Method for manufacturing three-dimensional shaped object and three-dimensional shaping system

Abstract

The present disclosure provides a three-dimensional shaped object manufacturing method and a three-dimensional shaping system that appropriately determine a moving speed of a discharge portion in three-dimensional shaping. The three-dimensional shaped object manufacturing method includes: a first step of determining a moving speed of the discharge portion in each partial path based on a configuration of end points included in path information representing a moving path of the discharge portion moving while discharging a modeling material toward a table, the end points representing start points and end points of the plurality of partial paths; and a second step of causing the modeling material to be discharged from the discharge portion and stacked in layers while causing the discharge portion to move at the determined moving speed.

Description

Technical Field

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

[0002] Patent Document 1 discloses a technique for shaping a three-dimensional object by extruding a molten thermoplastic material from an extrusion nozzle that scans according to pre-set shape data onto a base, and further layering the molten material onto a hardened material on the base.

[0003] Patent Document 1 does not disclose the method for determining the scanning speed of the extrusion nozzle. Scanning speed affects the modeling time and accuracy of 3D modeling. For example, generally, slowing down the scanning speed can improve modeling accuracy, but it will increase the modeling time. Furthermore, when modeling the curved sections of a 3D object, if the scanning speed is too fast, the extrusion nozzle may not fully bend in the curved section, deviating from the intended trajectory and reducing modeling accuracy. Therefore, a technique for appropriately determining the scanning speed is desired.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-192710 Summary of the Invention

[0005] According to a first aspect of this disclosure, a method for manufacturing a three-dimensional object is provided. This method comprises: a first step, determining the movement speed of the ejector in each of the partial paths based on the configuration of endpoints representing the start and end points of the multiple partial paths included in path information representing the movement path of an ejector while ejecting modeling material toward a stage; and a second step, ejecting the modeling material from the ejector and layering it while the ejector moves at the determined movement speed.

[0006] According to a second aspect of this disclosure, a three-dimensional modeling system is provided. The three-dimensional modeling system includes: a stage; an ejector that ejects modeling material toward the stage; a moving mechanism that changes the relative position of the ejector and the stage; and a control unit that performs the following processes: a first process, determining the moving speed of the ejector in each of the partial paths based on the configuration of endpoints representing the start and end points of the multiple partial paths included in path information representing the path through which the ejector moves while ejecting the modeling material; and a second process, causing the modeling material to be ejected from the ejector and layered according to the determined moving speed. Attached Figure Description

[0007] Figure 1 This is an explanatory diagram showing the outline structure of the three-dimensional modeling system in the first embodiment.

[0008] Figure 2 A three-dimensional view showing the general structure of the spiral component.

[0009] Figure 3 This is a plan view showing the general structure of the barrel.

[0010] Figure 4 An explanatory diagram illustrating the process of shaping a three-dimensional object.

[0011] Figure 5 This is a flowchart of the three-dimensional modeling process in the first embodiment.

[0012] Figure 6 This is an explanatory diagram for the first process.

[0013] Figure 7 This diagram illustrates the determination of the moving speed of the ejector portion in the first section.

[0014] Figure 8 This is a flowchart of the three-dimensional modeling process in the second embodiment. Detailed Implementation

[0015] A. First implementation method:

[0016] Figure 1 This is an explanatory diagram showing the outline structure of the three-dimensional modeling system 15 in the first embodiment. Figure 1 The diagram shows arrows indicating mutually orthogonal X, Y, and Z directions. The X and Y directions are parallel to the horizontal plane, and the Z direction is vertically upward. These arrows indicating the X, Y, and Z directions are also shown in other figures to align the directions with the diagram. Figure 1 The corresponding diagrams will be drawn appropriately. In the following description, when a specific direction is indicated, the direction indicated by the arrow in each figure will be marked as "+" and the opposite direction as "-", and positive and negative signs will be used in the direction markings. In the following text, the +Z direction will also be referred to as "up" and the -Z direction as "down".

[0017] The 3D modeling system 15 includes a 3D modeling device 100 and a control unit 101 for controlling the 3D modeling device 100. In this embodiment, the control unit 101 is provided on the 3D modeling device 100. The 3D modeling device 100 includes a modeling unit 110 for generating and ejecting modeling material, a modeling stage 210 that serves as a base for the 3D model, and a moving mechanism 230 for controlling the ejection position of the modeling material. The 3D modeling device 100 may also be housed in a chamber (not shown).

[0018] Under the control of the control unit 101, the shaping unit 110 melts solid material into a paste-like shaping material and sprays it onto the stage 210. The shaping unit 110 includes a material supply unit 20, which serves as a supply source of material before it is converted into shaping material; a plasticizing unit 30, which generates shaping material by converting material into shaping material; and an ejection unit 60, which sprays the shaping material toward the stage 210. The shaping unit 110 is also referred to as a head.

[0019] The material supply unit 20 supplies material for generating molding materials to the plasticizing unit 30. The material supply unit 20 is, for example, constructed from a hopper for containing the material. The material supply unit 20 has a discharge port at its lower part. This discharge port is connected to the plasticizing unit 30 via a supply channel 22. The material is fed into the material supply unit 20 in the form of granules or powder. In this embodiment, granular ABS resin is used.

[0020] The plasticizing unit 30 includes a spiral housing 31, a drive motor 32, a spiral 40, a barrel 50, and a heater 58. The plasticizing unit 30 plasticizes at least a portion of the material supplied from the material supply unit 20, thereby generating a fluid, paste-like molding material, which is then supplied to the ejection unit 60. "Plasticizing" is a concept that includes melting, referring to the process of changing a material from a solid state to a fluid state. Specifically, in the case of a material that will undergo a glass transition, plasticizing refers to the process of raising the material's temperature above its glass transition temperature. In the case of a material that will not undergo a glass transition, plasticizing refers to the process of raising the material's temperature above its melting point.

[0021] Figure 2 This is a perspective view showing the general structure of the helical member 40. The helical member 40 has a generally cylindrical shape, with a height smaller than its diameter in the axial direction along its central axis RX. The helical member 40 is configured such that its central axis RX, which is its center of rotation, is parallel to the Z direction. The helical member 40 is sometimes also referred to as a flat helical member, a coil, or a rotating body.

[0022] like Figure 1 As shown, the spiral component 40 is housed within the spiral component housing 31. Figure 1 as well as Figure 2 As shown, the spiral member 40 has a groove forming surface 42 with grooves 45 formed therein. In this embodiment, the groove forming surface 42 is formed by the lower surface of the spiral member 40. The upper surface side of the spiral member 40 is connected to the drive motor 32, and the spiral member 40 rotates within the spiral member housing 31 by the rotational driving force generated by the drive motor 32. The drive motor 32 is driven under the control of the control unit 101. Alternatively, the spiral member 40 can also be driven by the drive motor 32 via a reducer.

[0023] like Figure 2 As shown, a vortex-shaped groove 45 is formed on the groove forming surface 42. The supply channel 22 of the material supply section 20 communicates with the groove 45 from the side of the spiral member 40. The groove 45 continues to the material inlet 44 formed on the side of the spiral member 40. This material inlet 44 is the portion that receives the material supplied via the supply channel 22 of the material supply section 20. Figure 3 As shown, in this embodiment, the groove 45 is divided by the protrusion 46 to form three grooves. Furthermore, the number of grooves 45 is not limited to three; it can be one, or even two or more. The groove 45 is not limited to a vortex shape; it can also be a spiral shape, an involute curve shape, or a shape that extends in an arc from the central portion 47 towards the outer periphery.

[0024] Figure 3 This is a plan view showing the general structure of the barrel 50. (Example) Figure 1 As shown, in this embodiment, the barrel 50 is positioned below the auger 40. Figure 1 as well as Figure 3 As shown, the barrel 50 has a facing surface 52 opposite to the groove forming surface 42 of the auger 40. In this embodiment, the facing surface 52 is formed by the upper surface of the barrel 50. Furthermore, the facing surface 52 and the groove forming surface 42 are opposite each other in the Z direction, and a space is formed between the facing surface 52 and the groove 45 of the groove forming surface 42. In the barrel 50, a communication hole 56 communicating with the nozzle 61 of the ejection section 60 described later is provided on the central axis RX of the auger 40. In the barrel 50, a heater 58 is built in at a position opposite to the groove 45 of the auger 40. The temperature of the heater 58 is controlled by the control unit 101.

[0025] like Figure 3As shown, a plurality of guide grooves 54 are formed around the connecting hole 56 in the opposing surface 52. Each guide groove 54 has one end connected to the connecting hole 56 and extends in a spiral shape from the connecting hole 56 toward the outer periphery of the opposing surface 52. Each guide groove 54 has the function of guiding the molding material toward 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 on the barrel 50.

[0026] The material supplied to the groove 45 of the auger 40 is melted within the groove 45 and flows along the groove 45 due to the rotation of the auger 40, thereby being guided as a molding material to the central portion 47 of the auger 40. The fluid, paste-like molding material flowing into the central portion 47 is supplied to the nozzle 61 through the connecting hole 56. Alternatively, it is possible not to melt all types of substances constituting the molding material, but only to melt at least a portion of the substances constituting the molding material, thereby transforming it into a state where the molding material as a whole is fluid.

[0027] The ejection section 60 includes a nozzle 61 for ejecting molding material. The nozzle 61 includes a nozzle flow channel 65 and a top surface 63 with a nozzle opening 62. The nozzle flow channel 65 is a flow channel for the molding material formed within the nozzle 61, and it is connected to the communication hole 56 of the barrel 50. The top surface 63 is a surface that forms the top portion of the nozzle 61 that protrudes in the -Z direction toward the molding surface 211. The nozzle opening 62 is a portion of the nozzle flow channel 65 with a reduced cross-section, located at the end of the nozzle flow channel 65 on the side communicating with the atmosphere. The molding material generated by the plasticizing section 30 is supplied to the nozzle 61 through the communication hole 56 and ejected from the nozzle opening 62 through the nozzle flow channel 65.

[0028] In the following text, the flow channels provided in the three-dimensional modeling system 15 for the flow of modeling materials will sometimes be referred to as flow channels 69. In this embodiment, flow channels 69 are constituted by the aforementioned connecting hole 56 and nozzle flow channels 65.

[0029] In this embodiment, the ejection section 60, in addition to the nozzle 61 described above, also includes a flow rate regulating mechanism 70 and a pressure regulating unit 75. The flow rate regulating mechanism 70 regulates the amount of molding material flowing in the flow channel 69. The pressure regulating unit 75 regulates the pressure within the flow channel 69.

[0030] In this embodiment, the flow regulating mechanism 70 is provided in the nozzle flow channel 65 and is composed of a butterfly valve. The flow regulating mechanism 70 changes the opening degree of the nozzle flow channel 65 by rotating within it. The flow regulating mechanism 70 is driven by a first drive unit 74 under the control of the control unit 101. The first drive unit 74 is, for example, composed of a stepper motor. The control unit 101 controls the rotation angle of the butterfly valve by using the first drive unit 74, thereby regulating the amount of molding material flowing in the flow channel 69. As a result, the flow rate of molding material flowing from the plasticizing section 30 to the nozzle 61 of the ejection section 60 can be regulated, thereby regulating the flow rate of molding material ejected from the nozzle 61. The flow regulating mechanism 70 regulates the flow rate of molding material and controls the opening / closing of the molding material outflow. Alternatively, in other embodiments, the flow regulating mechanism 70 may not be composed of a butterfly valve, and may be configured as a valve mechanism that changes the opening degree of the flow channel 69 by the translational movement of the valve.

[0031] In this embodiment, the pressure regulating unit 75 is configured as a plunger, which is connected between the flow regulating mechanism 70 and the nozzle opening 62 in the nozzle flow channel 65. The pressure regulating unit 75 performs a suction action by retracting the plunger in a direction away from the nozzle flow channel 65, thereby drawing in the molding material within the nozzle flow channel 65. Furthermore, the pressure regulating unit 75 performs a discharge action by advancing the plunger in a direction approaching the nozzle flow channel 65, thereby expelling the drawn-in molding material toward the nozzle opening 62. The pressure regulating unit 75 is driven by a second drive unit 76 under the control of the control unit 101. The second drive unit 76 is configured, for example, as a stepper motor or a rack and pinion mechanism that converts the rotational force of the stepper motor into the translational motion of the plunger. Alternatively, in other embodiments, the pressure regulating unit 75 may be configured as a piston pump, for example, to perform the suction or discharge action by the movement of a piston.

[0032] When a suction action is performed, the pressure within the nozzle flow channel 65 decreases as the molding material is drawn towards the pressure regulating unit 75. When a discharge action is performed, the pressure within the nozzle flow channel 65 increases as the molding material is discharged from the pressure regulating unit 75 towards the nozzle flow channel 65. Thus, the pressure regulating unit 75 regulates the pressure within the flow channel 69.

[0033] Furthermore, the pressure regulating unit 75 is not only used to regulate the pressure within the flow channel 69, but can also be used, for example, to suppress the tailing phenomenon caused by the molding material drooping from the nozzle opening 62 through a suction action. In this case, the control unit 101 can more effectively suppress the tailing phenomenon by performing a suction action after setting the opening of the nozzle flow channel 65 to 0 using the flow regulating mechanism 70. Additionally, the pressure regulating unit 75 can also be used to improve the responsiveness of the molding material delivery from the nozzle 61 through a discharge action. In this case, the control unit 101 can further improve the responsiveness of the molding material delivery by performing a discharge action before setting the opening of the nozzle flow channel 65 to greater than 0 using the flow regulating mechanism 70.

[0034] In this embodiment, a pressure sensor 140 for detecting pressure within the flow channel 69 is provided in the flow channel 69. The pressure sensor 140 in this embodiment is a diaphragm-type pressure sensor. In this embodiment, the pressure sensor 140 is connected upstream of the flow regulating mechanism 70 in the nozzle flow channel 65 to detect the pressure upstream of the flow regulating mechanism 70. In other embodiments, the pressure sensor 140 may be, for example, a piezoelectric pressure sensor. Furthermore, the pressure sensor 140 may also detect pressure downstream of the flow regulating mechanism 70 in the nozzle flow channel 65, and may also detect pressure within the connecting hole 56.

[0035] The stage 210 is positioned opposite the nozzle opening 62 of the nozzle 61. In the first embodiment, the shaping surface 211 of the stage 210, which is opposite the nozzle opening 62 of the nozzle 61, is arranged parallel to the X and Y directions, i.e., the horizontal direction. In the three-dimensional shaping process described later, the three-dimensional shaping apparatus 100 shapes a three-dimensional object by spraying shaping material from the ejector 60 toward the shaping surface 211 of the stage 210 and layering it. The stage 210 may also be equipped with a heater to suppress the rapid cooling of the shaping material sprayed onto the stage 210.

[0036] The moving mechanism 230 changes the relative position of the stage 210 and the ejector 60. In this embodiment, the position of the ejector 60 is fixed, and the moving mechanism 230 moves the stage 210. The moving mechanism 230 is a three-axis positioner that moves the stage 210 in the X, Y, and Z directions by the driving force of three motors. Under the control of the control unit 101, the moving mechanism 230 changes the relative positional relationship between the ejector 60 and the stage 210. As a result, the relative positional relationship between the nozzle 61 and the stage 210 is changed. In this specification, unless otherwise specified, the movement of the nozzle 61 and the ejector 60 refers to the relative movement of the nozzle 61 and the ejector 60 relative to the stage 210. Hereinafter, the relative movement speed of the ejector 60 relative to the stage 210 will be referred to as the movement speed of the ejector 60, or simply as "movement speed". In this embodiment, the moving speed of the ejector 60 is synonymous with the moving speed of the nozzle 61.

[0037] Alternatively, in other embodiments, instead of using the moving mechanism 230 to move the stage 210, a structure can be adopted where the stage 210 is fixed in position and the ejector 60 is moved relative to the stage 210 by the moving mechanism 230. Furthermore, a structure can be adopted where the moving mechanism 230 moves the stage 210 in the Z direction and the ejector 60 in the X and Y directions, or where the moving mechanism 230 moves the stage 210 in the X and Y directions and the ejector 60 in the Z direction. In such structures, the relative positional relationship between the ejector 60 and the stage 210, i.e., the relative positional relationship between the nozzle 61 and the stage 210, can also be changed.

[0038] The control unit 101 is a control device that controls the overall operation of the 3D modeling apparatus 100. The control unit 101 is configured as a computer having one or more processors, a storage device, and an input / output interface for inputting and outputting signals to and from the outside. The control unit 101 performs various functions, such as the 3D modeling processing described later, by executing programs and commands read from the storage device through the processor. Alternatively, the control unit 101 can be implemented by combining multiple circuits to achieve at least some of the various functions, instead of using a computer.

[0039] The control unit 101 shapes a three-dimensional object by performing three-dimensional modeling processing. In the three-dimensional modeling processing, the control unit 101 controls the modeling unit 110, which includes the plasticizing unit 30 and the ejection unit 60, and the moving mechanism 230 based on the modeling data, thereby shaping the three-dimensional object on the stage 210.

[0040] The styling data includes path information and ejection amount information. Path information refers to information representing the movement path of the ejector 60 through multiple straight partial paths. The movement path of the ejector 60 refers to the path along the styling surface 211 of the stage 210 while ejecting styling material toward the stage 210. More specifically, in this embodiment, the movement path of the ejector 60 refers to the movement path of the nozzle 61. The path information includes information related to the configuration of the endpoints of the multiple partial paths. An endpoint refers to a point indicating the start and end point of a partial path. Two consecutive partial paths share an endpoint. For example, in the case of two consecutive partial paths, the end point of the partial path where the nozzle 61 arrives earlier is also the start point of the partial path where the nozzle 61 arrives later.

[0041] The ejection amount information represents the amount of modeling material ejected in each movement path. The ejection amount information is established separately for each part of the path. In this embodiment, the ejection amount represented by the ejection amount information is the amount of modeling material ejected per unit time in that part of the path.

[0042] Figure 4 This diagram schematically illustrates the process of shaping a three-dimensional object in the three-dimensional modeling apparatus 100. In the three-dimensional modeling apparatus 100, as described above, in the plasticizing section 30, solid material supplied to the groove 45 of the rotating auger 40 melts to generate modeling material MM. The control section 101 maintains the distance between the modeling surface 211 of the stage 210 and the nozzle 61, while simultaneously changing the position of the nozzle 61 relative to the stage 210 in the direction along the modeling surface 211 of the stage 210, and ejects the modeling material MM from the nozzle 61. The modeling material MM ejected from the nozzle 61 is continuously accumulated in the moving direction of the nozzle 61. Through this scanning achieved by the nozzle 61, a linear portion LP, extending linearly along the scanning path of the nozzle 61, is modeled.

[0043] The control unit 101 repeatedly performs the scanning operation described above by the nozzle 61 to form a layer ML. After forming a layer ML, the control unit 101 moves the position of the nozzle 61 relative to the stage 210 in the Z direction. Then, by further accumulating layers ML on top of the layer ML that has been formed, a three-dimensional object is created.

[0044] The control unit 101 ejects the molding material from the nozzle 61 while maintaining the distance between the nozzle 61 and the ejection target during the layering of molding materials. The ejection target is the molding surface 211 when molding material is ejected onto the molding surface 211, and the upper surface of the ejected molding material when molding material is ejected onto the already ejected molding material. The distance between the nozzle 61 and the ejection target is sometimes referred to as the interval Gp.

[0045] The width of the linear portion LP mentioned above is called the line width, and the height of the linear portion LP is called the stacking spacing. Figure 4 In the example, the linewidth corresponds to the dimension in the Y direction of the linear portion LP, and the stacking spacing corresponds to the dimension in the Z direction of the linear portion LP. The linewidth and stacking spacing are determined based on the size of the aforementioned interval Gp and the amount of molding material ejected from the nozzle 61 per unit movement. For example, when the interval Gp is ​​small, the molding material ejected from the nozzle 61 is pressed more towards the ejection target through the nozzle 61 compared to when the interval Gp is ​​large, resulting in a smaller stacking spacing and a larger linewidth. The amount of molding material ejected from the nozzle 61 per unit movement is determined based on the moving speed of the nozzle 61 and the amount of molding material ejected from the nozzle 61 per unit time. The amount of molding material ejected from the nozzle 61 per unit time is determined, for example, based on the size of the nozzle opening 62, the flow rate of the molding material flowing within the flow channel 69, and the pressure within the flow channel 69.

[0046] Figure 5 This is a flowchart of the three-dimensional modeling process in the method for manufacturing a three-dimensional object according to this embodiment. First, in step S110, the control unit 101 obtains shape data representing the shape of the three-dimensional object from an external computer or recording medium. The control unit 101 obtains shape data such as three-dimensional CAD data from an external source, for example, via a network or recording medium.

[0047] Next, in step S120, the control unit 101 generates path information containing multiple partial paths for shaping the three-dimensional object represented by the three-dimensional data based on the three-dimensional data obtained in step S110.

[0048] In steps S130 to S160, the control unit 101 performs a first process. The first process refers to the process of determining the movement speed in each partial path based on the configuration of the endpoints of the multiple partial paths contained in the path information. The process of determining the movement speed in each partial path based on the configuration of the endpoints of the multiple partial paths contained in the path information, as in steps S130 to S160, is also called the first process.

[0049] Figure 6 This is an explanatory diagram for the first process. Figure 6 The example shown illustrates a movement path Rt represented by path information. Movement path Rt represents the movement path used to model a specific layer of a 3D object. Movement path Rt is represented by sequentially continuous partial paths Rp1 to Rp9. Furthermore, in... Figure 6 The diagram shows the endpoints Ep1 to Ep10 of each part of the path included in the path information. For example, endpoint Ep1 is the starting point of part path Rp1. Endpoint Ep2 is the ending point of part path Rp1 and the starting point of part path Rp2. Endpoint Ep1 is the beginning of the entire movement path Rt, and endpoint Ep10 is the end point of the entire movement path Rt. That is, movement path Rt is the path from endpoint Ep1 to endpoint Ep10.

[0050] exist Figure 5 In step S130, such as Figure 6 As shown in the lower part, the control unit 101 determines the first interval Sc1 and the second interval Sc2 in the movement path Rt. In this embodiment, the first interval Sc1 refers to the interval in which the ejector 60 moves while changing direction. The second interval Sc2 refers to the interval in which the ejector 60 moves in a straight line without changing direction. The control unit 101 determines the adjacent portions of the movement path Rt with different directions as the first interval Sc1, and determines the portions of the path other than the first interval Sc1 as the second interval Sc2. When the movement direction of the ejector 60 in a certain portion of the path is the same as the movement direction of the ejector 60 in other portions of the path, the directions of those portions of the path are the same. Figure 7 In the example, some paths Rp3 to Rp7 are designated as the first interval Sc1, and some paths Rp1, Rp2, Rp8, and Rp9 are designated as the second interval Sc2.

[0051] In other embodiments, in step S130, the control unit 101 may, for example, define the interval below a predetermined angle θ formed by the consecutive partial paths as the first interval Sc1, and the interval above the predetermined angle θ as the second interval Sc2. Furthermore, the angle θ is selected as a value greater than 0° and less than 180°. When the angle θ is 180°, the ejector unit 60 moves without changing the direction of the two partial paths forming that angle θ. The closer the angle θ is to 0°, the greater the angle change in the moving direction is required when the ejector unit 60 moves from one partial path forming that angle θ to the other.

[0052] In step S140, the control unit 101 determines the movement speed in the first interval Sc1. In this embodiment, in step S140, the control unit 101 determines the movement speed in the portion of the path connecting the endpoints to the circumscribed circle based on the radius of the circumscribed circle that is circumscribed to at least three consecutive endpoints on the movement path Rt. For example, in Figure 7 In the context of two consecutive partial paths, Rp3 and Rp4, the endpoints Ep3, Ep4, and Ep5 are three consecutive endpoints on the movement path Rt.

[0053] Figure 7 This diagram illustrates the determination of the moving speed of the ejector section 60 in the first section Sc1. Figure 7 In, it is shown Figure 6 The path Rp3 to Rp7 in the shown movement path Rt is determined to be part of the first interval Sc1. Furthermore, in... Figure 7 The diagram shows the circumcircle CC, which is circumscribed to endpoints Ep3, Ep4, and Ep5. More specifically, the circumcircle CC represents the circumcircle circumscribed to the triangle whose endpoints Ep3 to Ep5 are set as vertices.

[0054] In this embodiment, the control unit 101 is based on Figure 7 The radius of the circumscribed circle CC is used to determine the moving speed of the ejector 60 in the partial path Rp3. More specifically, the control unit 101 compares the radius r1 of the circumscribed circle CC with a predetermined reference radius, and if the radius r1 is smaller than the reference radius, determines the moving speed in the partial path Rp3 as a first speed. Furthermore, if the radius r1 is greater than or equal to the reference radius, the control unit 101 determines the moving speed in the partial path Rp3 as a second speed, which is faster than the first speed.

[0055] The radius r1 of the circumcircle CC is related to the angle difference between partial paths Rp3 and Rp4, as well as the lengths of partial paths Rp3 and Rp4. For example, in... Figure 7As shown, when the angle θ1 formed by partial paths Rp3 and Rp4 is an obtuse angle, the smaller the angle θ1 and the shorter the lengths of partial paths Rp3 and Rp4, the smaller the radius r1 of the circumcircle CC becomes. When the angle θ is small, or when the lengths of partial paths Rp3 and Rp4 are short, the ejector 60 needs to make more abrupt direction changes within partial paths Rp3 and Rp4. Therefore, as described above, by determining the movement speed within partial paths Rp3 and Rp4 based on the radius r1 of the circumcircle CC, the angle difference between the partial paths and the length of the partial paths are taken into account, thereby increasing the possibility of appropriately determining the movement speed.

[0056] Similarly, although the illustration is omitted, the control unit 101 determines the movement speed in partial paths Rp4 to Rp7 in step S140 based on the radius of the circumscribed circle. For example, the movement speed in partial path Rp4 is determined based on the radius of the circumscribed circle that connects to endpoints Ep4, Ep5, and Ep6. Thus, in this embodiment, the control unit 101 determines the movement speed in each partial path by repeatedly performing the process of determining the movement speed in the initial partial path within the circumscribed circle based on the radius of the circumscribed circle in step S140. More specifically, "the initial partial path within the circumscribed circle" refers to the partial path that the ejector 60 initially reaches in the movement path Rt of the partial path connecting two consecutive endpoints connected to the circumscribed circle, that is, the partial path closer to the beginning of the movement path Rt. In addition, in Figure 6 as well as Figure 7 In the example, since there is no circumcircle connecting the endpoints Ep7, Ep8, and Ep9, the movement speed in partial path Rp7 is determined based on the radius of the circumcircle connecting the endpoints Ep6, Ep7, and Ep8. That is, in this embodiment, the movement speed in partial path Rp7 is determined in the same way as the movement speed in partial path Rp6, which is its preceding partial path. Therefore, in this embodiment, the movement speeds of all partial paths Rp3 to Rp7, which are determined to be the first interval Sc1, are determined as the first speed.

[0057] In other embodiments, in step S140, the control unit 101 may, for example, determine the movement speed in all parts of the path of the first interval Sc1 as the first speed even if there is one circumscribed circle with a radius smaller than the reference radius among the circumscribed circles of at least three consecutive endpoints contained in the first interval Sc1. Furthermore, if there is no circumscribed circle with a radius smaller than the reference radius in the first interval Sc1, the control unit 101 may determine the movement speed in all parts of the path of the first interval Sc1 as the second speed.

[0058] exist Figure 5 In step S150, the control unit 101 determines the movement speed in the second interval Sc2. In this embodiment, the control unit 101 determines the movement speed in the second interval Sc2 as the second speed described above in step S150.

[0059] In step S160, the control unit 101 sets a speed change range for accelerating or decelerating the ejection unit 60. In this embodiment, in step S160, when two partial paths with different movement speeds are consecutive, the control unit 101 determines the partial path with the faster movement speed among these partial paths as the speed change range. For example, in Figure 6 In the example, the control unit 101 determines partial paths Rp2 and Rp8 as speed change intervals, and generates a deceleration command for reducing the movement speed from a second speed to a first speed with a predetermined fixed acceleration in partial path Rp2, and an acceleration command for accelerating the movement speed from the first speed to a second speed with a predetermined fixed acceleration in partial path Rp8. The acceleration and deceleration commands can also be commands to accelerate or decelerate the ejector 60 from the middle of the partial path. In this case, the position where the ejector 60 begins to accelerate or decelerate can be determined, for example, based on the shortest distance for accelerating or decelerating the ejector 60. This shortest distance is determined, for example, based on the difference in movement speed of the ejector 60 before and after acceleration or deceleration, and the acceleration for accelerating or decelerating the ejector 60.

[0060] In other embodiments, in step S160, the control unit 101 may, for example, generate new partial paths for accelerating or decelerating the ejection unit 60 by dividing partial paths Rp2 and Rp8 into multiple new partial paths.

[0061] In step S170, the control unit 101 performs an ejection amount determination process to determine the ejection amount in each partial path. In step S170, the control unit 101 determines the amount of modeling material ejected from the ejection unit 60 per unit time in each partial path as the ejection amount, in a manner that enables predetermined layer spacing and linewidth, and generates ejection amount information representing the ejection amount in each partial path. Thus, modeling data for modeling the amount of one layer of the three-dimensional model is regenerated. Furthermore, the movement speed determined in the first process described above can be included, for example, in the modeling data or in control data that is different from the modeling data.

[0062] In this embodiment, in step S170, the control unit 101 determines the ejection amount in each partial path based on the moving speed determined in steps S130 to S160, in a way that enables a predetermined fixed stacking spacing and linewidth. Therefore, the ejection amount in the partial path where the moving speed is determined to be a first speed is smaller than the ejection amount in the partial path where the moving speed is determined to be a second speed. Furthermore, the ejection amount in the partial paths set as speed variation ranges is determined in a way that changes with the speed of the ejector 60. In other embodiments, the control unit 101 may, for example, perform the ejection amount determination process whenever the moving speed in a partial path is determined.

[0063] In step S180, the control unit 101 determines whether the determination of the movement speed and ejection amount in the movement path used to model the quantities of all layers of the three-dimensional model has been completed. If the control unit 101 determines in step S180 that the determination of the movement speed and ejection amount of all layers has not been completed, the process returns to step S130. If the control unit 101 determines in step S180 that the determination of the movement speed and ejection amount of all layers has been completed, the process proceeds to step S190. Thus, in this embodiment, the control unit 101 regenerates the modeling data for modeling the quantities of all layers of the three-dimensional model by repeatedly executing steps S130 to S170.

[0064] In step S190, the control unit 101 performs an ejection process. The ejection process refers to the process of ejecting molding material from the ejection section 60 and layering it according to the moving speed determined in the first process. More specifically, in step S190, the control unit 101 controls the molding section 110, including the ejection section 60 and the plasticizing section 30, and the moving mechanism 230 according to the determined moving speed, path information, and ejection amount information, thereby layering the molding material. Hereinafter, the ejection process will also be referred to as the second process. Furthermore, the process of ejecting molding material from the ejection section 60 and layering it according to the moving speed determined in the first process, as in step S190, will also be referred to as the second process.

[0065] The second step in this embodiment includes a flow control step and a rotation control step. The flow control step refers to the step of controlling the flow regulating mechanism 70 and the pressure regulating unit 75 according to a determined ejection volume. The rotation control step refers to the step of controlling the rotation of the screw 40 based on the detection value of the pressure sensor 140. In this embodiment, in the second step, the rotation control step is performed on a portion of the path where the variation range of the ejection unit 60's moving speed is within a predetermined range, while the flow control step is performed on a portion of the path where the variation range of the ejection unit 60's moving speed exceeds the predetermined range. More specifically, in step S190 of this embodiment, the control unit 101 performs the flow control step when the ejection unit 60 moves on a portion of the path that is determined to be within a speed variation range, and performs the rotation control step when the ejection unit 60 moves on a portion of the path that is not within the determined speed variation range.

[0066] In partial paths Rp2 and Rp8, which are determined to be speed variation ranges, for example, after adjusting the opening of the flow channel 69 by controlling the flow regulating mechanism 70 based on the ejection amount determined in step S170, the control unit 101 determines whether the plunger is located at a predetermined desired position based on the detection value of a position sensor (not shown) that detects the position of the plunger of the flow regulating mechanism 70. Furthermore, the control unit 101 retracts the plunger when it is located further forward than the desired position, and advances it when it is located further backward than the desired position. Therefore, since the flow rate of the molding material and the pressure within the flow channel 69 can be controlled more precisely, the ejection amount can be controlled more precisely. Thus, even when the ejection unit 60 accelerates or decelerates in partial paths Rp2 or Rp8, it is easy to maintain a fixed layer spacing and linewidth.

[0067] Furthermore, in partial paths Rp1 (excluding partial paths Rp2 and Rp8), the control unit 101 performs feedback control on the rotation of the auger 40 based on the detection values ​​of the pressure sensor 140, for example, by ensuring that the variation range of the detection value of the pressure sensor 140 is within a predetermined range. In partial paths Rp1, since the moving speed of the ejector 60 is constant, even without using the flow regulating mechanism 70 or the pressure regulating unit 75 to adjust the flow rate of the molding material within the flow channel 69, it is easy to achieve a fixed layer spacing and line width.

[0068] According to the first embodiment described above, the method includes: a first step of determining the moving speed of the ejector portion 60 in each partial path based on the configuration of the endpoints of multiple partial paths included in the path information; and a second step of ejecting modeling material from the ejector portion 60 and layering it while moving the ejector portion 60 at the moving speed determined in the first step. Therefore, the moving speed can be appropriately determined based on the configuration of the endpoints of the multiple partial paths, and the ejector portion 60 can be moved at the determined moving speed to model a three-dimensional object.

[0069] Furthermore, according to this embodiment, in the first step, the moving speed is determined based on the radius of the circumcircle circumscribed by at least three consecutive endpoints on the moving path. Therefore, the moving speed can be determined by additionally considering the length of a portion of the path and the angular differences between the portions of the path.

[0070] Furthermore, according to this embodiment, the movement speed in the initial partial path within the circumcircle is determined based on the radius of the circumcircle. Therefore, the movement speed in that partial path can be determined by additionally considering the angular difference between a certain partial path and the subsequent partial path, as well as the length of the subsequent partial path. In particular, by repeatedly performing the process of determining the movement speed in the initial partial path within the circumcircle based on the radius of the circumcircle, the possibility of appropriately determining the movement speed in each partial path is further improved compared to, for example, repeatedly performing the process of determining both the movement speed in the initial partial path and the movement speed in the subsequent partial paths based on the radius of the circumcircle.

[0071] Furthermore, according to this embodiment, the second step includes a flow control step, which is a step of controlling the flow regulating mechanism 70 and the pressure regulating unit 75 based on the ejection amount and moving speed determined in the first step. Therefore, by performing the flow control step in the second step, the amount of molding material ejected from the ejection unit 60 can be adjusted more precisely.

[0072] Furthermore, according to this embodiment, the second step includes a rotation control step, which is a step of controlling the rotation of the auger 40 based on the detection value of the pressure sensor 140. Therefore, by performing the rotation control step in the second step, the amount of molding material ejected from the ejector 60 can be easily controlled, for example, even without controlling the flow regulating mechanism 70 or the pressure regulating unit 75.

[0073] Furthermore, according to this embodiment, in the second step, a rotation control step is performed on a portion of the path where the variation range of the moving speed is within a predetermined reference range, while a flow control step is performed on a portion of the path where the variation range of the moving speed exceeds the reference range. Therefore, the ejection amount can be adjusted more precisely on a portion of the path where the variation range of the moving speed is larger, and the ejection amount can be controlled more easily on a portion of the path where the variation range of the moving speed is smaller.

[0074] B. Second implementation method:

[0075] Figure 8 This is a flowchart of the three-dimensional modeling process in the method for manufacturing a three-dimensional object according to the second embodiment. In this embodiment, the control unit 101 differs from the first embodiment in that it determines the movement speed not based on the radius of the circumscribed circle, but on the angle formed by multiple consecutive partial paths. Figure 8 In the first embodiment, the description of the same as Figure 5 The same process labeling and Figure 5 The same symbols are used. The parts of the structure of the three-dimensional modeling system 15 in this embodiment that are not specifically described are the same as in the first embodiment.

[0076] In this embodiment, steps S155 and S160 are equivalent to the first process, and the processing performed by the control unit 101 in steps S155 and S160 is equivalent to the first processing.

[0077] In step S155, the control unit 101 determines the moving speed based on the angle θ formed by the two consecutive partial paths. More specifically, when the angle θ is below a predetermined reference angle, the control unit 101 determines the moving speed of the partial path in which the ejector 60 arrives earlier as a first speed. Furthermore, when the angle θ exceeds the reference angle, the control unit 101 determines the moving speed of the partial path in which the ejector 60 arrives earlier as a second speed. Additionally, in the moving path Rt, since partial path Rp9 is the last partial path, the moving speed in partial path Rp9 is determined based on the angle formed by partial paths Rp8 and Rp9. That is, in this embodiment, the moving speed in partial path Rp9 is determined in the same way as the moving speed in partial path Rp8. Therefore, in Figure 6 In the example of the movement path Rt shown at the bottom, the movement speed in parts of paths Rp3 to Rp6 is determined as the first speed, and the movement speed in parts of paths Rp1, Rp2, and Rp7 to Rp9 is determined as the second speed. Furthermore, in step S160 of this embodiment, parts of paths Rp2 and Rp7 are set as speed change ranges.

[0078] According to the second embodiment described above, in the first step, the movement speed in each partial path is determined based on the angle formed by the continuous plurality of partial paths. Therefore, the movement speed in each partial path can be determined through simple control.

[0079] C. Other implementation methods:

[0080] (C1) In the first embodiment described above, it is also possible to determine two or more radii in stages as a reference radius. For example, in Figure 6 as well as Figure 7 In the example, the following approach can also be used: when the radius r1 of the circumcircle CC is less than the first reference radius, the movement speed in part of the path Rp3 is determined as the first movement speed; when the radius r1 is greater than the first reference radius but less than the second reference radius, the movement speed in part of the path Rp3 is determined as the second movement speed; and when the radius r1 is greater than the second reference radius, the movement speed in part of the path Rp3 is determined as a third movement speed that is faster than the second movement speed.

[0081] (C2) Although in the first embodiment described above, the moving speed is determined based on a comparison between the radius of the circumscribed circle and the reference radius, the moving speed can also be determined without comparing the radius of the circumscribed circle with the reference radius. For example, the control unit 101 can also determine the moving speed based on a predetermined relationship between the radius of the circumscribed circle and the moving speed. In this case, the relationship between the radius of the circumscribed circle and the moving speed is determined, for example, through experiments, as a relationship between the radius of the circumscribed circle and the moving speed at which the ejector 60 moves along a partial path connecting the endpoints of the circumscribed circle without deviating from the intended path and can move faster.

[0082] (C3) In the first embodiment described above, the moving speed in the initial portion of the path within the circumcircle is determined based on the radius of the circumcircle. Conversely, the moving speed in the initial portion of the path within the circumcircle may not be determined based on the radius of the circumcircle; it may be determined based on the moving speed in a later portion of the path compared to the initial portion. For example, in... Figure 8 In the example, the movement speed in part of path Rp4 can be determined based on the radius of the circumcircle CC, but not in part of path Rp3. Alternatively, the movement speed in the initial part of a path within a circumcircle and the movement speed in subsequent parts of a path within that circumcircle can be determined based on the radius of that circumcircle.

[0083] (C4) Although in the second embodiment described above, the moving speed is determined based on the comparison between angle θ and a reference angle, the moving speed can also be determined without comparing angle θ with the reference angle. For example, the control unit 101 can also determine the moving speed based on a predetermined relationship between angle θ and moving speed. In this case, the relationship between angle θ and moving speed is determined, for example, through experimentation, as a relationship between angle θ and moving speed such that the ejector 60 moves along two partial paths at that angle θ without deviating from the intended path and can move faster.

[0084] (C5) In the above embodiment, the control unit 101 regenerates the styling data by executing the first process and the speed determination process. In contrast, the control unit 101 may also regenerate the styling data without executing these processes; for example, it may update the ejection quantity information of the predetermined styling data. In this case, for example, in... Figure 5 In the 3D modeling process, the control unit 101 acquires modeling data instead of obtaining shape data in step S110. Next, the control unit 101 omits step S120 and, in steps S130 to S160, determines the movement speed in each part of the path based on the path information contained in the pre-generated modeling data. Furthermore, in step S170, the control unit 101 updates the ejection amount information contained in the pre-generated modeling data by determining the ejection amount in each part of the path based on the movement speed determined in steps S130 to S160.

[0085] (C6) In the above embodiment, the ejection amount is determined as the amount of styling material ejected per unit time in each partial path. Conversely, the ejection amount can also be determined for each partial path as the total amount of styling material ejected in the entire partial path. In this case, the control unit 101 can also determine the ejection amount in each partial path during the ejection amount determination process as, for example, the total amount of styling material used to achieve a fixed layer spacing and line width in each partial path. Furthermore, in this case, in the flow control process of the second process, the control unit 101 adjusts the flow adjustment mechanism 70 and the pressure adjustment unit 75, for example, by adjusting the determined ejection amount and moving speed to keep the amount of styling material ejected from the ejection unit 60 constant per unit movement in each partial path. This allows the styling material to be ejected from the ejection unit 60 in a manner similar to that described in the first embodiment, achieving a fixed layer spacing and line width.

[0086] (C7) In the above embodiment, the second process includes a flow control process. Conversely, the second process may also lack a flow control process. In this case, the three-dimensional modeling system 15 may also lack the flow regulation mechanism 70 and the pressure regulation unit 75.

[0087] (C8) In the above embodiment, the second process includes a rotation control process. Conversely, the second process may also exclude the rotation control process. In this case, the three-dimensional modeling system 15 may not include the pressure sensor 140. Furthermore, in this case, the plasticizing section 30 may, for example, plasticize the material by rotating the coaxial screw to generate the modeling material. Additionally, in this case, the modeling section 110 may be configured as a head that plasticizes and ejects filamentous material.

[0088] (C9) In the above embodiment, in the second step, a rotation control step is performed on a portion of the path where the variation range of the moving speed is within a reference range, and a flow control step is performed on a portion of the path where the variation range of the moving speed exceeds the reference range. Conversely, in the second step, for example, a flow control step may be performed on a portion of the path where the moving speed variation range is within the reference range, or alternatively, on a portion of the path where the moving speed variation range is within the reference range. In this case, a rotation control step may also be performed on a portion of the path other than the path where the flow control step is performed. Furthermore, for example, in the second step, a rotation control step may be performed on a portion of the path where the moving speed variation range is less than the predetermined reference range, or alternatively, on a portion of the path where the moving speed variation range exceeds the reference range. In this case, a flow control step may also be performed on a portion of the path other than the path where the rotation control step is performed.

[0089] (C10) In the above embodiment, the control unit 101 performs the first processing, the second processing, and the speed determination processing. Alternatively, the first processing, the second processing, and the speed determination processing can also be performed by different control units within the 3D modeling system 15. In this case, for example, the second processing can be performed by the control unit of the 3D modeling device 100, and the first processing and speed determination processing can be performed by the control unit of an information processing device or the like, which is separate from the 3D modeling device 100.

[0090] (C11) In the above embodiment, granular ABS resin is used as the raw material supplied to the material supply unit 20. In contrast, the three-dimensional modeling apparatus 100 can use a variety of materials, such as thermoplastic materials, metallic materials, or ceramic materials, as the main material to model a three-dimensional object. Here, "main material" refers to the material that forms the core of the shape of the three-dimensional object, and refers to a material that accounts for 50% by weight or more of the three-dimensional object. The modeling materials described above include materials in which these main materials are melted in monomer form, and materials in which a portion of the components contained together with the main materials are melted into a paste-like form.

[0091] When using a thermoplastic material as the main material, a molding material is generated by plasticizing the material in the plasticizing section 30. "Plasticizing" refers to the process of applying heat to a thermoplastic material to cause it to melt.

[0092] As a thermoplastic material, for example, the following thermoplastic resin materials can be used.

[0093] Examples of thermoplastic resin materials

[0094] Polypropylene resin (PP), polyethylene resin (PE), polyoxymethylene resin (POM), polyvinyl chloride resin (PVC), polyamide resin (PA), acrylonitrile-butadiene-styrene resin (ABS), polylactic acid resin (PLA), polyphenylene sulfide resin (PPS), polyetheretherketone (PEEK), polycarbonate (PC), modified polyphenylene ether, polybutylene terephthalate, polyterephthalic acid and other general engineering plastics, polysulfone, polyethersulfone, polyphenylene sulfide, polyarylate, polyimide, polyamide-imide, polyetherimide, polyetheretherketone and other engineering plastics.

[0095] Pigments, metals, and ceramics can also be mixed into thermoplastic materials. Additionally, additives such as waxes, flame retardants, antioxidants, and heat stabilizers can be added. The thermoplastic material is plasticized in the plasticizing section 30 by the rotation of the screw 40 and the heating of the heater 58, thus transforming it into a molten state. The molding material generated from the molten thermoplastic material hardens as the temperature decreases after being ejected from the nozzle 61.

[0096] The thermoplastic material is preferably ejected from nozzle 61 in a state where it is heated to above its glass transition temperature and thus completely melts. For example, ABS resin is preferably about 120°C in glass transition temperature and about 200°C when ejected from nozzle 61.

[0097] In the three-dimensional modeling apparatus 100, for example, the following metallic materials may be used as the main material instead of the thermoplastic materials described above. In this case, it is preferable to mix the components that melt during the generation of the modeling material with a powder material in which the following metallic material has been powdered, and to feed this into the plasticizing section 30 as a raw material.

[0098] Examples of metallic materials

[0099] A single metal of magnesium (Mg), iron (Fe), cobalt (Co) or chromium (Cr), aluminum (Al), titanium (Ti), copper (Cu), nickel (Ni), or an alloy containing more than one of these metals.

[0100] Examples of the alloy

[0101] Martensitic aging steel, stainless steel, cobalt-chromium-molybdenum alloy, titanium alloy, nickel alloy, aluminum alloy, cobalt alloy, cobalt-chromium alloy.

[0102] In the three-dimensional modeling device 100, ceramic materials can be used as the main material to replace the aforementioned metallic materials. Examples of ceramic materials include oxide ceramics such as silicon dioxide, titanium dioxide, alumina, and zirconium oxide, as well as non-oxide ceramics such as aluminum nitride. When using metallic or ceramic materials as the main material, the modeling material placed on the stage 210 is hardened by sintering achieved through laser irradiation and warm air.

[0103] The powdered metal and ceramic materials fed into the material supply section 20 as raw materials can also be a mixture of powders of multiple types of single metals or alloys and powders of ceramic materials. Furthermore, the powdered metal and ceramic materials can be coated with, for example, a thermoplastic resin as exemplified above, or other thermoplastic resins. In this case, the thermoplastic resin can be melted in the plasticizing section 30 to exhibit fluidity.

[0104] In the powdered materials of metal and ceramic materials that are fed into the material supply section 20 as raw materials, solvents such as those listed below may be added. The solvent may be one selected from the following, or a combination of two or more.

[0105] Examples of solvents

[0106] Water; (poly)alkylene glycol monoalkyl ethers such as ethylene glycol monomethyl ether, ethylene glycol monoethyl ether, propylene glycol monomethyl ether, and propylene glycol monoethyl ether; acetates such as ethyl acetate, n-propyl acetate, isopropyl acetate, n-butyl acetate, and isobutyl acetate; aromatic hydrocarbons such as benzene, toluene, and xylene; ketones such as methyl ethyl ketone, acetone, methyl isobutyl ketone, ethyl n-butyl ketone, diisopropyl ketone, and acetylacetone; alcohols such as ethanol, propanol, and butanol; tetraalkylammonium acetates; sulfoxide solvents such as dimethyl sulfoxide and diethyl sulfoxide; pyridine, γ-methylpyridine, and 2,6-dimethylpyridine; tetraalkylammonium acetates (e.g., tetrabutylammonium acetate); ionic liquids such as butyl carbitol acetate, etc.

[0107] In addition, a binder, such as the one described below, can be added to the powdered metal and ceramic materials that are fed into the material supply section 20 as raw materials.

[0108] Examples of adhesives

[0109] Acrylic resin, epoxy resin, silicone resin, cellulose resin or other synthetic resin, or PLA (polylactic acid), PA (polyamide), PPS (polyphenylene sulfide), PEEK (polyether ether ketone) or other thermoplastic resin.

[0110] D. Other methods:

[0111] This disclosure is not limited to the embodiments described above, and can be implemented in various ways without departing from its spirit. For example, this disclosure can also be implemented in the following ways. In order to solve part or all of the problems of this disclosure, or to achieve part or all of the effects of this disclosure, the technical features in the above embodiments corresponding to the technical features in the various methods described below can be appropriately replaced or combined. In addition, as long as the technical feature is not described as an essential technical feature in this specification, it can be appropriately deleted.

[0112] (1) According to a first aspect of the present disclosure, a method for manufacturing a three-dimensional object is provided. The method for manufacturing a three-dimensional object comprises: a first step, determining the movement speed of the ejector in each of the partial paths based on the configuration of endpoints representing the start and end points of the multiple partial paths included in path information representing the movement path of the ejector while ejecting modeling material toward a stage; and a second step, ejecting the modeling material from the ejector and layering it while the ejector moves at the determined movement speed.

[0113] In this way, the moving speed of the ejector can be appropriately determined based on the configuration of the endpoints of multiple partial paths, and the ejector can move at the determined moving speed to shape the three-dimensional object.

[0114] (2) In the above method, the following method can also be adopted: in the first step, the moving speed is determined based on the radius of the circumcircle of at least three consecutive endpoints on the moving path. According to this method, the moving speed of the ejector can be determined by taking into account the length of the partial path and the angular difference between the consecutive partial paths.

[0115] (3) In the above method, the moving speed in the partial path where the ejector initially reaches the point of contact with the circumcircle can also be determined based on the radius of the circumcircle. According to this method, the moving speed in a partial path can be determined by additionally considering the angular difference between a certain partial path and the next partial path, as well as the length of the next partial path. Therefore, the possibility of appropriately determining the moving speed in each partial path is further improved.

[0116] (4) In the above method, the following method can also be adopted: in the first step, the moving speed is determined based on the angle formed by two consecutive partial paths. According to this method, the moving speed can be determined by simple control.

[0117] (5) In the above method, the following approach can also be adopted: The second step includes a process for determining the amount of molding material ejected from the ejector in each of the aforementioned partial paths. This flow control process controls a flow regulating mechanism and a pressure regulating unit based on the determined ejection amount. The flow regulating mechanism regulates the amount of molding material flowing in the flow channel, and the pressure regulating unit regulates the pressure within the flow channel. According to this approach, by performing the flow control process in the second step, the amount of molding material ejected from the ejector can be adjusted more precisely.

[0118] (6) In the above method, the following method can also be adopted: the ejection section has a plasticizing section and a pressure sensor; the plasticizing section generates the molding material; the pressure sensor detects the pressure of the flow channel supplying the molding material; the plasticizing section has a auger and a barrel; the auger has a groove forming surface with grooves and rotates; the barrel has a counter surface opposite to the groove forming surface and a connecting hole is formed on the counter surface; the second process includes a rotation control process, which is a process of controlling the rotation of the auger based on the detection value of the pressure sensor. According to this method, by performing the rotation control process in the second process, the amount of molding material ejected from the ejection section can be easily controlled.

[0119] (7) In the above method, it is also possible to perform the rotation control process in the second step, where the variation range of the moving speed of the ejector is within a predetermined reference range, and the flow control process is performed in the part of the path where the variation range exceeds the reference range. According to this method, the ejection amount of the molding material can be adjusted more precisely in the part of the path where the variation range of the moving speed is larger, and the ejection amount of the molding material can be easily controlled in the part of the path where the variation range of the moving speed is smaller.

[0120] (8) According to a second aspect of this disclosure, a three-dimensional modeling system is provided. The three-dimensional modeling system includes: a stage; an ejector that ejects modeling material toward the stage; a moving mechanism that changes the relative position of the ejector and the stage; and a control unit that performs the following processing: a first processing, determining the moving speed of the ejector in each of the partial paths based on the configuration of endpoints representing the start and end points of the multiple partial paths included in path information representing the path through which the ejector moves while ejecting the modeling material; and a second processing, causing the modeling material to be ejected from the ejector and layered while the ejector moves at the determined moving speed.

[0121] Symbol Explanation

[0122] 15…3D modeling system; 20…Material supply unit; 22…Supply channel; 30…Plasticizing unit; 31…Spiral housing; 32…Drive motor; 40…Spiral; 42…Groove forming surface; 44…Material inlet; 45…Groove; 46…Raised section; 47…Central section; 50…Barrel; 52…Opposing surface; 54…Guide groove; 56…Connecting hole; 58…Heater; 60…Ejection section; 61…Nozzle; 62…Nozzle opening; 63…Top surface; 65…Nozzle flow channel; 69…Flow channel; 70…Flow regulating mechanism; 74…First drive unit; 75…Pressure regulating unit; 76…Second drive unit; 100…3D modeling device; 101…Control unit; 110…Modeling unit; 140…Pressure sensor; 210…Stage; 211…Modeling surface; 230…Moving mechanism.

Claims

1. A method for manufacturing a three-dimensional model, comprising: The first step involves determining the movement speed of the ejector in each of the partial paths based on the configuration of the endpoints representing the start and end points of the multiple partial paths, which are included in the path information representing the movement path of the ejector as it moves toward the stage while ejecting shaping material. In the second step, while the ejector section moves at the determined speed, the shaping material is ejected from the ejector section and layered. In the first process, The moving speed of the ejector portion in the partial path where the ejector initially reaches is determined based on the radius of the circumscribed circle of the three consecutive endpoints on the moving path. When the radius of the circumscribed circle is smaller than a predetermined reference radius, the magnitude of the movement speed in the partial path is determined as a first speed; and when the radius of the circumscribed circle is greater than or equal to the reference radius, the magnitude of the movement speed in the partial path is determined as a second speed, which is faster than the first speed. When two consecutive partial paths with different moving speeds are found within a plurality of partial paths, the partial path with the faster moving speed is determined as the speed change range used to accelerate or decelerate the ejector. Generate a deceleration command for reducing the moving speed from the second speed to the first speed with a predetermined fixed acceleration in the one partial path defined as the speed change range, and an acceleration command for increasing the moving speed from the first speed to the second speed with a predetermined fixed acceleration in the one partial path.

2. The method for manufacturing a three-dimensional object as described in claim 1, wherein, The process includes determining the amount of molding material ejected from the ejector portion in each of the said partial paths. The second process includes a flow control process, which is a process of controlling the flow adjustment mechanism and the pressure adjustment unit based on the determined ejection amount. The flow adjustment mechanism adjusts the amount of the molding material flowing in the flow channel, and the pressure adjustment unit adjusts the pressure in the flow channel.

3. The method for manufacturing a three-dimensional object as described in claim 2, wherein, The ejection section includes a plasticizing section and a pressure sensor. The plasticizing section generates the molding material, and the pressure sensor detects the pressure within the flow channel supplying the molding material. The plasticizing section includes a auger and a barrel. The auger has a groove-forming surface and rotates. The barrel has a counter-surface opposite to the groove-forming surface and has a connecting hole formed on the counter-surface. The second process includes a rotation control process, which is a process of controlling the rotation of the screw based on the detection value of the pressure sensor.

4. The method for manufacturing a three-dimensional object as described in claim 3, wherein, In the second step, the rotation control step is performed on the portion of the path where the variation range of the moving speed is within a predetermined reference range, while the flow control step is performed on the portion of the path where the variation range exceeds the reference range.

5. A three-dimensional modeling system, comprising: Stage; The ejector section ejects shaping material toward the platform; A moving mechanism that changes the relative position of the ejector and the stage; Control Department The control unit performs the following processing: The first process determines the moving speed of the ejector in each of the partial paths based on the configuration of the endpoints representing the start and end points of the multiple partial paths contained in the path information representing the path of the ejector moving while ejecting the molding material. The second process involves ejecting the molding material from the ejector and layering it according to the determined moving speed. In the first process, The moving speed of the ejector portion in the partial path where it initially reaches, is determined based on the radius of the circumcircle of the three consecutive endpoints on the path. When the radius of the circumscribed circle is smaller than a predetermined reference radius, the magnitude of the movement speed in the partial path is determined as a first speed; and when the radius of the circumscribed circle is greater than or equal to the reference radius, the magnitude of the movement speed in the partial path is determined as a second speed, which is faster than the first speed. When two consecutive partial paths with different moving speeds are found within a plurality of partial paths, the partial path with the faster moving speed is determined as the speed change range used to accelerate or decelerate the ejector. Generate a deceleration command for reducing the moving speed from the second speed to the first speed with a predetermined fixed acceleration in the one partial path defined as the speed change range, and an acceleration command for increasing the moving speed from the first speed to the second speed with a predetermined fixed acceleration in the one partial path.

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