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

Abstract

To provide a three-dimensional modeling device and a method for manufacturing a three-dimensional object, which are capable of easily performing color modeling using a pellet method with a simple configuration.SOLUTION: A three-dimensional modeling device 1 performs modeling of a three-dimensional object M by mixing pellets P having a plurality of colors. The three-dimensional modeling device 1 comprises: a mixer 4 that mixes first pellets P1 and second pellets P2; an extruder 3 that extrudes the mixed pellets mixed by the mixer 4; and a control device 7 that controls the mixer 3. The mixer 4 has a first measuring unit that measures the first pellets P1, a second measuring unit that measures the second pellets P2, and a mixing unit that mixes the first pellets P1 and the second pellets P2. The control device 7 controls the first measuring unit to supply a first predetermined amount of the first pellets P1 to the mixing unit, controls the second measuring unit to supply a second predetermined amount of the second pellets P2 to the mixing unit, and controls the mixing unit to mix the first pellets P1 and the second pellets P2.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a three-dimensional modeling apparatus and a method for manufacturing a three-dimensional object, and more particularly to a three-dimensional modeling apparatus and a method for manufacturing a three-dimensional object by mixing pellets of multiple colors. [Background technology]

[0002] Conventionally, 3D printer technology has been known that can create three-dimensional objects by layering three-dimensional modeling materials in three dimensions using 3D-CAD (Computer Aided Design) data created on a computer as a blueprint. For example, 3D printer technology using fused deposition modeling (FDM) is widely known, in which thermoplastic resin, which serves as the material for three-dimensional modeling, is melted and extruded from the nozzle of an extruder, and then layered on a work stage to create a model.

[0003] Patent Document 1 discloses a filament-type color 3D printer. The color 3D printer in Patent Document 1 extrudes thermoplastic materials of different colors through a color mixing nozzle to produce a color three-dimensional object that can transition from one color to another almost seamlessly. Furthermore, Patent Document 2 discloses a color 3D printer using a photolithography method. The color 3D printer in Patent Document 2 produces a color three-dimensional object by coloring a photo-curable material lowered onto a modeling stage and then photo-curing it. Furthermore, Patent Document 3 discloses a pellet-type color 3D printer. The color 3D printer in Patent Document 3 produces a color three-dimensional object by printing a full-color pattern when melting and extruding transparent beads. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2021-515721 [Patent Document 2] Japanese Patent Application Publication No. 2019-119195 [Patent Document 3] Japanese Patent Application Publication No. 2018-538185 Summary of the Invention [Problem to be solved by the invention]

[0005] Generally, the filament method, pellet method, and stereolithography method are known as additive manufacturing methods. However, the filament method as in Patent Document 1 has a slower manufacturing speed and higher filament material costs compared to the pellet method. Furthermore, the stereolithography method as in Patent Document 2 has high material costs for photocurable resin. Furthermore, the method of coloring transparent beads as in Patent Document 3 requires a separate print head for coloring to be installed in the extruder.

[0006] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a three-dimensional modeling device and a method for manufacturing a three-dimensional object that can easily perform color modeling using the pellet method with a simple configuration. [Means for solving the problem]

[0007] The above-mentioned problem is solved by a three-dimensional printing device of the present invention, which is a three-dimensional printing device that mixes pellets of multiple colors to form a three-dimensional object, and includes: a mixer that mixes first pellets and second pellets of a color different from the first pellets; an extruder connected to the mixer that extrudes the mixed pellets mixed by the mixer; and a control device that controls the mixer, wherein the mixer has a first measuring unit that weighs the first pellets, a second measuring unit that weighs the second pellets, and a mixing unit that mixes the first pellets weighed by the first measuring unit and the second pellets weighed by the second measuring unit, and the control device controls the first measuring unit to supply a first predetermined amount of the first pellets to the mixing unit, controls the second measuring unit to supply a second predetermined amount of the second pellets to the mixing unit, and controls the mixing unit to mix the first pellets and the second pellets that have been respectively weighed.

[0008] With the above configuration, multiple color pellets are mixed in a mixer before being fed to the extruder, allowing the extruder to have a simple configuration. Furthermore, the control device automatically measures the pellets to produce the desired color, eliminating the need for an operator to mix the colors. Furthermore, since the color can be changed during modeling, multicolored three-dimensional objects can be easily produced. Furthermore, since multiple colors can be mixed to create any color, there is no need to prepare a large number of color pellets, reducing material costs. Therefore, color modeling can be easily performed using a simple structure in the pellet method.

[0009] In this case, the mixing section has a container with an open top, an attachment section that covers the opening of the container from above and to which the first measuring section and the second measuring section are attached, and a rotary blade that is provided below the first measuring section and the second measuring section inside the container, and the control device preferably rotates the rotary blade so as to crush the first pellets and the second pellets that have been weighed, respectively. With the above-mentioned configuration, the pellets are crushed and mixed with the rotary blade, which shortens the melting time when melted in the extruder. Furthermore, by crushing the pellets finely, color development can be improved.

[0010] In this case, the first measuring unit has a first storage unit that stores the first pellets, a first supply port formed in the first storage unit and that supplies the first pellets to the container, a first lid unit that is openably attached to the first supply port and that closes the first supply port, and a first detection sensor that detects the amount of the first pellets in the first storage unit, and the second measuring unit has a second storage unit that stores the second pellets, a second supply port formed in the second storage unit and that supplies the second pellets to the container, and a first detection sensor that is openably attached to the second supply port and that closes the second supply port. and a second detection sensor that detects the amount of the second pellets in the second storage portion, and the control device may control the mixer to open the first lid when the first detection sensor detects that the amount of the first pellets in the first storage portion has reached the first predetermined amount, and to open the second lid when the second detection sensor detects that the amount of the second pellets in the second storage portion has reached the second predetermined amount, and to mix the first pellets supplied from the first supply port and the second pellets supplied from the second supply port. With the above configuration, pellets of each color are weighed by opening and closing the lid, so that the pellets can be weighed with a simple configuration.

[0011] In this case, the system may include a first storage device controlled by the control device and storing the first pellets, and a second storage device controlled by the control device and storing the second pellets, the first storage device being connected to the first storage section and feeding the first pellets to the first storage section, and the second storage device being connected to the second storage section and feeding the second pellets to the second storage section, the control device feeding the first pellets to the first storage section with the first supply port closed by the first lid section, and controlling the first storage device to stop the feeding operation when the first detection sensor detects that the amount of the first pellets has reached the first predetermined amount, and controlling the second storage device to feed the second pellets to the second storage section with the second supply port closed by the second lid section, and stopping the feeding operation when the second detection sensor detects that the amount of the second pellets has reached the second predetermined amount. With the above configuration, by providing a storage device for storing each color and automatically sending the colors to the mixer, it is possible to improve work efficiency.

[0012] In this case, the control device controls the mixer and the extruder, acquires first modeling information including coordinate information, speed information, and discharge amount information of the nozzle portion of the extruder, and second modeling information including color information of the mixed pellets, controls the extruder based on the first modeling information, and controls the mixer based on the second modeling information different from the first modeling information. With the above configuration, the extruder and the mixer are controlled separately based on different information, which increases the processing speed and therefore the molding speed.

[0013] In this case, the mixer has a first mixer and a second mixer, and the control device is capable of switching the mixers between a first state in which the first mixer mixes the first pellets and the second pellets, and a second state in which the second mixer mixes the first pellets and the second pellets, and when the control device detects that the blending amount of the first pellets and the second pellets is changing while the mixer is in the first state, the control device switches the mixers to the second state and controls the inside of the first mixer to be cleaned. With the above configuration, after mixing pellets in the first mixer to create a predetermined color, pellets of other colors are mixed in the second mixer, and the inside of the first mixer is cleaned, thereby preventing the colors from mixing together.

[0014] Furthermore, the above-mentioned problem is solved by a manufacturing method of a three-dimensional object of the present invention, which is a manufacturing method of a three-dimensional object formed by mixing pellets of a plurality of colors, including a weighing step of weighing the first pellet and a second pellet of a color different from the first pellet, a supplying step of supplying the first pellet and the second pellet weighed in the weighing step to a mixing section, a mixing step of mixing the first pellet and the second pellet supplied in the supplying step in the mixing section, and an extrusion step of melting the mixed pellet mixed in the mixing step and extruding the molten mixed pellet, wherein in the supplying step, the first pellet is supplied to the mixing section when a first detection sensor detects that the first pellet has reached the first predetermined amount, and the second pellet is supplied to the mixing section when a second detection sensor detects that the second pellet has reached the second predetermined amount. With the above configuration, multiple color pellets are mixed in the mixer before being fed to the extruder, allowing the extruder to have a simple configuration. Furthermore, the control device automatically measures the pellets to produce the desired color, eliminating the need for an operator to mix the colors. Furthermore, since multiple colors can be mixed to create any desired color, there is no need to prepare a large number of color pellets, reducing material costs.

[0015] At this time, in the mixing step, the rotary blade may be rotated so as to crush the first pellets and the second pellets measured in the measuring step. With the above-mentioned configuration, the pellets are crushed and mixed with the rotary blade, which shortens the melting time when melted in the extruder. Furthermore, by crushing the pellets finely, color development can be improved. [Effects of the Invention]

[0016] According to the three-dimensional modeling apparatus and the method for manufacturing a three-dimensional object of the present invention, color modeling can be easily performed using a pellet method with a simple configuration. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a perspective view of a three-dimensional modeling apparatus. [Figure 2] FIG. [Figure 3] FIG. 2 is a diagram illustrating the structure of a measuring unit. [Figure 4] FIG. 2 is a diagram illustrating the structure of a mixing section. [Figure 5] FIG. 10 is a control flow diagram of the three-dimensional modeling process. [Figure 6] FIG. 1 is a control flow diagram of the storage device and mixer. [Figure 7] FIG. 1 is a diagram illustrating an example of a G code. [Figure 8] FIG. 10 is a diagram illustrating an example of a color code. [Figure 9] FIG. 10 is a structural diagram of a modified three-dimensional modeling apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0018] A three-dimensional printing device 1 according to one embodiment of the present invention (hereinafter referred to as the present embodiment) will be described below with reference to Figures 1 to 9. The present embodiment relates to a three-dimensional printing device and a method for manufacturing a three-dimensional object that mixes pellets of multiple colors to form a three-dimensional object, and is capable of easily manufacturing a colored object using a pellet method with a simple configuration.

[0019] <Three-dimensional printing equipment> The three-dimensional modeling apparatus 1 is an apparatus that extrudes a modeling material to form a three-dimensional model M. Specifically, the three-dimensional modeling apparatus 1 is a 3D printer that forms a three-dimensional object M by stacking two-dimensional layers sliced ​​based on 3D-CAD data. As shown in FIG. 1 , the three-dimensional modeling apparatus 1 includes a work stage 2 used for modeling work, an extruder 3 that layers the modeling material on the work stage 2, a mixer 4 that adjusts the modeling material to a desired color, a storage device 5 that stores pellets P to be sent to the mixer 4, a manipulator 6 that moves the extruder 3, and a control device 7 that controls the extruder 3, the mixer 4, the storage device 5, and the manipulator 6.

[0020] The work stage 2 is a stage for forming a three-dimensional object M, and is used for the forming operation by the extruder 3.

[0021] The extruder 3 is a device that layers the modeling material, the color of which has been adjusted by the mixer 4, on the work stage 2 to form a multicolored three-dimensional model M. The extruder 3 is connected to the mixer 4 and extrudes the mixed pellets Pm that have been mixed by the mixer 4. The extruder 3 has a cylinder portion that accommodates the mixed pellets Pm, a heating portion that heats the mixed pellets Pm, a screw portion that feeds the mixed pellets Pm, and a nozzle portion that discharges the molten mixed pellets Pm. The mixed pellets Pm melted in the cylinder portion are sent from the cylinder portion to the nozzle portion by the screw portion and discharged from the nozzle portion. The mixed pellets Pm discharged from the nozzle portion are then repeatedly stacked on the work stage 2, thereby forming a three-dimensional object M.

[0022] The molding material may be, for example, thermoplastic resin pellets P. The pellets P may be, for example, four colors: first cyan pellets P1, second magenta pellets P2, third yellow pellets P3, and fourth black pellets P4. The pellets P of each color are stored in a storage device 5 by color. The multicolored pellets P are mixed in a mixer 4 and sent to the extruder 3 as mixed pellets Pm. The mixed pellets Pm are heated and melted inside the extruder 3 and extruded from the extruder 3. The heated and melted mixed pellets Pm are then piled up on the work stage 2 and cooled to harden.

[0023] In this way, by mixing the pellets P of four colors, a three-dimensional object M of a desired color can be created. Therefore, there is no need to prepare a large number of color pellets, which reduces material costs. Furthermore, since the color can be adjusted by the mixer 4 before being sent to the extruder 3, a multi-colored three-dimensional object M can be produced without changing the design of the conventional extruder 3. Note that the color of the pellets P is not limited to the above four colors and can be changed as appropriate.

[0024] The mixer 4 is a device that adjusts the molding material to a desired color and sends out the molding material of the desired color to the extruder 3. The mixer 4 mixes pellets P of multiple colors using the control device 7 and sends out the required amount of mixed pellets Pm to the extruder 3. Specifically, the mixer 4 mixes first pellets P1 (cyan), second pellets P2 (magenta), third pellets P3 (yellow), and fourth pellets P4 (black).

[0025] The storage device 5 is a device for storing the pellets P of each color by color. Specifically, as shown in Fig. 1, the storage device 5 includes a first storage device 5a for storing the first pellets P1, a second storage device 5b for storing the second pellets P2, a third storage device 5c for storing the third pellets P3, and a fourth storage device 5d for storing the fourth pellets P4.

[0026] The manipulator 6 is a robot arm for moving the extruder 3. The extruder 3 is attached to the tip of the manipulator 6. By using the manipulator 6, it is possible to improve work efficiency even when forming a large three-dimensional object M. When the extruder 3 is attached to the tip of the manipulator 6, the manipulator 6 moves the extruder 3 onto the working stage 2 to perform a modeling operation.

[0027] The control device 7 is a computer that controls the extruder 3, the mixer 4, the storage device 5, and the manipulator 6. The control device 7 acquires modeling information for forming the three-dimensional object M, and controls the extruder 3, the mixer 4, the storage device 5, and the manipulator 6. Specifically, the control device 7 controls the nozzle portion of the extruder 3 and the manipulator 6 based on the acquired first modeling information (coordinate information, speed information, discharge amount information, etc.). In addition, the control device 7 controls the mixer 4 and the storage device 5 based on the acquired second modeling information (color information, etc.).

[0028] <Blender> The mixer 4 weighs pellets P of multiple colors and mixes them to obtain a desired color. The mixed pellets Pm of the desired color are then sent to the extruder 3. As shown in FIG. 1, the mixer 4 has a first measuring section 10 that weighs first pellets P1, a second measuring section 20 that weighs second pellets P2, a third measuring section 30 that weighs third pellets P3, a fourth measuring section 40 that weighs fourth pellets P4, and a mixing section 50 that mixes the pellets P of each color weighed in the first measuring section 10 to the fourth measuring section 40. The mixer 4 is placed on a mounting table 4a.

[0029] The first measuring unit 10 is a measuring unit for automatically measuring a predetermined amount set based on the second forming information of the first pellets P1 sent out from the storage device 5. The first pellets P1 measured by the first measuring unit 10 are supplied to a container 51 of the mixing unit 50, which will be described later. As shown in Figures 2 and 3, the first measuring section 10 has a first storage section 11 that stores the first pellets P1, a first supply port 12 that supplies the first pellets P1, a first lid section 13 that closes the first supply port 12, and a first detection sensor 14 that detects the amount of the first pellets P1.

[0030] The first storage unit 11 is a small tank that stores the first pellets P1. A communication hole 11a that communicates with a hose extending from the first storage device 5a is formed in the upper part of the first storage unit 11. The first pellets P1 stored in the first storage device 5a are sent from the communication hole 11a to the inside of the first storage unit 11. The first storage unit 11 is attached to the attachment unit 52 of the mixer 50.

[0031] The first supply port 12 is an opening for supplying the first pellets P1 to the container 51 of the mixing section 50. The first supply port 12 is formed at the lower end of the first storage section 11. When the first pellets P1 are sent from the first storage device 5a, the first supply port 12 is closed by the first lid section 13. When a predetermined amount of the first pellets P1 has accumulated in the first storage section 11, the first lid section 13 is opened, and the first pellets P1 in the first storage section 11 are supplied to the container 51.

[0032] The first lid portion 13 is an opening / closing plate attached to the first supply port 12 so as to be able to open and close. The first lid portion 13 closes the first supply port 12 when the first pellets P1 are sent from the first storage device 5a. The first lid portion 13 also opens the first supply port 12 when the first pellets P1 are supplied to the container 51 of the mixer 50. The opening and closing drive of the first lid portion 13 is controlled by the control device 7.

[0033] The first detection sensor 14 is a weight sensor such as a load cell. The first detection sensor 14 is attached to the first cover 13, and detects the amount of first pellets P1 in the first storage section 11 when the first cover 13 is closed. The first detection sensor 14 may be any sensor that can detect the amount of first pellets P1. Alternatively, the first detection sensor 14 may be attached to the first storage section 11.

[0034] As shown in Figures 2 and 3, the second measuring section 20 has a second storage section 21 that stores the second pellets P2, a second supply port 22 that supplies the second pellets P2, a second lid section 23 that closes the second supply port 22, and a second detection sensor 24 that detects the amount of the second pellets P2. The second measuring unit 20, the third measuring unit 30 and the fourth measuring unit 40 have the same configuration as the first measuring unit 10, and therefore their explanations will be omitted.

[0035] 2 and 4, the mixing unit 50 mixes the first pellet P1 weighed in the first measuring unit 10, the second pellet P2 weighed in the second measuring unit 20, the third pellet P3 weighed in the third measuring unit 30, and the fourth pellet P4 weighed in the fourth measuring unit 40. The mixing ratio (compound amount) of the pellets P supplied to the mixing unit 50 is determined by the second modeling information. The mixing section 50 has a container 51 with an open top, an attachment section 52 that covers the top opening of the container 51, a rotary blade 53 that crushes and mixes the first pellet P1 to the fourth pellet P4, and a blow supply port 54 that supplies air into the container 51.

[0036] The container 51 is a large tank for mixing the first pellets P1 to the fourth pellets P4. An upper opening of the container 51 is covered by an attachment part 52. A delivery port 51a for delivering the mixed pellets Pm to the extruder 3 is provided at the lower end of the container 51. A delivery hose 51b for delivering the mixed pellets Pm to the extruder 3 is attached to the delivery port 51a.

[0037] The mounting part 52 is a lid member that covers the opening of the container 51 from above. The first measuring part 10 to the fourth measuring part 40 are attached to the underside of the mounting part 52. By attaching the first measuring part 10 to the fourth measuring part 40 to the mounting part 52, the first measuring part 10 to the fourth measuring part 40 are housed inside the container 51. By housing each measuring part inside the container 51, it is possible to prevent the pellets P from scattering outside the container 51 when the pellets P are supplied. Note that each measuring part may be attached to the outside of the container 51. A through hole is formed in the mounting part 52 at a position corresponding to the communication hole 11a of the first measuring part 10. Further, through holes are formed at positions corresponding to the communication holes of the second measuring part 20 to the fourth measuring part 40. By attaching the first measuring part 10 to the fourth measuring part 40 so that the communication holes of the first measuring part 10 to the fourth measuring part 40 are aligned with the through hole of the mounting part 52, the first pellets P1 to the fourth pellets P4 can be sent from the storage device 5 while the internal space of the container 51 is closed.

[0038] The rotary blade 53 is a blade member that crushes and mixes the first pellets P1 to the fourth pellets P4. The rotary blade 53 is provided below the first measuring unit 10 to the fourth measuring unit 40 inside the container 51. The rotary blade 53 has a plurality of blades and is rotated horizontally around an axis in the vertical direction. The rotary blade 53 is provided with a rotation drive unit (not shown) for driving the rotation. The rotation drive unit is controlled by the control device 7. The pellets P are finely pulverized by the blades of the rotary blade 53, thereby reducing the particle size of the mixed pellets Pm. Reducing the particle size of the mixed pellets Pm shortens the time required to melt the mixed pellets Pm in the extruder 3. Reducing the particle size of the mixed pellets Pm also improves color development. The rotation direction of the rotary blade 53 is not limited to horizontal rotation. The rotary blade 53 may not have a blade portion, and may be a paddle member, kneader member, screw member, or the like.

[0039] The blow supply port 54 is provided for blowing air into the container 51. The blow supply port 54 is formed in the lower part of the container 51. The mixed pellets Pm that have been pulverized and mixed inside the container 51 by the rotary blade 53 are delivered to the extruder 3 from the delivery port 51a via the delivery hose 51b by blowing air into the container 51 from the blow supply port 54. When cleaning the inside of the container 51, dust and the like from the pellets P remaining in the container 51 can be discharged to the outside from a sweep port provided in the container 51 by blowing air into the container 51 from the blow supply port 54.

[0040] In this way, the mixer 4 mixes the pellets P of multiple colors before supplying them to the extruder 3, so there is no need to color or mix colors in the extruder 3, and the extruder 3 can be simply configured. Furthermore, the first to fourth weighing units 10 to 40 automatically weigh the pellets P of each color so that the mixed pellets Pm are of any color, eliminating the need for an operator to mix colors. Furthermore, because the first to fourth weighing units 10 to 40 automatically weigh the pellets P of each color, the color can be changed during modeling. This makes it easy to manufacture a multi-colored three-dimensional model M. Furthermore, since the first pellet P1 to the fourth pellet P4, which are the four basic colors, can be mixed to create mixed pellets Pm of any color, there is no need to prepare a large number of pellets P, and the material costs for manufacturing the three-dimensional object M can be reduced.

[0041] <Storage Device> The storage device 5 stores the first pellets P1 to the fourth pellets P4 by color. Each storage device 5 is provided with a drive unit (not shown) for sending a predetermined amount of pellets P to the mixer 4. The drive unit of the storage device 5 is controlled by the control device 7. Specifically, the first storage device 5a is connected to the first storage section 11 and sends the first pellet P1 to the first storage section 11. The second storage device 5b is connected to the second storage section 21 and sends the second pellet P2 to the second storage section 21. The third storage device 5c is connected to the third storage section and sends the third pellet P3 to the third storage section. The fourth storage device 5d is connected to the fourth storage section and sends the fourth pellet P4 to the fourth storage section. The amount (blending amount) of each pellet P sent to the mixer 4 is determined by the second modeling information.

[0042] In this way, the storage device 5, which stores pellets by color, can automatically send them to the mixer 4. Therefore, even if the color changes during processing, there is no need for an operator to feed the pellets P into the mixer 4. This improves the work efficiency of manufacturing the three-dimensional object M.

[0043] <Control device> The control device 7 controls the extruder 3, the mixer 4, the storage device 5, and the manipulator 6. Specifically, the control device 7 controls the first measuring unit 10 to supply a first predetermined amount of first pellets P1 to the mixing unit 50. More specifically, the control device 7 opens the first lid unit 13 when the first detection sensor 14 detects that the amount of the first pellets P1 in the first storage unit 11 has reached the first predetermined amount. The second measuring unit 20 to the fourth measuring unit 40 are also controlled in the same manner. Furthermore, the control device 7 controls the first storage device 5a to send the first pellets P1 to the first storage section 11 with the first supply port 12 closed by the first lid section 13, and to stop the sending operation when the first detection sensor 14 detects that the amount of the first pellets P1 has reached a first predetermined amount. The second storage device 5b to the fourth storage device 5d are controlled in the same manner. Furthermore, the control device 7 controls the mixer 4 so as to mix the pellets P supplied from each supply port. Specifically, the control device 7 rotates the rotary blade 53 so as to pulverize each of the measured pellets P.

[0044] Furthermore, the control device 7 acquires first modeling information including coordinate information, speed information, and discharge amount information of the nozzle portion of the extruder 3, and second modeling information including color information of the mixed pellets Pm. Then, the control device 7 controls the extruder 3 based on the first modeling information, and controls the mixer 4 based on the second modeling information. In this way, the control device 7 controls the extruder 3 and the manipulator 6 based on the first modeling information, and controls the mixer 4 based on the second modeling information different from the first modeling information. In this way, the control device 7 can control the extruder 3 and the manipulator 6 based on the first modeling information that does not include color information, thereby increasing the processing speed of the extruder 3 and the manipulator 6.

[0045] <Flow of the 3D modeling process> Next, the manufacturing method executed by the control device 7 of the three-dimensional modeling apparatus 1 will be described with reference to Figs. 5 and 6. Fig. 5 shows the flow of the modeling process for the three-dimensional object M. Fig. 6 shows the flow of the control process (color adjustment process) for the storage device 5 and the mixer 4 in Fig. 5. The modeling process for the three-dimensional object M is performed by the CPU of the control device 7 executing a modeling process program for the three-dimensional object M stored in the memory unit.

[0046] The control device 7 reads 3D data of the three-dimensional object M to be formed (step S1). Then, slicer software converts the data into data for three-dimensional printing and outputs first printing information (step S2). The slicer software divides the target shape of the three-dimensional object M into layers of a predetermined thickness and creates first printing information for each layer. The first printing information is a G-code as shown in FIG. 7. For example, the G-code includes operation commands, coordinate information of the nozzle of the extruder 3 for each divided layer, the amount of printing material discharged, the feeding speed of the printing material, etc. The extruder 3 and the manipulator 6 are controlled based on the G-code.

[0047] Next, the control device 7 sets coloring information for the three-dimensional object M (step S3). Specifically, it outputs second modeling information corresponding to the first modeling information generated by the slicer software. The second modeling information is a color code as shown in FIG. 8. For example, the color code indicates color information for each layer. Specifically, information on the color mixing ratio (cyan 100, magenta 0, yellow 43, black 34) is added to correspond to the G code. In this way, the color code includes information on the mixing ratio of the four basic colors corresponding to the G code, so that the desired color can be appropriately supplied to the extruder 3 in accordance with the layer to be modeled.

[0048] The control device 7 then calculates the blending amounts and feeding timings of the pellets P of each color (step S4). Specifically, the control device 7 calculates the timing at which the storage device 5 will feed each pellet P, based on the generated color code. The control device 7 also calculates the predetermined amount of each pellet P to be weighed by the mixer 4, based on the generated color code. Thereafter, the control device 7 starts forming the three-dimensional object M (step S5).

[0049] The control device 7 controls the extruder 3 and the manipulator 6 based on the first modeling information (step S6). Specifically, the control device 7 acquires the first modeling information including coordinate information, speed information, and discharge amount information of the nozzle portion of the extruder 3. Then, the control device 7 drives the manipulator 6 based on the first modeling information to place the extruder 3 at a predetermined position. Then, the control device 7 drives the extruder 3 to discharge the molten mixed pellets Pm from the nozzle portion onto the working stage 2. Then, the control device 7 stacks the mixed pellets Pm on the working stage 2 while moving the extruder 3 using the manipulator 6.

[0050] Furthermore, the control device 7 controls the mixer 4 and the storage device 5 based on the second formation information (Step S7). Specifically, as shown in FIG. 6, the control device 7 acquires the second formation information including color information of the mixed pellets Pm (Step S70). Then, the control device 7 controls the drive unit of the first storage device 5a to send the first pellets P1 to the first storage unit 11 in a state where the first supply port 12 is closed by the first lid unit 13. Furthermore, the control device 7 performs the same process for the second storage device 5b, the third storage device 5c, and the fourth storage device 5d (Step S71).

[0051] The control device 7 then determines whether the amount of pellets P in each storage unit has reached its target value (step S72). If the amount of pellets P has not reached the target value (step S72: No), the drive unit of the storage device 5 continues the feeding operation to the mixer 4. If the amount of pellets P has reached the target value (step S72: Yes), the storage device 5 stops the feeding operation to the mixer 4. Then, the lids of each weighing unit are opened (step S73). Specifically, the control device 7 stops the feeding operation of the first storage device 5a when the first detection sensor 14 detects that the amount of the first pellets P1 has reached a first predetermined amount. The control device 7 performs the same process for the second storage device 5b, the third storage device 5c, and the fourth storage device 5d. The control device 7 also controls the first weighing unit 10 to open the first lid 13 when the first detection sensor 14 detects that the amount of the first pellets P1 has reached the first predetermined amount. The control device 7 also performs the same process for the second weighing unit 20, the third weighing unit 30, and the fourth weighing unit 40.

[0052] Next, the control device 7 controls the rotation drive unit of the rotary blade 53 to rotate the rotary blade 53 so as to crush and mix the weighed pellets P (step S74). The time for which the rotary blade 53 is rotated may be set in advance or may be calculated according to the blending amount or total amount of each pellet P. For example, the rotation drive time may be set short when only one color is used, and set long when four colors are used. Then, after the rotary blade 53 has been driven for a predetermined time, the control device 7 sends out the mixed pellets Pm from the container 51 of the mixer 4 toward the extruder 3 (step S75). Specifically, the control device 7 drives an air supply device (not shown) to send air into the container 51 from the blow supply port 54, thereby sending out the mixed pellets Pm to the extruder 3. When all the mixed pellets Pm are sent out from the container 51, the color adjustment process shown in FIG. 6 ends.

[0053] <Method of manufacturing three-dimensional objects> Next, we will explain a method for manufacturing the three-dimensional object M performed by the three-dimensional modeling apparatus 1. This manufacturing method includes a "measurement step", a "supply step", a "mixing step", and an "extrusion step". It should be noted that explanations of the steps other than those described above in the process of forming the three-dimensional object M will be omitted.

[0054] In the "weighing step", the first pellet P1, the second pellet P2, the third pellet P3, and the fourth pellet P4 are weighed. Specifically, the storage device 5 sends out the pellets P of each color to each weighing section of the mixer 4.

[0055] In the "supply process", the first pellet P1, second pellet P2, third pellet P3, and fourth pellet P4 measured in the measuring process are each supplied to the mixing section 50. When the first detection sensor 14 detects that the first pellet P1 has reached a first predetermined amount, the first pellet P1 is supplied to the mixing section 50, and when the second detection sensor 24 detects that the second pellet P2 has reached a second predetermined amount, the second pellet P2 is supplied to the mixing section 50. Similarly, the third pellet P3 and the fourth pellet P4 are also supplied to the mixing section 50.

[0056] In the "mixing process", the first pellet P1, second pellet P2, third pellet P3, and fourth pellet P4 supplied in the supply process are mixed in the mixer 50. In the mixing process, the rotary blade 53 is rotated so as to pulverize the first pellet P1, second pellet P2, third pellet P3, and fourth pellet P4 weighed in the weighing process.

[0057] In the "extrusion process", the mixed pellets Pm mixed in the mixing process are melted and the molten mixed pellets Pm are extruded. Specifically, the mixed pellets Pm delivered from the mixer 4 are melted in the cylinder part, and the molten mixed pellets Pm are extruded from the nozzle part onto the work stage 2.

[0058] In this way, in the weighing process, the detection sensor automatically weighs the pellets P of each color so that the mixed pellets Pm are of any color, eliminating the need for an operator to mix colors. Furthermore, the color can be changed during modeling. This makes it easy to manufacture a multicolored three-dimensional model M. Furthermore, since the pellets P of multiple colors are mixed in the mixing step before the extrusion step, there is no need to color or mix colors in the extruder 3, and the configuration of the extruder 3 can be simplified. Furthermore, since the first pellet P1 to the fourth pellet P4, which are the four basic colors, can be mixed to create mixed pellets Pm of any color, there is no need to prepare a large number of pellets P, and the material costs for manufacturing the three-dimensional object M can be reduced.

[0059] <Modification> Next, a modified 3D modeling apparatus 101 will be described with reference to Fig. 9. Note that the description of the same content as that of the above-described 3D modeling apparatus 1 will be omitted. The modified 3D modeling apparatus 101 includes an extruder 103, a mixer 104, a storage device 105, and a control device 107. The mixer 104 includes a first mixer 104a and a second mixer 104b. The storage device 105 includes a first storage device 105a, a second storage device 105b, a third storage device 105c, and a fourth storage device 105d. The 3D modeling apparatus 101 differs from the above-described 3D modeling apparatus 1 in that it includes two mixers 104.

[0060] The control device 107 can switch the mixer 104 between a first state in which the first mixer 104a mixes the first pellet P1 to the fourth pellet P4, and a second state in which the second mixer 104b mixes the first pellet P1 to the fourth pellet P4. The first state is a state in which the first mixer 104a mixes the pellets P of each color to create a predetermined color. The second state is a state in which the second mixer 104b mixes the pellets P of each color to create a predetermined color. When the control device 107 detects a change in the blending amounts of the first pellet P1 to the fourth pellet P4 while the mixer 104 is in the first state, the control device 107 switches the mixer 104 to the second state. Then, the control device 107 controls the mixer 104 to clean the inside of the first mixer 104a.

[0061] More specifically, the control device 107 first mixes the pellets P of each color in the first mixer 104a to create a predetermined color. Then, when changing the color midway, the control device 107 mixes the pellets P of each color in the second mixer 104b. While the pellets P of each color are being mixed in the second mixer 104b, the inside of the container of the first mixer 104a is cleaned. More specifically, when the control device 107 acquires that the color information of the color code has changed and the blending amount of the pellets P of each color has changed, it controls the storage device 105 to send the pellets P of each color from the first mixer 104a to the second mixer 104b. The control device 107 then cleans the inside of the container of the first mixer 104a. Specifically, the control device 107 supplies air from a blow supply port into the inside of the first mixer 104a and discharges dust and other particles of the pellets P remaining in the container to the outside through a sweep port provided in the container, thereby cleaning the container. While the control device 107 is cleaning the inside of the first mixer 104a, it mixes the pellets P of each color in the second mixer 104b to create a predetermined color.

[0062] In this way, the three-dimensional modeling apparatus 101 of the modified example is configured to be able to send mixed pellets Pm to the extruder 103 via two systems. Therefore, when one mixer 104 mixes pellets P of each color to create a predetermined color, and then immediately creates another color, the pellets P of each color are mixed in the other mixer 104, and the interior of the one mixer 104 is cleaned, thereby preventing the colors from mixing with each other. The timing for switching the mixer 104 between the first state and the second state is not limited to when the blending amount of the pellets P of each color changes, but may be when cleaning is required. Also, when the capacity of one mixer 104 becomes full, the mixer 104 may be switched to the other mixer 104 for mixing.

[0063] In the above embodiment, the three-dimensional modeling apparatus and the method for manufacturing a three-dimensional model according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and does not limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention naturally includes equivalents thereof. In particular, the above-described embodiments are merely examples and do not limit the present invention. [Explanation of symbols]

[0064] 1, 101 Three-dimensional printing equipment 2. Work Stage 3, 103 Extruder 4, 104 mixer 4a Mounting table 104a First mixer 104b Second mixer 5, 105 Storage device 5a, 105a First storage device 5b, 105b Second storage device 5c, 105c Third storage device 5d, 105d Fourth storage device 6 Manipulator 7, 107 Control device 10 First measurement department 11 First storage section 11a Communication hole 12 First supply port 13 First lid part 14 First detection sensor 20 Second weighing section 21 Second storage section 22 Second supply port 23 Second lid part 24 Second detection sensor 30 Third Metrology Department 40 Fourth weighing department 50 Mixing section 51 Container 51a Outlet 51b Delivery hose 52 Mounting part 53 Rotary Blade 54 Blow supply port M Three-dimensional object P pellets P1 First Pellet P2 Second pellet P3 Third pellet P4 Fourth pellet Pm mixed pellets

Claims

1. A three-dimensional modeling apparatus that mixes pellets of multiple colors to form a three-dimensional object, a mixer for mixing first pellets with second pellets of a different color from the first pellets; an extruder connected to the mixer for extruding the mixed pellets mixed in the mixer; a control device for controlling the mixer, The mixer comprises: a first measuring unit that measures the first pellets; a second measuring unit that measures the second pellets; a mixing section that mixes the first pellets measured in the first measuring section and the second pellets measured in the second measuring section, The control device controlling the first metering section to supply a first predetermined amount of the first pellets to the mixing section; controlling the second metering section to supply a second predetermined amount of the second pellets to the mixing section; A three-dimensional modeling apparatus, comprising: a mixing unit that controls the mixing unit to mix the first pellets and the second pellets that have been measured, respectively;

2. The mixing section a container having an open top; a mounting portion that covers the opening of the container from above and to which the first measuring portion and the second measuring portion are attached; a rotary blade provided below the first measuring section and the second measuring section inside the container, The three-dimensional modeling apparatus according to claim 1 , wherein the control device rotates the rotary blade so as to crush the first pellet and the second pellet, which have been weighed, respectively.

3. the first measuring section includes a first storage section that stores the first pellets, a first supply port that is formed in the first storage section and that supplies the first pellets to the container, a first lid that is openably and closably attached to the first supply port and that closes the first supply port, and a first detection sensor that detects the amount of the first pellets in the first storage section, the second measuring section includes a second storage section that stores the second pellets, a second supply port that is formed in the second storage section and that supplies the second pellets to the container, a second lid that is openably and closably attached to the second supply port and that closes the second supply port, and a second detection sensor that detects the amount of the second pellets in the second storage section, The control device When the first detection sensor detects that the amount of the first pellets in the first storage portion has reached the first predetermined amount, the first lid portion is opened; When the second detection sensor detects that the amount of the second pellets in the second storage portion has reached the second predetermined amount, the second lid portion is opened; The three-dimensional modeling apparatus according to claim 2 , wherein the mixer is controlled so as to mix the first pellets supplied from the first supply port and the second pellets supplied from the second supply port.

4. a first storage device controlled by the control device and configured to store the first pellets; a second storage device controlled by the control device and configured to store the second pellets; the first storage device is connected to the first container and sends the first pellets to the first container; the second storage device is connected to the second container and sends the second pellets to the second container; The control device controlling the first storage device to feed the first pellets to the first storage portion with the first supply port closed by the first lid portion, and to stop the feeding operation when the first detection sensor detects that the amount of the first pellets has reached the first predetermined amount; The three-dimensional printing apparatus according to claim 3, characterized in that the second pellets are fed to the second storage section with the second supply port closed by the second lid section, and the second storage device is controlled to stop the feeding operation when the second detection sensor detects that the amount of the second pellets has reached the second predetermined amount.

5. The control device Controlling the mixer and the extruder; acquiring first modeling information including coordinate information, speed information, and discharge amount information of a nozzle portion of the extruder, and second modeling information including color information of the mixed pellets; The three-dimensional printing apparatus according to claim 1 or 2, wherein the extruder is controlled based on the first printing information, and the mixer is controlled based on the second printing information different from the first printing information.

6. The mixer includes a first mixer and a second mixer, The control device the mixer is switchable between a first state in which the first mixer mixes the first pellets and the second pellets, and a second state in which the second mixer mixes the first pellets and the second pellets; 2. The three-dimensional printing device according to claim 1, wherein when the mixer is in the first state and it is detected that the blending amount of the first pellets and the second pellets has changed, the mixer is switched to the second state and is controlled to clean the inside of the first mixer.

7. A method for manufacturing a three-dimensional object by mixing pellets of multiple colors, a weighing step of weighing first pellets and second pellets of a different color from the first pellets; a supplying step of supplying the first pellets and the second pellets measured in the measuring step to a mixing section, respectively; a mixing step of mixing the first pellets and the second pellets supplied in the supply step in the mixing section; an extrusion step of melting the mixed pellets mixed in the mixing step and extruding the molten mixed pellets, The method for manufacturing a three-dimensional object is characterized in that, in the supplying step, the first pellets are supplied to the mixing section when a first detection sensor detects that the first pellets have reached a first predetermined amount, and the second pellets are supplied to the mixing section when a second detection sensor detects that the second pellets have reached a second predetermined amount.

8. The method for manufacturing a three-dimensional object according to claim 7 , wherein in the mixing step, a rotary blade is rotated so as to pulverize the first pellets and the second pellets measured in the measuring step.

Images