.

[0122] (4) In the above-described manner, the control unit may perform a cleaning action that is different from the previously performed cleaning action. In this manner, it is possible to suppress the adhesion of waste to specific locations of the cleaning mechanism, and thus more effectively prevent the waste adhering to the cleaning mechanism from re-adhering to the nozzle.

[0123] (5) In the above-described manner, the three-dimensional modeling device may also have a storage unit that stores multiple cleaning modes, including multiple cleaning actions with different tracks. Whenever a three-dimensional model is modeled, the control unit uses a cleaning mode selected from the multiple cleaning modes to perform the cleaning process. In this manner, it is possible to suppress waste from adhering to specific locations on the cleaning mechanism, thus more effectively preventing waste adhering to the cleaning mechanism from re-adhering to the nozzle.

[0124] (6) In the above-described manner, the control unit may also store the execution history of the cleaning process in the storage unit. According to this method, the execution history can be used to confirm the wear condition of the cleaning mechanism.

[0125] (7) In the above-described manner, the three-dimensional modeling device may also include a waste removal section that removes waste adhering to the brush or the scraper. This method more effectively prevents waste adhering to the cleaning mechanism from re-adhering to the nozzle.

[0126] (8) In the above-described manner, the nozzle may also have a protective cover located above the tip of the nozzle.

[0127] The tip of the brush is positioned at a height that allows it to contact the protective cover, while the tip of the scraper is positioned at a height that does not contact the protective cover. In this manner, material adhering to the protective cover can be removed.

[0128] (9) In the above-described manner, the cleaning mechanism may also have a cleaning part, and the scraper is disposed between the cleaning part and the brush. The cleaning part has a first inclined surface, a second inclined surface and a third inclined surface in order from far to near the scraper and in order from low to high in the vertical direction. The inclination angle of the second inclined surface and the third inclined surface relative to the horizontal plane is greater than the inclination angle of the first inclined surface relative to the horizontal plane.

[0129] (10) In the above-described manner, it is also possible that, during the cleaning process, after the styling material is ejected from the nozzle onto the cleaning section, the nozzle is moved toward the brush and the scraper. In this manner, the nozzle can be cleaned after removing any material remaining in it.

[0130] (11) According to a second aspect of the present disclosure, a method for manufacturing a three-dimensional model in a three-dimensional modeling apparatus is provided. The three-dimensional modeling apparatus comprises: an injection unit having a plasticizing mechanism for plasticizing a plasticizing material to generate a modeling material and a nozzle, and ejecting the modeling material from the nozzle; a worktable for stacking the modeling material; a drive unit for changing the relative position of the injection unit and the worktable; and a cleaning mechanism having a brush and a scraper, the brush and the scraper being disposed at a height that allows them to contact the nozzle, the brush and the scraper having a melting point higher than the plasticizing temperature of the plasticizing material and a hardness lower than the hardness of the nozzle. The manufacturing method includes: a stacking process in which the injection unit and the drive unit are controlled to stack layers on a worktable; and a cleaning process in which a cleaning action is performed, wherein the nozzle is reciprocated such that it repeatedly traverses the cleaning mechanism, thereby bringing at least one of the brush and the scraper into contact with the nozzle, wherein the reciprocating movement of the nozzle is performed in such a way that it contacts the brush or the scraper at different positions, and the temperature of the nozzle during the cleaning action is lower than the temperature of the nozzle during the stacking of the layers.

Claims

1. A three-dimensional modeling device, characterized in that, have: The injection unit has a plasticizing mechanism that plasticizes a plasticizing material to generate a molding material, and a nozzle, and ejects the molding material from the nozzle; A workbench for stacking the molding materials; The drive unit changes the relative position of the injection unit and the worktable; Cleaning equipment, equipped with brushes and scrapers; and The control unit is capable of performing cleaning procedures on the nozzles and controlling the ejection unit and the drive unit to stack on the worktable. The brush and the scraper are positioned at a height that allows them to contact the nozzle. The brush and the scraper have melting points higher than the plasticizing temperature of the plasticizing material and hardness lower than that of the nozzle. The control unit performs a cleaning action during the cleaning process, in which the nozzle is reciprocated by moving the nozzle back and forth such that it repeatedly traverses the cleaning mechanism, thereby bringing at least one of the brush and the scraper into contact with the nozzle. During the cleaning action, the control unit causes the nozzle to reciprocate by contacting the nozzle at different positions with the brush or the scraper. The temperature of the nozzle during the cleaning action is lower than the temperature of the nozzle when the layers are stacked. The control unit determines the initial contact position between the nozzle and the cleaning mechanism based on the current molding progress rate. The control unit selects and executes a cleaning action from a plurality of cleaning actions that corresponds to the current styling progress rate.

2. The three-dimensional modeling device according to claim 1, characterized in that, The control unit executes the selected cleaning action from among a plurality of cleaning actions that move the nozzle along different trajectories.

3. The three-dimensional modeling device according to claim 2, characterized in that, In the multiple cleaning actions along the different tracks, the contact initiation position is different for each.

4. The three-dimensional modeling device according to claim 2 or 3, characterized in that, The control unit performs a cleaning action that is different from the previous cleaning action.

5. The three-dimensional modeling device according to claim 2 or 3, characterized in that, The three-dimensional modeling device has a storage unit that stores multiple cleaning modes, including various cleaning actions for different tracks. Whenever a three-dimensional object is modeled, the control unit performs the cleaning process using a cleaning mode selected from a variety of cleaning modes.

6. The three-dimensional modeling device according to any one of claims 1 to 3, characterized in that, The control unit stores the execution history of the cleaning process in the storage unit.

7. The three-dimensional modeling device according to any one of claims 1 to 3, characterized in that, The three-dimensional modeling device includes a waste removal section, which removes waste material adhering to the brush or the scraper.

8. The three-dimensional modeling apparatus according to any one of claims 1 to 3, characterized in that, The nozzle has a protective cover located above the tip of the nozzle. The tip of the brush is positioned at a height that allows it to contact the protective cover. The top of the scraper is positioned at a height that does not contact the protective cover.

9. The three-dimensional modeling device according to any one of claims 1 to 3, characterized in that, The cleaning mechanism has a cleaning section. The scraper is disposed between the cleaning section and the brush. The cleaning section has a first inclined surface, a second inclined surface, and a third inclined surface in order of distance from the scraper from far to near and in order of vertical position from low to high. The inclination angle of the second inclined surface and the third inclined surface relative to the horizontal plane is greater than the inclination angle of the first inclined surface relative to the horizontal plane.

10. The three-dimensional modeling device according to claim 9, characterized in that, During the cleaning process, after the styling material is ejected from the nozzle onto the cleaning unit, the control unit moves the nozzle toward the brush and the scraper.

11. A method for manufacturing a three-dimensional object, characterized in that, For use in a three-dimensional modeling device, the three-dimensional modeling device includes: The injection unit includes a plasticizing mechanism for plasticizing a plasticizing material to generate a molding material, and a nozzle, and ejects the molding material from the nozzle; A workbench for stacking the molding materials; The drive unit changes the relative position of the injection unit and the worktable; and The cleaning unit is equipped with brushes and scrapers. The brush and the scraper are positioned at a height that allows them to contact the nozzle. The brush and the scraper have melting points higher than the plasticizing temperature of the plasticizing material and hardness lower than that of the nozzle. The manufacturing method comprises: The lamination process involves controlling the injection unit and the drive unit to laminate layers on the worktable; and The cleaning process involves performing a cleaning action, in which the nozzle is moved back and forth repeatedly across the cleaning mechanism, thereby bringing at least one of the brush and the scraper into contact with the nozzle. In the cleaning process, during the cleaning action, the nozzle reciprocates by contacting different positions of the nozzle with the brush or the scraper. The temperature of the nozzle during the cleaning action is lower than the temperature of the nozzle when the layers are stacked. In the cleaning process, the contact start position between the nozzle and the cleaning mechanism is determined according to the current molding progress rate, and the selected cleaning action corresponding to the current molding progress rate is executed from among multiple cleaning actions.

Images