Three-dimensional modeling device and pallet detection method

Abstract

To appropriately detect a pallet without increasing the number of sensors.SOLUTION: There is provided a three-dimensional modeling device that creates a modeling object on a plate-shaped pallet, which comprises: a pallet moving unit including a pair of mounting members on which edge portions of two opposing sides of a pallet can be mounted, a pair of protruding members arranged on at least one side of the mounting members at a spacing greater than the length of the sides and operable to protrude from a storage position toward between the mounting members, a first actuator that operates the protruding members, and a first sensor that detects the operating position of the protruding members or the first actuator, the pallet moving unit configured to move the pallet; and a detection processing unit that executes a detection process to detect whether or not a pallet is present on the mounting member in a position displaced from a proper position within the space, based on a detection signal from the first sensor when the protruding members are actuated by the first actuator.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] This specification discloses a three-dimensional printing apparatus and a pallet detection method. [Background technology]

[0002] Conventionally, a three-dimensional printing device has been proposed that ejects a printing material onto a pallet (portable plate) made of a rectangular metal plate to print a model. For example, Patent Document 1 describes that the device is provided with a sensor for detecting that the pallet has been set, and when the sensor detects the pallet, the pallet is fixed and printing processing is performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-67036 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned device, it is conceivable to dispose a pair of movable protruding members at an interval slightly greater than the length of the sides of the pallet for the purpose of positioning the pallet to be set, etc. However, in addition to a sensor to detect the pallet, a sensor to detect the operating position of the protruding members is also required, which increases the number of sensors.

[0005] A primary object of the present disclosure is to appropriately detect a pallet without increasing the number of sensors. [Means for solving the problem]

[0006] In order to achieve the above-mentioned main object, the present disclosure has adopted the following means.

[0007] The three-dimensional printing apparatus according to the present disclosure includes: A three-dimensional modeling apparatus for forming a model on a plate-shaped pallet, comprising: a pair of mounting members on which the edges of two opposing sides of the pallet can be placed, a pair of protruding members arranged on at least one side of the mounting members at a distance greater than the length of the sides and operable to protrude from a storage position toward between the mounting members, a first actuator that operates the protruding members, and a first sensor that detects the operating position of the protruding members or the first actuator; and a pallet moving unit that moves the pallet; a detection processing unit that executes a detection process to detect whether or not the pallet is in a position displaced from a position within the interval on the placement member based on a detection signal from the first sensor when the first actuator operates the protruding member; The gist of the project is to provide the following:

[0008] In the three-dimensional modeling device of the present disclosure, whether or not a pallet is misaligned on the mounting member is detected based on a detection signal from the first sensor when the protruding member is actuated by the first actuator. This makes it possible to detect the pallet using the first sensor required to check the actuation of the protruding member without providing a sensor for detecting the pallet. Therefore, even if a movable protruding member is provided, the pallet can be appropriately detected without increasing the number of sensors. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an outline of the configuration of a production system 1 including a molding apparatus 10. [Diagram 2] FIG. 1 is a block diagram showing an outline of the configuration of a molding apparatus 10. [Diagram 3] FIG. 4 is a top view of the stage unit 60 without the pallet P. [Figure 4] FIG. 4 is a top view of the stage unit 60 with a pallet P present. [Diagram 5] FIG. 2 is a perspective view of the stage unit 60 with a pallet P present. [Figure 6] FIG. 4 is a diagram showing the outline of the configuration of a stopper block 66. [Figure 7]FIG. 4 is a diagram showing the outline of the configuration of a stopper block 66. [Figure 8] FIG. 2 is a diagram showing the outline of the configuration of a first loading / unloading unit 70. [Figure 9] 11 is a flowchart showing an example of a production feasibility determination process. [Figure 10] 11 is a flowchart showing an example of a palette detection process of the stage unit. [Figure 11] FIG. 13 is an explanatory diagram showing an example of a state in which the protrusion of the stopper block 66 is inhibited. [Figure 12] FIG. 4 is an explanatory diagram showing a palette detection process. [Figure 13] 11 is a flowchart showing an example of a pallet transfer process. [Figure 14] 10 is a flowchart showing another example of a pallet transfer process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a configuration diagram showing an outline of the configuration of a production system 1 including a molding device 10. Fig. 2 is a block diagram showing an outline of the configuration of the molding device 10. In this embodiment, the left-right direction (X-axis), front-rear direction (Y-axis), and up-down direction (Z-axis) are as shown in Fig. 1.

[0011] The production system 1 includes a three-dimensional modeling device (hereinafter, modeling device) 10 that models a modeled object including, for example, a substrate or a circuit on a rectangular plate-shaped pallet P, and a mounting device 80 that mounts components on the circuit on the substrate modeled on the pallet P. The production system 1 may include two or more mounting devices 80, or may include only the modeling device 10 without the mounting device 80. The modeling device 10 includes a control unit 20, a storage unit 22, a communication unit 24, an operation panel 26, a first discharge unit 30, a flattening unit 35, a second discharge unit 40, a UV irradiation unit 44, an upper surface heating unit 46, a press heating unit 48, a transport unit 50, a stage unit 60, and first and second transfer units 70 and 75. Each component except the operation panel 26 is accommodated in a housing 12 of the modeling device 10.

[0012] The control unit 20 is configured as a microprocessor centered on a CPU, and includes a ROM for storing a processing program and a RAM used as a working area, and controls the entire molding apparatus 10. The storage unit 22 is configured, for example, with a HDD or SSD, and stores various information such as molding information including the shape and size of a molded object (three-dimensional object) and circuit information including a circuit pattern. The communication unit 24 is an interface used when communicating with each device of the production system 1, such as the mounting device 80 and a management device (not shown). The control unit 20 exchanges information with each device of the production system 1 via the communication unit 24. The operation panel 26 is a touch panel display disposed at the top of the front of the housing 12, and displays various information to an operator and accepts various operations by the operator.

[0013] The first ejection unit 30 includes a first ink head 31 and a second ink head 32 that eject liquid by an inkjet method, and an X-axis moving section 33. The first ink head 31 ejects a resin ink, such as an ultraviolet curable resin, for forming a board. The second ink head 32 ejects a conductive metal ink, such as a silver ink, for forming a circuit. The X-axis moving section 33 includes a guide rail provided in the X-axis direction on the front side of a gate-shaped frame, and two sliders on which the heads 31 and 32 are respectively arranged, and moves the sliders along the guide rails to move the heads 31 and 32 in the X-axis direction.

[0014] The flattening unit 35 includes a roller or a blade for flattening the liquid material on the pallet P, and is disposed on the rear surface of the frame of the X-axis moving unit 33. The flattening unit 35 flattens, for example, the surface of the resin ink ejected onto the pallet P by smoothing it with the roller or the blade while the pallet P moves relatively in the Y-axis direction.

[0015] The second discharge unit 40 includes a first dispenser head 41 and a second dispenser head 42 that discharge liquid materials by a dispenser method, and an X-axis moving unit 43. The first dispenser head 41 discharges a conductive paste such as silver paste for forming electrodes. The second dispenser head 42 discharges a resin paste such as a thermosetting resin as an underfill for sealing components. Note that the second discharge unit 40 may include more dispenser heads so that it can discharge more types of liquid materials. The X-axis moving unit 43 includes a guide rail provided in the X-axis direction on the front side of a gate-shaped frame, and a slider on which the heads 41 and 42 are arranged together. The X-axis moving unit 43 moves the slider to move the heads 41 and 42 in the X-axis direction.

[0016] The UV irradiation unit 44 includes a UV lamp such as a mercury lamp, a metal halide lamp, or a UV-LED, and irradiates the ultraviolet curable resin discharged onto the pallet P with UV light to harden it, thereby forming a resin layer. The upper surface heating unit 46 includes an infrared heater such as a halogen heater, a ceramic heater, or a carbon heater, and heats and hardens the metal ink discharged onto the pallet P to form a circuit. The resin layer and the circuit are formed repeatedly multiple times, thereby forming a model on the pallet P. The press heating unit 48 includes a metal plate, a heater for heating the plate, a lifting unit capable of raising and lowering the pallet P and applying pressure to press it against the plate from below, and a pallet sensor 49 for detecting the presence or absence of the pallet P on the lifting unit. The press heating unit 48 heats the plate while applying pressure to press the pallet P carrying the model before or after component mounting against the plate, thereby hardening the conductive paste or underfill.

[0017] The transport unit 50 includes a belt conveyor 52 that transports a pallet P along the X-axis direction, and a pallet sensor 54 that detects the presence or absence of a pallet P at a predetermined position on the belt conveyor 52. The transport unit 50 transports the pallet P to be carried into the mounting device 80 and the pallet P carried out from the mounting device 80 in the X-axis direction by driving the belt conveyor 52.

[0018] As shown in Figures 2 to 7, the stage unit 60 comprises a pair of front and rear mounting rails 61, a stage 62, a stage lifting section 63, a clamper 64, a clamp cylinder 65, a pair of left and right stopper blocks 66, a stopper cylinder 67, and a Y-axis moving section 68.

[0019] A pair of the loading rails 61 are provided so as to extend in the X-axis direction with a gap therebetween that allows both ends of the pallet P to be supported in the front and rear of the Y-axis direction. A pair of left and right through-holes 61a that penetrate in the vertical direction and are notched backward are formed on both left and right ends of the front loading rail 61. The stage 62 has a flat upper surface of a size that allows the pallet P to be placed thereon, and is configured to be able to rise and fall between the pair of loading rails 61 by driving the stage lifting unit 63. The pallet P is supported by the stage 62 with the upper surface of the stage 62 raised above the loading surface of the loading rail 61, and is supported by the pair of loading rails 61 with the upper surface of the stage 62 lowered below the loading surface of the loading rail 61. The clamper 64 and the clamp cylinder 65 rise and fall together with the stage 62. The clamp cylinder 65 drives the clamper 64 to move from a standby position (see FIGS. 3 and 4) before clamping the pallet P to an operating end position beyond the clamp position where the pallet P is clamped, toward the left in FIGS. 3 and 4 along the X-axis direction. The clamp cylinder 65 is also provided with a cylinder sensor 65a capable of detecting a rod position, which is an operating position of the rod. In this embodiment, the cylinder sensor 65a is configured as two auto switches that detect the rod position where the clamper 64 is in the standby position and the rod position where the clamper 64 is in the operating end position, respectively. Note that the cylinder sensor 65a only needs to be capable of detecting at least the rod position where the clamper 64 is in the operating end position. In addition, two pins 62a, for example, protruding upward are provided on the upper surface of the stage 62 at the end opposite the clamper 64 in the X-axis direction (left side in FIGS. 3 and 4).

[0020] The stopper blocks 66 are arranged in pairs on both the left and right ends of the loading rail 61 so as to be operable to protrude rearward from a storage position stored in a pair of through holes 61a of the loading rail 61 on the front side toward between the pair of loading rails 61. Each stopper block 66 is a substantially L-shaped member formed so that a first extending portion 66a extending in the horizontal direction and a second extending portion 66b extending in the vertical direction and having an upper end stored in the through hole 61a are perpendicular to each other, and the stopper blocks 66 are arranged so as to be rotatable around the perpendicular portion (see FIG. 6). One end of the first extending portion 66a is rotatably supported by the tip of the rod of the stopper cylinder 67. When the stopper cylinder 67 is driven to advance the rod, each stopper block 66 rotates around the fulcrum so that the upper end of the second extending portion 66b protrudes from the through hole 61a (see FIGS. 3, 4, and 7). The position where the stopper block 66 (the upper end of the second extension portion 66b) is stored in the through hole 61a is referred to as the stored position, and the position where it is most protruded rearward is referred to as the protruding end position. Each stopper cylinder 67 is fitted with a cylinder sensor 67a capable of detecting the rod position, which is the operating position of the rod. In this embodiment, the cylinder sensor 67a is configured as two auto switches that detect the rod position where the stopper block 66 is in the stored position and the rod position where the stopper block 66 is in the protruding end position, respectively. Note that it is sufficient for the cylinder sensor 67a to be at least capable of detecting the rod position where the stopper block 66 is in the protruding end position.

[0021] The Y-axis moving part 68 is provided with a slider that can move along the guide rail 11 arranged from the front to the rear in the Y-axis direction at the center of the lower part inside the molding apparatus 10. The stage unit 60 is mounted on this slider. The gate-shaped frames of the X-axis moving parts 33, 43 in the first discharge unit 30 and the second discharge unit 40 are arranged so as to straddle the guide rail 11. The stage unit 60 moves in the Y-axis direction by the movement of the slider of the Y-axis moving part 68, and moves to a processing position below each of the first discharge unit 30, the flattening unit 35, the second discharge unit 40, the UV irradiation unit 44, and the upper surface heating unit 46. In addition, the stage unit 60 moves to a position where the pallet P is transferred between the transport unit 50, a position where the pallet P is transferred between the press heating unit 48, a position where the worker works, and the like. The work position is, for example, a predetermined position on the front side inside the molding apparatus 10. An operator opens the opening / closing cover 14 (see FIG. 1) and places a pallet P on the stage unit 60 (mounting rails 61) that is in the work position, or removes the pallet P from the stage unit 60. The molding apparatus 10 is provided with an opening / closing sensor 14a (see FIG. 2) that detects whether the opening / closing cover 14 is open or closed.

[0022] The first transfer unit 70 transfers the pallet P to be transferred between the transport unit 50 and the stage unit 60 in the X-axis direction, and includes a pusher 71, a pusher lifting unit 72, and an X-axis moving unit 73, as shown in Figs. 2 and 8. The pusher lifting unit 72 lifts and lowers the pusher 71 in the Z-axis direction, for example, by a cylinder or the like. The X-axis moving unit 73 includes a guide rail provided along the X-axis direction on a gate-shaped frame straddling the guide rail 11, and a slider on which the pusher lifting unit 72 is disposed and movable along the guide rail, and moves the pusher 71 and the pusher lifting unit 72 in the X-axis direction. In this embodiment, the frame and guide rail of the X-axis moving unit 73 are shared with the frame and guide rail of the X-axis moving unit 43 described above, and the slider of the X-axis moving unit 73 is provided separately from the slider of the X-axis moving unit 43. The second transfer unit 75 transfers the pallet P in the X-axis direction to be handed over between the press heating unit 48 and the stage unit 60. The second transfer unit 75 includes a pusher, a pusher lifting unit 77, and an X-axis moving unit 78, similar to the first transfer unit 70, and therefore a description thereof will be omitted.

[0023] As shown in FIG. 1, the mounting device 80 includes a transport unit 81, a component supply unit 82, a mounting head 83, an XY axis moving unit 85, a part camera 86, a nozzle stocker 87, and an operation panel 88.

[0024] The transport unit 81 includes a belt conveyor that transports the pallet P along the X-axis direction, and transports the pallet P to be transported into the molding device 10 and the pallet P transported out of the molding device 10. The component supply unit 82 is, for example, a tape feeder equipped with a reel that stores components on a tape at a predetermined interval. A plurality of tape feeders are detachably attached to the front side of the mounting device 80. The mounting head 83 includes one or more nozzles that pick up components and a nozzle lifting unit that raises and lowers the nozzle in the Z-axis direction, and mounts the components picked up by the nozzles at predetermined positions on the circuit on the pallet P. The XY-axis moving unit 85 includes a Y-axis slider that moves along the Y-axis guide rail and the Y-axis guide rail, and an X-axis slider that moves along the X-axis guide rail and the X-axis guide rail provided on the Y-axis slider and on which the mounting head 83 is disposed. The XY-axis moving unit 85 moves the Y-axis slider and the X-axis slider to move in the XY direction. The part camera 86 has an imaging range above it, and captures an image of the component picked up by the nozzle of the mounting head 83 from below. The nozzle stocker 87 is configured to be able to accommodate a variety of nozzles of different sizes and shapes. The nozzles accommodated in the nozzle stocker 87 can be automatically attached to and detached from the mounting head 83. The operation panel 88 is configured as a touch panel display, and displays various information to the worker and accepts various operations by the worker.

[0025] The operation of the molding apparatus 10 in the production system 1 thus configured will be described below. FIG. 9 is a flow chart showing an example of a production feasibility determination process. FIG. 9 illustrates a process of checking the position and number of pallets P in the molding apparatus 10 when determining whether production can be started. In this process, the control unit 20 first determines whether it is the closing timing at which the open-close cover 14 is closed based on a detection signal from the open-close sensor 14a (S100), and ends this process if it is not the closing timing. The closing timing corresponds to the timing when the worker closes the open-close cover 14 after performing a preparatory operation such as placing a new pallet P on the stage unit 60, or the timing when the worker closes the open-close cover 14 after performing an operation to check for errors that have occurred during production, etc.

[0026] When the control unit 20 determines that it is the closing timing, it executes a pallet detection process for the transport unit 50 (S110). As described above, the pallet sensor 54 detects the pallet P at a predetermined position on the belt conveyor 52. Therefore, when the control unit 20 detects that the pallet P is present, the control unit 20 detects whether or not the pallet P is present based on a detection signal from the pallet sensor 54 when the belt conveyor 52 is driven so that the pallet P moves to a predetermined position. Next, the control unit 20 executes a pallet detection process for the press heating unit 48 (S120). When the pallet P is present in the press heating unit 48, the pallet P is on the lifting unit and can be detected by the pallet sensor 49. Therefore, the control unit 20 detects whether or not the pallet P is present based on a detection signal from the pallet sensor 49.

[0027] Next, the control unit 20 executes a pallet detection process for the stage unit 60 (S130). In this pallet detection process, as shown in Fig. 10, the control unit 20 first activates the stopper cylinders 67 so that the left and right stopper blocks 66 protrude (S200), and determines whether the stopper blocks 66 have protruded (activated) to the protruding end position based on a detection signal from the cylinder sensor 67a (S210). If the control unit 20 determines that the stopper blocks 66 have not protruded to the protruding end position, it determines that a misaligned pallet P is present on the mounting rails 61 of the stage unit 60 (S220), and ends this process.

[0028] Figure 11 is an explanatory diagram showing an example of a state in which the protrusion of the stopper blocks 66 is inhibited. Figure 11 shows a state in which the pallet P is in a position shifted to the right from the correct position, i.e., the position where it fits between the stopper blocks 66 (see Figure 4). If the left and right stopper blocks 66 are protruded in this state, the left stopper block 66 will protrude to the protrusion end position, but the right stopper block 66 cannot protrude to the protrusion end position because the pallet P interferes at the dotted line location. The control unit 20 detects whether or not there is a pallet P in such a misaligned state by determining whether or not the stopper blocks 66 are in the protrusion end position.

[0029] On the other hand, when the control unit 20 determines in S210 that the stopper block 66 has protruded to the protrusion end position, it raises the stage 62 and activates the clamp cylinder 65 so that the clamper 64 performs the clamping operation (S230). Then, the control unit 20 determines whether the clamper 64 has operated to the operating end position based on the detection signal from the cylinder sensor 65a (S240), and if it determines that the clamper 64 has operated to the operating end position, it determines that there is no pallet P (S250) and ends this process. On the other hand, when the control unit 20 determines that the clamper 64 has not operated to the operating end position, it determines that the pallet P has been clamped just before the operating end position and that there is a pallet P (S260), and ends this process.

[0030] Here, Fig. 12 is an explanatory diagram showing the state of the pallet detection process, and diagrammatically shows the mounting rail 61 on the front side of the stage unit 60, the stage 62, the clamper 64, and the clamp cylinder 65. Fig. 12 shows the state when the stage unit 60 has a pallet P that is not misaligned ((a) to (c)), when there is no pallet P ((d) to (f)), and when there is a pallet P that is misaligned ((g) to (i), (j) to (l)). Note that the mounting rail 61 is not shown in Fig. 12 except for (a), (d), (g), and (j).

[0031] If a pallet P is present that is not misaligned (FIG. 12(a)), the stage 62 is raised (FIG. 12(b)), and then the clamping operation is performed, whereby the clamper 64 moves to a position where it clamps the pallet P and stops (FIG. 12(c)). If a pallet P is not present (FIG. 12(d)), the stage 62 is raised (FIG. 12(e)), and then the clamping operation is performed, whereby the clamper 64 moves to the operating end position and stops (FIG. 12(f)). The control unit 20 detects whether a pallet P is present or not by judging the difference between the positions of the clamper 64 in FIG. 12(c) and FIG. 12(f), i.e., whether the clamper 64 is at the operating end position or not, based on the detection signal of the cylinder sensor 65a (S240-S260).

[0032] On the other hand, if the pallet P is misaligned and on the right side of FIG. 12 (right side in the X-axis direction) (FIG. 12(g)), when the stage 62 is raised, the right end of the pallet P rides on the clamper 64 and becomes tilted (FIG. 12(h)). Even if a clamping operation is performed in this state, the clamper 64 cannot clamp the pallet P and moves to the operating end position and stops (FIG. 12(i)). Also, if the pallet P is misaligned and on the left side of FIG. 12 (left side in the X-axis direction) (FIG. 12(j)), when the stage 62 is raised, the left end of the pallet P rides on the pin 62a and becomes tilted (FIG. 12(k)). Even if a clamping operation is performed in this state, the clamper 64 cannot clamp the pallet P and moves to the operating end position and stops (FIG. 12(l)). 12(i) and (l), the control unit 20 cannot distinguish from the case where the pallet P is not present (FIG. 12(f)) based on the detection signal from the cylinder sensor 65a, and will erroneously detect the presence or absence of the pallet P. In this embodiment, the control unit 20 detects in S200 and S210 that there is no misaligned pallet P, and then performs the processes from S230 onwards, thereby preventing such erroneous detection and properly detecting the presence of the pallet P.

[0033] In the production feasibility determination process of FIG. 9, when the pallet detection process of S130 is executed, the control unit 20 determines whether or not the pallet P is present in the molding apparatus 10 (S140). When the control unit 20 detects the pallet P in any of the pallet detection processes of S110 to S130, it determines in S140 that the pallet P is present. On the other hand, when the pallet P is not present, production cannot be started, and it is necessary to have the worker set the pallet P. Therefore, when the control unit 20 determines in S140 that the pallet P is not present, it operates the stopper cylinder 67 so that the left and right stopper blocks 66 protrude to the protruding end positions, instructs the worker to set the pallet P (S150), and ends this process. In S150, the control unit 20 performs a process such as displaying an instruction to set the pallet P on the placement rail 61 on the operation panel 26.

[0034] Furthermore, when the control unit 20 determines in S140 that a pallet P is present, it determines whether the number and position of the pallets P are normal (S160). Here, the normal number is one pallet. Therefore, when the control unit 20 detects a pallet P in two or more of the pallet detection processes of S110 to S130, that is, when two or more pallets P are present in the molding apparatus 10, it determines that the number of pallets P is not normal. Furthermore, when the control unit 20 detects a pallet P in a misaligned state in S220 of the pallet detection process of S130, it determines that the position of the pallet P is not normal. In these cases, the control unit 20 determines that production cannot be started, notifies the operator of the error (S170), and ends this process. In S170, the control unit 20 performs a process such as displaying on the operation panel 26 a message to the effect that the pallet P should be removed because there is a number error, or a message to the effect that the position should be corrected because there is a position error. The control unit 20 may turn on a warning light (not shown) or the like. On the other hand, if the control unit 20 determines in S160 that the number and positions of the pallets P are normal, it determines that production can be started (S180) and ends this process. This makes it possible to prevent production from being started in a state where there are two or more pallets P in the molding apparatus 10 or where the pallets P are misaligned, and therefore makes it possible to prevent damage to the pallets P and breakdown of the molding apparatus 10 due to collisions between pallets P.

[0035] Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The mounting rail 61 of this embodiment corresponds to the mounting member, the stopper block 66 corresponds to the protruding member, the stopper cylinder 67 corresponds to the first actuator, the cylinder sensor 67a corresponds to the first sensor, the stage unit 60 corresponds to the pallet moving unit, and the control unit 20 that executes S200 to S220 of the pallet detection process of the stage unit corresponds to the detection processing unit. The stage 62 corresponds to the stage, the clamper 64 corresponds to the clamp member, the clamp cylinder 65 corresponds to the second actuator, the cylinder sensor 65a corresponds to the second sensor, and the control unit 20 that executes S230 to S260 of the pallet detection process of the stage unit corresponds to the detection processing unit. The opening and closing cover 14 corresponds to the opening and closing cover. The control unit 20 and the operation panel 26 that execute S160 and S170 of the production feasibility determination process correspond to the notification processing unit. The control unit 20 and the operation panel 26 that execute S150 of the production feasibility determination process correspond to the instruction processing unit. In this embodiment, the operation of the molding apparatus 10 is described to clarify an example of a palette detection method according to the present disclosure.

[0036] As described above, in the molding apparatus 10 of this embodiment, a pallet detection process (hereinafter also simply referred to as a "detection process") is performed on the stage unit 60, which detects whether or not there is a misaligned pallet P based on the detection signal of the cylinder sensor 67a when the stopper block 66 is operated. Since the cylinder sensor 67a is necessary for checking the operation of the stopper block 66, it becomes possible to detect misalignment of the pallet P without adding a sensor for pallet detection, and a configuration capable of appropriately detecting the pallet P can be realized at low cost.

[0037] Furthermore, in the detection process, based on the detection signal of the cylinder sensor 67a, it is detected that there is no misaligned pallet P when the stopper block 66 is at the protruding end position, and it is detected that there is a misaligned pallet P when the stopper block 66 is not at the protruding end position. Therefore, the cylinder sensor 67a can be used as a simple sensor that can at least detect whether the stopper block 66 is at the protruding end position, and can appropriately detect the pallet P.

[0038] Furthermore, in the detection process, after detecting that no misaligned pallet P is present, the presence or absence of a pallet P on the stage 62 is detected based on the detection signal of the cylinder sensor 65a when the clamper 64 is operated with the stage 62 raised. If a misaligned pallet P is present, the pallet P may ride up onto the pins 62a or the clamper 64 when the stage 62 is raised. In that case, even if the clamper 64 is operated, the pallet P cannot be clamped, resulting in an erroneous detection of the presence or absence of the pallet P. In the detection process, after detecting that no misaligned pallet P is present, the clamper 64 is operated to detect the presence or absence of a pallet P, so such erroneous detection can be prevented and the pallet P can be properly detected.

[0039] Furthermore, in the detection process, based on the detection signal of the cylinder sensor 65a, when the clamper 64 is not in the operating end position, it is detected that the pallet P is present, and when the clamper 64 is in the operating end position, it is detected that the pallet P is not present. Therefore, the cylinder sensor 65a can be used as a simple sensor that can detect whether or not the clamper 64 is in the operating end position, and can appropriately detect the pallet P.

[0040] Furthermore, because the detection process is executed when the open / close cover 14 is closed, if the pallet P set by the worker becomes misaligned or if the pallet P becomes misaligned due to contact with the worker's hand or arm, the misaligned pallet P can be properly detected. Furthermore, if a misaligned pallet P is detected, an error is notified, allowing the worker to quickly correct the misalignment of the pallet P.

[0041] Furthermore, if the pallet P is not present in the molding apparatus 10, the stopper blocks 66 are operated to protrude, and the operator is then instructed to set the pallet P on the mounting rails 61. This allows the operator to set the pallet P so that it falls within the gap between the pair of stopper blocks 66, making it easy to set the pallet P in the correct position.

[0042] It goes without saying that the present disclosure is in no way limited to the above-described embodiment, and can be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0043] In the embodiment described above, the three pallet detection processes of S110 to S130 are executed when the opening / closing cover 14 is closed, but it is sufficient to execute at least the pallet detection process of the stage unit 60 of S130.

[0044] In the embodiment, the pallet detection process in S130 is executed based on the opening and closing cover 14 being closed, but it may be executed based on the transfer of the pallet P to the stage unit 60. FIG. 13 is a flow chart showing an example of the pallet transfer process, illustrating the transfer process from the transport unit 50 to the stage unit 60. In this process, the control unit 20 first determines whether it is time to transfer the pallet P to the stage unit 60 (S300), and ends this process if it is not the transfer timing. The control unit 20 determines that it is the transfer timing when there is no pallet P on the stage unit 60 and there is a pallet P to be transferred on the belt conveyor 52. When the control unit 20 determines that it is the transfer timing, it moves the pusher 71 to the left of the pallet P (S310, see FIG. 8), and activates the right stopper cylinder 67 so that the right stopper block 66 protrudes while keeping the left stopper block 66 stored (S320).

[0045] Next, the control unit 20 moves the pusher 71 to the right and stops it at a predetermined position (S330). The predetermined position is determined in advance as a position where the transfer of the pallet P from the belt conveyor 52 to the placement rail 61 by the pusher 71 is completed. Next, the control unit 20 operates the left stopper cylinder 67 so that the left stopper block 66 protrudes (S340), and executes a detection process for determining whether or not there is a positional deviation by determining whether or not the left stopper block 66 protrudes to the protruding end position (S350). Note that since the pusher 71 is moved to the predetermined position in S330, the left stopper block 66 does not normally interfere with the pallet P. For this reason, the control unit 20 normally determines in S350 that the left stopper block 66 protrudes to the protruding end position, determines that there is no positional deviation of the pallet P (S360), and ends this process. On the other hand, if the control unit 20 determines in S350 that the pusher 71 did not protrude to the protruding end position, it determines that although the pusher 71 was moved to the predetermined position, some abnormality caused the pallet P to not fit between the stopper blocks 66 and to be misaligned to the left. In other words, the control unit 20 determines that the pallet P is misaligned (S370) and ends this process. If the control unit 20 detects that the pallet P is misaligned, it may notify an error of misalignment as in S170. Alternatively, the control unit 20 may operate the first loading / unloading unit 70 again to eliminate the misalignment.

[0046] In this modification, when the pallet P is transferred to the placement rail 61, the detection process is executed, so that when a pallet P in a positional deviation state occurs due to the transfer, the pallet P can be appropriately detected. By transferring the pallet P in a state where the right stopper block 66 is protruded in S320, the pallet P pushed by the pusher 71 stops at the stopper block 66 without going too far forward (here, the right side) in the transfer direction. That is, it is possible to prevent the transferred pallet P from going too far to the right and causing a positional deviation. In this modification, the first transfer unit 70 corresponds to the transfer section. Also, the contents of the present disclosure are not limited to detecting the presence or absence of the pallet P after detecting that the pallet P is not displaced by protruding the stopper block 66 as in this modification, and are not limited to detecting the presence or absence of the pallet P as in the embodiment.

[0047] In the pallet transfer process of Fig. 13, the pallet P is transferred with the right stopper block 66 protruding in S320, but this is not limited to this. In another example of the pallet transfer process of Fig. 14, the control unit 20 omits S320 and does not protrude the right stopper block 66, i.e., with the left and right stopper blocks 66 stored, moves the pusher 71 to the right in S330 and stops it at a predetermined position to transfer the pallet P. Next, the control unit 20 operates the left and right stopper cylinders 67 so that the left and right stopper blocks 66 protrude (S340a), and if it determines that the left and right stopper blocks 66 have protruded to the protrusion end positions, it determines that there is no positional deviation of the pallet P, and if it determines that they have not protruded, it determines that there is a positional deviation of the pallet P.

[0048] Here, if the pusher 71 is moved to the right to transfer the pallet P without protruding the right stopper block 66, the pallet P may go too far forward in the transfer direction (to the right in this case). Even in this case, by protruding the left and right stopper blocks 66, it is possible to detect the positional deviation of the pallet P to the right and to detect the positional deviation of the pallet P to the left as in FIG. 13. Note that, although the transfer process of the first transfer unit 70 is illustrated in FIG. 13 and FIG. 14, the present invention is not limited to this, and the second transfer unit 75 may transfer the pallet P from the press heating unit 48 to the stage unit 60. In that case, since the transfer direction is reversed, the "left" in the pallet transfer process in FIG. 13 and FIG. 14 may be read as "right" and "right" as "left".

[0049] In the embodiment, when it is determined in the production feasibility determination process that the pallet P is not present, the left and right stopper blocks 66 are protruded in S150 to instruct the setting of the pallet P, but this is not limited to this. At least one of the stopper blocks 66 may be protruded to serve as a guide when setting the pallet P, and the setting of the pallet P may be instructed. Alternatively, when it is determined in the production feasibility determination process that the pallet P is not present, the process of S150 may not be performed, and an error to the effect that the pallet P is not present may be notified, or the production feasibility determination process may be ended as it is. In addition, the process of protruding the stopper block 66 to serve as a guide when setting the pallet P is not limited to during the production feasibility determination process, and may be performed when the worker sets the pallet P.

[0050] In the embodiment, if the number or position of the pallet P is not normal in the production feasibility determination process, an error is notified in S170, but it is sufficient to notify an error at least if there is a positional deviation. Alternatively, the process of S170 is not essential and may be omitted.

[0051] In the embodiment, the presence or absence of a pallet P is detected based on whether the clamper 64 is at the operating end position, but it may be detected based on the detection signal of the cylinder sensor 65a. For example, a predetermined range including the clamp position when the clamper 64 clamps the pallet P may be defined, and if the operating position of the clamper 64 is within the predetermined range, it may be determined that the pallet P is present, and if not, it may be determined that the pallet P is not present.

[0052] In the embodiment, the cylinder sensors 65a and 67a are configured as two auto switches, but may be configured as linear encoders or the like. Although the operating position of the clamper 64 is detected based on the detection signal of the cylinder sensor 65a, a sensor that directly detects the operating position of the clamper 64 may be provided. Although the operating position of the stopper block 66 is detected based on the detection signal of the cylinder sensor 67a, a sensor that directly detects the operating position of the stopper block 66 may be provided. Furthermore, the actuator that operates the stopper block 66 and the clamper 64 is not limited to a cylinder, but may be an electric actuator including a motor or the like. Furthermore, the storage position of the stopper block 66 is set to a position within the through hole 61a formed in the loading rail 61, but it may be a position that does not interfere with the pallet P loaded on the loading rail 61. Furthermore, the stopper block 66 is disposed on the loading rail 61 on the front side, but it may be disposed on at least one side of the pair of front and rear loading rails 61, and may be disposed on the loading rail 61 on the rear side.

[0053] In the embodiment, an example has been given in which an ultraviolet curable resin is used as the resin ink, but it is possible to adopt various resins such as a thermosetting resin or a two-liquid mixed resin.

[0054] This specification also discloses the technical idea of ​​changing "the 3D printing device according to claim 1 or 2" in claims 4 to 7 as originally filed to "the 3D printing device according to any one of claims 1 to 3" in claim 4, "the 3D printing device according to any one of claims 1 to 4" in claim 5, "the 3D printing device according to any one of claims 1 to 5" in claim 6, and "the 3D printing device according to any one of claims 1 to 6" in claim 7. [Industrial Applicability]

[0055] The present disclosure can be used in the technical field of devices for additive manufacturing of objects. [Explanation of symbols]

[0056] 1 Production system, 10 3D modeling device, 11 Y-axis rail, 12 Housing, 14 Opening cover, 14a Opening sensor, 20 Control unit, 22 Memory unit, 24 Communication unit, 26, 88 Operation panel, 30 First discharge unit, 31 First ink head, 32 Second ink head, 33, 43 X-axis moving unit, 35 Flattening unit, 40 Second discharge unit, 41 First dispenser head, 42 Second dispenser head, 44 UV irradiation unit, 46 Upper surface heating unit, 48 Press heating unit, 49, 54 Pallet sensor, 50 Transport unit, 52 Belt conveyor, 60 Stage unit, 61 Placement rail, 61a Through hole, 62 Stage, 62a Pin, 63 Stage lifting unit, 64 Clamper, 65 Clamp cylinder, 65a, 67a Cylinder sensor, 66 Stopper block, 66a First extension portion, 66b second extension portion, 67 stopper cylinder, 68 Y-axis moving portion, 70 first transfer unit, 71 pusher, 72, 77 pusher lifting portion, 73, 78 X-axis moving portion, 75 second transfer unit, 80 mounting device, 81 transport unit, 82 component supply unit, 83 mounting head, 85 XY-axis moving portion, 86 parts camera, 87 nozzle stocker, P pallet.

Claims

1. A three-dimensional modeling apparatus that forms a model on a plate-shaped pallet, a pair of mounting members on which the edges of two opposing sides of the pallet can be placed, a pair of protruding members arranged on at least one side of the mounting members at a distance greater than the length of the sides and operable to protrude from a storage position toward between the mounting members, a first actuator that operates the protruding members, and a first sensor that detects the operating position of the protruding members or the first actuator; and a pallet moving unit that moves the pallet; a detection processing unit that executes a detection process to detect whether or not the pallet is in a position displaced from a position within the interval on the placement member based on a detection signal from the first sensor when the first actuator operates the protruding member; A three-dimensional printing apparatus comprising:

2. The detection processing unit determines whether or not the protruding member is at a protruding end position based on a detection signal from the first sensor, detects that the pallet is not in the misaligned state when the protruding member is at the protruding end position, and detects that the pallet is in the misaligned state when the protruding member is not at the protruding end position. The three-dimensional modeling apparatus according to claim 1 .

3. the pallet moving unit includes a stage configured to be able to move up and down between the placement members and supporting the pallet on an upper surface thereof, a clamp member that operates to clamp the pallet on the stage, a second actuator that operates the clamp member, and a second sensor that detects an operating position of the clamp member or the second actuator, In the detection process, after detecting that the misaligned pallet is not present, the detection processing unit detects whether or not the pallet is present on the stage based on a detection signal of the second sensor when the clamp member is operated by the second actuator with the stage elevated. The three-dimensional modeling apparatus according to claim 1 .

4. The clamp member is operable from a standby position to an operating end position beyond a position where the clamp member clamps the pallet, the detection processing unit determines whether or not the clamp member is at the operating end position based on the detection signal of the second sensor, detects that the pallet is not present when the clamp member is at the operating end position, and detects that the pallet is present when the clamp member is not at the operating end position. The three-dimensional modeling apparatus according to claim 3 .

5. an opening and closing cover that is opened and closed when an operator sets the pallet on the placement member; The detection processing unit executes the detection process when the opening / closing cover is closed. The three-dimensional modeling apparatus according to claim 1 .

6. A transfer unit that transfers the pallet from the outside of the pallet moving unit to the placement member, The detection processing unit executes the detection process when the pallet is transferred to the placement member by the transfer unit. The three-dimensional modeling apparatus according to claim 1 .

7. a notification processing unit that notifies an operator of an error when the detection processing unit detects that the pallet is in the misaligned state, The three-dimensional modeling apparatus according to claim 1 .

8. an instruction processing unit that instructs an operator to set the pallet on the placement member while the first actuator is operating the protruding member, The three-dimensional modeling apparatus according to claim 1 .

9. A pallet detection method for a three-dimensional printing device, which moves the pallet using a pallet moving unit including a pair of mounting members on which edge portions of two opposing sides of a plate-shaped pallet can be placed, a pair of protruding members arranged on at least one side of the mounting members at a distance greater than a length of the sides and operable to protrude from a storage position toward between the mounting members, a first actuator that operates the protruding members, and a first sensor that detects an operating position of the protruding members or the first actuator, a step of executing a detection process for detecting whether or not the pallet is in a position displaced from a position within the interval on the placement member based on a detection signal from the first sensor when the first actuator is operated by the protruding member, Palette detection method.

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