Three dimensional shaping apparatus and method for manufacturing three dimensional object

Abstract

To provide a technique capable of quickly starting shaping of a three dimensional shaped article.SOLUTION: A three dimensional shaping device includes a plasticizing unit that plasticizes a material to generate a shaping material, a nozzle that communicates with the plasticizing unit and has a discharge port for discharging the shaping material toward a stage, a moving mechanism that changes a relative position between the nozzle and the stage, a shaping data holding unit that holds shaping data for shaping a three dimensional shaped object, and a control unit that controls discharge of the shaping material from the nozzle and the moving mechanism according to the shaping data read from the shaping data holding unit to shape the three dimensional shaped object. The control unit reads new shaping data into the shaping data holding unit in a shaping period in which the three dimensional shaped article is shaped.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a three-dimensional printing apparatus and a method for manufacturing a three-dimensional object. [Background technology]

[0002] In general, a three-dimensional modeling apparatus models a three-dimensional object in accordance with modeling data in which information such as the movement path of a nozzle is recorded (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-82558 Summary of the Invention [Problem to be solved by the invention]

[0004] When the size of the file storing the modeling data is large, it takes time to load the data into the memory provided in the three-dimensional modeling device, and it may take some time before modeling of the three-dimensional object can begin. [Means for solving the problem]

[0005] According to a first aspect of the present disclosure, there is provided a three-dimensional printing apparatus including: a plasticizing unit that plasticizes a material to generate a printing material; a nozzle that is in communication with the plasticizing unit and has a discharge port that discharges the printing material toward a stage; a movement mechanism that changes the relative position of the nozzle and the stage; a printing data storage unit that stores printing data for printing a three-dimensional object; and a control unit that controls the dispensing of the printing material from the nozzle and the movement mechanism in accordance with the printing data read from the printing data storage unit to print the three-dimensional object, wherein the control unit reads new printing data into the printing data storage unit during a printing period in which the three-dimensional object is printed.

[0006] According to a second aspect of the present disclosure, there is provided a method for manufacturing a three-dimensional object, the method comprising: a step of plasticizing a material by a plasticizing unit to generate a modeling material; a step of discharging the modeling material from a nozzle toward a stage while changing the relative position of the nozzle and a stage in accordance with modeling data read from a modeling data storage unit that stores modeling data for modeling a three-dimensional object; and a step of loading new modeling data into the modeling data storage unit by the control unit, wherein the new modeling data is loaded into the modeling data storage unit during a modeling period in which the three-dimensional object is modeled. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram illustrating a schematic configuration of a three-dimensional modeling apparatus. [Figure 2] FIG. 1 is a perspective view of a flat screw. [Figure 3] FIG. 2 is a schematic plan view of the barrel. [Figure 4] 1A to 1C are explanatory diagrams schematically illustrating the basic operation of the three-dimensional modeling apparatus. [Figure 5] FIG. 2 is an explanatory diagram showing the program structure of a motion control program. [Figure 6] 10 is a flowchart of a modeling data reading process. [Figure 7] 10 is a flowchart of a modeling data reading process according to a second embodiment. [Figure 8] FIG. 2 is a diagram schematically illustrating a part of a three-dimensional object. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: FIG. 1 is an explanatory diagram showing a schematic configuration of a three-dimensional printing apparatus 100 according to a first embodiment. FIG. 1 shows arrows indicating mutually orthogonal X, Y, and Z directions. The X and Y directions are parallel to a horizontal plane, and the Z direction is a vertically upward direction. The arrows indicating the X, Y, and Z directions are also shown in other figures as appropriate so that the illustrated directions correspond to those in FIG. 1. In the following description, when specifying the direction, positive and negative signs are used in combination to indicate the direction indicated by the arrow in each figure, with "+" indicating the direction indicated by the arrow and "-" indicating the opposite direction. Hereinafter, the +Z direction will also be referred to as "up" and the -Z direction as "down."

[0009] The three-dimensional modeling apparatus 100 of this embodiment is an apparatus for forming a three-dimensional object by a material extrusion method. The three-dimensional modeling apparatus 100 includes a modeling unit 110 that generates and dispenses a modeling material, a modeling stage 210 that serves as a base for the three-dimensional object, a movement mechanism 230 that controls the dispense position of the modeling material, and a control unit 300 that controls each part of the three-dimensional modeling apparatus 100.

[0010] Under the control of the control unit 300, the modeling unit 110 discharges a modeling material, which is a plasticized solid material, onto the stage 210. The modeling unit 110 includes a material supply unit 20, which is a supply source of raw material MR before it is converted into a modeling material, a plasticization unit 30, which converts the raw material MR into a modeling material, and a discharge unit 60, which discharges the modeling material.

[0011] The material supply unit 20 supplies the raw material MR to the plasticizing unit 30. The material supply unit 20 is configured, for example, by a hopper that stores the raw material MR. The material supply unit 20 is connected to the plasticizing unit 30 via a communication passage 22. The raw material MR is fed into the material supply unit 20 in the form of pellets, powder, or the like. As the raw material MR, for example, a resin material such as ABS (acrylonitrile butadiene styrene), PEEK (polyether ether ketone), or PP (polypropylene) is used. The raw material MR may also contain inorganic materials such as metals and ceramics.

[0012] The plasticizing unit 30 plasticizes the raw material MR supplied from the material supply unit 20 to generate a paste-like modeling material that exhibits fluidity, and then guides the material to the discharge unit 60. In this embodiment, "plasticization" is a concept that includes melting, and refers to changing a material from a solid to a fluid state. Specifically, for materials that undergo glass transition, plasticization refers to raising the temperature of the material above the glass transition point. For materials that do not undergo glass transition, plasticization refers to raising the temperature of the material above the melting point.

[0013] The plasticizing section 30 includes a screw case 31, a drive motor 32, a flat screw 40, and a barrel 50. The flat screw 40 is also called a rotor or a scroll. The barrel 50 is also called a screw facing portion.

[0014] FIG. 2 is a perspective view showing a schematic configuration of the lower surface 48 side of the flat screw 40. To facilitate understanding of the technology, the flat screw 40 shown in FIG. 2 is shown with the positional relationship between the upper surface 47 and the lower surface 48 shown in FIG. 2 reversed in the vertical direction. FIG. 3 is a schematic plan view showing the upper surface 52 side of the barrel 50. The flat screw 40 has a roughly cylindrical shape in which the length in the axial direction, which is the direction along its central axis, is shorter than the length in the direction perpendicular to the axial direction. The flat screw 40 is positioned so that the rotation axis RX, which is its rotation center, is parallel to the Z direction.

[0015] As shown in Fig. 1, the flat screw 40 is housed in a screw case 31. An upper surface 47 of the flat screw 40 is connected to a drive motor 32, and the flat screw 40 rotates in the screw case 31 by the rotational driving force generated by the drive motor 32. The drive motor 32 is driven under the control of the control unit 300. The flat screw 40 may be driven by the drive motor 32 via a reducer.

[0016] As shown in Fig. 2, a spiral groove 42 is formed on the lower surface 48 of the flat screw 40, which is the surface that intersects with the rotation axis RX. The communication passage 22 of the material supply unit 20 described above communicates with the groove 42 from the side surface of the flat screw 40. In this embodiment, three grooves 42 are formed, separated by ridges 43. The number of grooves 42 is not limited to three, and may be one, or two or more. The groove 42 is not limited to a spiral shape, but may also be a spiral or involute curve shape, or may have a shape that extends in an arc from a center portion 46 to the outer periphery.

[0017] The lower surface 48 of the flat screw 40 faces the upper surface 52 of the barrel 50, and a space is formed between the groove 42 of the lower surface 48 of the flat screw 40 and the upper surface 52 of the barrel 50. Raw material MR is supplied to this space between the flat screw 40 and the barrel 50 from the material supply section 20 through the material inlet 44 shown in FIG.

[0018] As shown in Fig. 1, a barrel heater 58 is embedded in the barrel 50 to heat the raw material MR supplied into the groove 42 of the rotating flat screw 40. A communication hole 56 is provided in the center of the barrel 50. As shown in Fig. 3, a plurality of guide grooves 54 are formed in the top surface 52 of the barrel 50, connected to the communication hole 56 and extending spirally from the communication hole 56 toward the outer periphery. Note that one end of the guide groove 54 does not have to be connected to the communication hole 56. Furthermore, the guide groove 54 may be omitted.

[0019] The raw material MR supplied into the groove 42 of the flat screw 40 is plasticized in the groove 42, flows along the groove 42 due to the rotation of the flat screw 40, and is guided to the central portion 46 of the flat screw 40 as a modeling material. The pasty modeling material that has flowed into the central portion 46 and exhibits fluidity is supplied to the discharge portion 60 through a communication hole 56 provided in the center of the barrel 50. Note that it is not necessary for all types of substances constituting the modeling material to be plasticized. It is sufficient for the modeling material to be converted into a fluid state as a whole by plasticizing at least some of the types of substances constituting the modeling material.

[0020] The discharge unit 60 in FIG. 1 includes a nozzle 61 that discharges the modeling material, a flow path 65 for the modeling material provided between the flat screw 40 and the discharge port 62, and a discharge control unit 77 that controls the discharge of the modeling material.

[0021] The nozzle 61 is connected to the communication hole 56 of the barrel 50 through a flow path 65. The nozzle 61 discharges the modeling material produced in the plasticizing section 30 from a discharge port 62 at the tip thereof toward the stage 210.

[0022] The discharge control unit 77 includes a discharge adjustment unit 70 that opens and closes the flow path 65, and a suction unit 75 that sucks in the modeling material and temporarily stores it.

[0023] The discharge adjustment unit 70 is provided in the flow path 65 and changes the opening degree of the flow path 65 by rotating within the flow path 65. In this embodiment, the discharge adjustment unit 70 is configured by a valve. The discharge adjustment unit 70 is driven by a first drive unit 74 under the control of the control unit 300. The first drive unit 74 is configured by, for example, a servo motor. The control unit 300 can adjust the flow rate of the modeling material flowing from the plasticizing unit 30 to the nozzle 61, i.e., the discharge amount of the modeling material discharged from the nozzle 61, by using the first drive unit 74 to control the rotation angle of the valve. The discharge adjustment unit 70 can adjust the discharge amount of the modeling material and can also control the on / off of the outflow of the modeling material.

[0024] The suction unit 75 is connected between the discharge adjustment unit 70 and the discharge port 62 in the flow path 65. When the discharge of the modeling material from the nozzle 61 stops, the suction unit 75 temporarily sucks the modeling material in the flow path 65, thereby suppressing the tailing phenomenon in which the modeling material hangs like a string from the discharge port 62. In this embodiment, the suction unit 75 is configured with a plunger. The suction unit 75 is driven by a second drive unit 76 under the control of the control unit 300. The second drive unit 76 is configured with, for example, a servo motor or a rack-and-pinion mechanism that converts the rotational force of the servo motor into translational motion of the plunger.

[0025] The stage 210 is disposed at a position facing the discharge port 62 of the nozzle 61. The modeling surface 211 of the stage 210 facing the discharge port 62 of the nozzle 61 is disposed so as to be parallel to the X and Y directions, i.e., the horizontal direction. The stage 210 may be provided with a stage heater to prevent the modeling material discharged onto the stage 210 from cooling rapidly.

[0026] The movement mechanism 230 changes the relative position between the stage 210 and the nozzle 61 under the control of the control unit 300. In this embodiment, the position of the nozzle 61 is fixed, and the movement mechanism 230 moves the stage 210. The movement mechanism 230 is configured by a three-axis positioner that moves the stage 210 in three axial directions, that is, the X, Y, and Z directions, using the driving forces of three servo motors. In this specification, unless otherwise specified, movement of the nozzle 61 means moving the nozzle 61 and the discharge unit 60 relative to the stage 210.

[0027] In other embodiments, instead of a configuration in which the moving mechanism 230 moves the stage 210, a configuration in which the moving mechanism 230 moves the nozzle 61 relative to the stage 210 while the position of the stage 210 is fixed may be employed. Alternatively, a configuration in which the moving mechanism 230 moves the stage 210 in the Z direction and moves the nozzle 61 in the X and Y directions, or a configuration in which the moving mechanism 230 moves the stage 210 in the X and Y directions and moves the nozzle 61 in the Z direction may be employed. Even with these configurations, the relative positional relationship between the nozzle 61 and the stage 210 can be changed.

[0028] The control unit 300 is configured by a computer including one or more processors 310, a storage unit 320 including a main storage unit and an auxiliary storage unit, and an input / output interface for inputting and outputting signals to and from the outside. The processor 310 executes the motion control program PG stored in the storage unit 320 to control the modeling unit 110 and the movement mechanism 230 in accordance with the modeling data recorded in the modeling file MF stored in the storage unit 320, thereby forming a three-dimensional object on the stage 210. The modeling file MF is obtained, for example, from another computer connected to the control unit 300 via a communication line or from a recording medium and stored in the storage unit 320. Note that the control unit 300 may be implemented by a combination of circuits instead of being implemented by a computer. In other words, the functions implemented by the program in this embodiment may be implemented by circuits.

[0029] 4 is an explanatory diagram schematically illustrating the basic operation of the three-dimensional modeling apparatus 100. As described above, in the three-dimensional modeling apparatus 100, the raw material MR in a solid state is plasticized to produce the modeling material MM. The control unit 300 discharges the modeling material MM from the nozzle 61 while changing the position of the nozzle 61 relative to the stage 210 in a direction along the modeling surface 211 of the stage 210, while maintaining the distance between the nozzle 61 and the modeling surface 211 of the stage 210. The modeling material MM discharged from the nozzle 61 is continuously deposited in the direction of movement of the nozzle 61.

[0030] The control unit 300 repeatedly moves the nozzle 61 along the modeling path recorded in the modeling data to form the modeling layers ML. After forming one modeling layer ML, the control unit 300 moves the position of the nozzle 61 relative to the stage 210 in the +Z direction, which is the stacking direction of the modeling layers ML. Then, a three-dimensional model MD is formed by stacking additional modeling layers ML on the modeling layers ML that have been formed so far. Hereinafter, the three-dimensional model MD will also be simply referred to as the model.

[0031] The control unit 300 may move the nozzle 61 in the +Z direction when the formation of one modeling layer ML is completed, or may temporarily suspend the discharge of the modeling material from the nozzle 61 when there are multiple independent modeling regions within one modeling layer ML. In this case, the discharge adjustment unit 70 closes the flow path 65 to stop the discharge of the modeling material MM from the discharge port 62, and the suction unit 75 temporarily sucks the modeling material from the nozzle 61. After changing the position of the nozzle 61, the control unit 300 opens the flow path 65 with the discharge adjustment unit 70 while discharging the modeling material from the suction unit 75, thereby restarting the deposition of the modeling material MM from the new position of the nozzle 61.

[0032] 5 is an explanatory diagram showing the program structure of the motion control program PG. The motion control program PG includes a first intermediate converter CV1, a second intermediate converter CV2, a first motion unit MU1, a second motion unit MU2, a head control program HP, and a device control program DP.

[0033] The first intermediate converter CV1 accesses the modeling file MF in the memory unit 320 and reads modeling data from the modeling file MF. The modeling data includes movement commands for moving the nozzle 61 along a modeling path, head control commands for controlling the drive motor 32, first drive unit 74, and second drive unit 76 included in the modeling unit 110, and device control commands for controlling the input / output of the three-dimensional modeling device 100. The first intermediate converter CV1 reads each command as modeling data one by one from the modeling file MF and stores it in the modeling data storage unit DB secured in the memory unit 320.

[0034] The modeling data storage unit DB has an area capable of storing, for example, 2000 lines of modeling data. When the first intermediate converter CV1 reads the modeling data on the 2001st line from the modeling file MF, the modeling data on the 2001st line is overwritten on the modeling data on the 1st line. In other words, the modeling data storage unit DB functions as a ring buffer.

[0035] The second intermediate converter CV2 reads out the modeling data stored in the modeling data storage unit DB, sorts the read modeling data according to the type of command represented by the modeling data, and transfers the sorted modeling data to the first motion unit MU1 or the second motion unit MU2. In this embodiment, the reading of the modeling data from the modeling data storage unit DB by the second intermediate converter CV2 and the reading of the modeling data into the modeling data storage unit DB by the first intermediate converter CV1 are performed asynchronously.

[0036] The second intermediate converter CV2 transfers the movement commands read from the modeling data storage unit DB to the first motion unit MU1. The first motion unit MU1 stores the transferred movement commands in the movement command buffer BF1. The movement command buffer BF1 has an area that can store, for example, five movement commands. The movement command buffer BF1 is configured as a ring buffer, and when a sixth movement command is transferred, the first area is overwritten. The first motion unit MU1 reads the movement commands sequentially from the movement command buffer BF1 and controls the first servo driver SD1 for driving the servo motor provided in the movement mechanism 230 according to the read movement commands, thereby operating the movement mechanism 230.

[0037] The second intermediate converter CV2 stores commands other than movement commands read from the modeling data storage unit DB in the additional information buffer BF2. The head control program HP reads head control commands from the additional information buffer BF2 and transfers them to the second motion unit MU2. The second motion unit MU2 controls the second servo driver SD2 in accordance with the transferred head control commands to operate the drive motor 32, first drive unit 74, and second drive unit 76 included in the modeling unit 110.

[0038] The device control program DP reads out device control commands from the additional information buffer BF2 and controls the various device elements DE of the 3D modeling device 100 via the input / output interface of the control unit 300.

[0039] FIG. 6 is a flowchart of a modeling data reading process that the control unit 300 executes in accordance with the motion control program PG. In step S100, the control unit 300 executes an initial reading process. In this initial reading process, the first intermediate converter CV1 reads 2,000 lines of modeling data from the modeling file MF and stores the data in the modeling data storage unit DB. To print one three-dimensional object MD, the modeling file MF contains, for example, 10,000 to 100,000 lines of modeling data. Of these, the modeling data for printing one modeling layer ML often contains 2,000 lines or less. Therefore, in many cases, in the initial reading process, modeling data for printing one or more modeling layers ML is read and stored in the modeling data storage unit DB.

[0040] In step S110, the control unit 300 starts a modeling process for modeling a three-dimensional object MD. In the modeling process, the second intermediate converter CV2 sequentially transfers commands from the modeling data storage unit DB to the movement command buffer BF1 or the additional information buffer BF2. Based on the transferred commands, the first motion unit MU1 and the second motion unit MU2 control the modeling unit 110 and the movement mechanism 230 via the first servo driver SD1 and the second servo driver SD2, thereby modeling the three-dimensional object MD for each modeling layer ML. This modeling process includes a step of plasticizing a material using the plasticizing unit 30 to generate the modeling material MM, and a step of discharging the modeling material MM from the nozzle 61 toward the stage 210 while changing the relative position of the nozzle 61 and the stage.

[0041] In step S120, the first intermediate converter CV1 starts a pre-reading process in which it sequentially reads the modeling data subsequent to the modeling data read in step S100. Pre-reading refers to reading modeling data into the modeling data storage unit DB before controlling each unit according to the modeling data. The pre-read modeling data sequentially overwrites the oldest modeling data in the modeling data storage unit DB, which is configured as a ring buffer. In step S120, the control unit 300 does not read all modeling data before the three-dimensional object MD is modeled, but instead reads new modeling data into the modeling data storage unit DB during the modeling period in which the three-dimensional object MD is modeled. The modeling period in which the three-dimensional object MD is modeled includes a discharge period in which the modeling material MM is discharged from the nozzle 61 and a stop period in which the discharge of the modeling material MM from the nozzle 61 is stopped. In the pre-reading process, modeling data is read into the modeling data storage unit DB during both the discharge period and the stop period.

[0042] In step S130, the control unit 300 determines whether or not modeling of one layer has been completed. For example, the control unit 300 determines that modeling of one layer has been completed when a head control command to stop the discharge of the modeling material MM from the nozzle 61 and a movement command to move the nozzle 61 in the +Z direction have been executed. The control unit 300 repeatedly executes the process of step S130 until modeling of one layer has been completed. Note that the modeling process started in step S110 and the read-ahead process started in step S120 are executed simultaneously in parallel with the processes from step S130 onwards.

[0043] When it is determined that the modeling of one layer is completed, the control unit 300 determines in step S140 whether the loading of the modeling data into the modeling data storage unit DB is completed. The control unit 300 determines that the loading of the modeling data into the modeling data storage unit DB is completed when modeling data is stored in all rows of the modeling data storage unit DB or when the last modeling data recorded in the modeling file MF is stored in the modeling data storage unit DB. When the loading of the modeling data into the modeling data storage unit DB is not completed, the control unit 300 waits in step S150 until new modeling data is loaded into all rows of the modeling data storage unit DB by the read-ahead process or until the last modeling data is loaded into the modeling data storage unit DB. That is, in step S150, the control unit 300 loads new modeling data into the modeling data storage unit DB during the suspension period from the end of modeling of the nth layer of the 3D object MD to the start of modeling of the (n+1)th layer, which is to be modeled after the nth layer. Note that n is a natural number.

[0044] If it is determined in step S140 that the loading of the modeling data into the modeling data storage unit DB is completed, the control unit 300 determines in step S160 whether the last modeling data has been loaded into the modeling data storage unit DB. If the last modeling data has not been loaded, the control unit 300 returns the process to step S130. By returning the process to step S130, the process of step S130 is repeatedly executed until the modeling of the next layer is completed. If it is determined that the last modeling data has been loaded into the modeling data storage unit DB, the control unit 300 ends the modeling data loading process. Note that even after the modeling data loading process is completed, the modeling process started in step S110 continues as long as modeling data remains in the modeling data storage unit DB.

[0045] According to the 3D printing apparatus 100 of the first embodiment described above, the control unit 300 does not load all of the printing data necessary to print one 3D object MD before starting printing of the 3D object MD, but loads new printing data while printing the 3D object MD during the printing period in which the 3D object MD is being printed. This allows printing of the 3D object MD to start quickly.

[0046] Furthermore, in this embodiment, during a stop period during the modeling period when the modeling material is stopped from the nozzle 61, such as the stop period from the end of modeling of the first layer of the three-dimensional object MD to the start of modeling of the second layer that is modeled after the first layer, the control unit 300 loads new modeling data into the modeling data storage unit DB. Therefore, in order to load new modeling data, it is not necessary to stop the discharge of the modeling material from the nozzle 61 and interrupt modeling during the modeling period. As a result, it is possible to prevent a decrease in the modeling speed due to the loading of new modeling data.

[0047] Furthermore, in this embodiment, if the modeling data storage unit DB is filled with modeling data during the stop period of the nozzle 61, the control unit 300 does not read new modeling data, but reads new modeling data if the modeling data storage unit DB is not filled. This minimizes the waiting time for reading new modeling data, allowing for rapid start of modeling of the next layer.

[0048] In this embodiment, the modeling data storage unit DB and the movement command buffer BF1 are each configured as ring buffers. Therefore, regardless of the size of the modeling file MF, a three-dimensional model MD can be modeled with a small storage area.

[0049] In the first embodiment, the control unit 300 reads new modeling data when the modeling data storage unit DB is not full when modeling of one layer is completed. On the other hand, the control unit 300 may read new modeling data when the modeling data storage unit DB is not full when modeling of any number of layers, such as two or three layers, is completed.

[0050] B. Second embodiment: 7 is a flowchart of the modeling data reading process executed by the control unit 300 in the second embodiment. The configuration of the 3D modeling apparatus 100 in the second embodiment is the same as that in the first embodiment. In the flowchart of FIG. 7, the same process contents as those in the modeling data reading process of the first embodiment shown in FIG. 6 are assigned the same step numbers.

[0051] In step S100, as in the first embodiment, the first intermediate converter CV1 executes an initial read process to read 2000 lines of modeling data and store it in the modeling data storage unit DB. In step S110, the control unit 300 starts a modeling process to model a three-dimensional object MD. In step S120, the first intermediate converter CV1 starts a pre-read process to sequentially read modeling data following the modeling data read in step S100.

[0052] In step S130b, the control unit 300 determines whether or not the nozzle 61 currently forming the three-dimensional object MD is located at a corner CN of the three-dimensional object MD.

[0053] FIG. 8 is a diagram schematically illustrating a portion of a three-dimensional object MD. The three-dimensional object MD is formed based on multiple printing paths. The three-dimensional object MD shown in FIG. 8 includes a first printing path MP1 and a second printing path MP2. The second printing path MP2 is tangent to the first printing path MP1. The first printing path MP1 and the second printing path MP2 are each linear paths. The first printing path MP1 and the second printing path MP2 are tangent to each other at an angle. The fact that the first printing path MP1 and the second printing path MP2 are tangent to each other at an angle means that the first printing path MP1 and the second printing path MP2, which are connected to each other, are not located on a straight line. In FIG. 8, the first printing path MP1 and the second printing path MP2 are tangent to each other at a 90-degree angle. In step S130b, the control unit 300 determines that the nozzle 61 is located at a corner CN when the nozzle 61 is located at a position corresponding to the tangent point of the first and second modeling paths MP1 and MP2, which are in contact with each other at an angle. In this embodiment, when the nozzle 61 is located at the corner CN, the control unit 300 reduces the movement speed of the nozzle 61 at the corner CN and then stops the movement of the nozzle 61 for a certain period of time.

[0054] When it is determined that the nozzle 61 is located at the corner CN, the control unit 300 determines in step S140 whether the loading of the shaping data into the shaping data storage unit DB is completed. The control unit 300 determines that the loading of the shaping data into the shaping data storage unit DB is completed when shaping data is stored in all rows of the shaping data storage unit DB or when the last shaping data recorded in the shaping file MF is stored in the shaping data storage unit DB. When the loading of the shaping data into the shaping data storage unit DB is not completed, the control unit 300 waits in step S150 until the shaping data is loaded into all rows of the shaping data storage unit DB by the pre-reading process or until the last shaping data is loaded into the shaping data storage unit DB. That is, in step S150, the control unit 300 loads new shaping data into the shaping data storage unit DB during the period when the nozzle 61 is located at the position corresponding to the intersection of the first shaping path MP1 and the second shaping path MP2.

[0055] If it is determined in step S140 that the loading of the shaping data into the shaping data storage unit DB is completed, the control unit 300 determines in step S160 whether the last shaping data has been loaded into the shaping data storage unit DB. If the last shaping data has not been loaded, the control unit 300 returns the process to step S130b. If it is determined that the last shaping data has been loaded into the shaping data storage unit DB, the control unit 300 ends the shaping data loading process.

[0056] According to the second embodiment described above, the control unit 300 reads new printing data into the printing data storage unit DB during a period when the nozzle 61 is located at a position corresponding to the junction between the first printing path MP1 and the second printing path MP2. As a result, the printing data can be read during a period when the movement speed of the nozzle 61 decreases during the printing period, thereby suppressing a decrease in the printing speed associated with the reading of new printing data. In particular, in this embodiment, the movement of the nozzle 61 is stopped at the junction between the first printing path MP1 and the second printing path MP2. Therefore, it is not necessary to stop the movement of the nozzle 61 and interrupt printing during the printing period in order to read new printing data. As a result, it is possible to suppress a decrease in the printing speed associated with the reading of new printing data.

[0057] In the second embodiment, when the nozzle 61 is positioned at a corner CN where the connection angle between the first modeling path MP1 and the second modeling path MP2 is equal to or greater than a predetermined angle, the control unit 300 may stop the movement of the nozzle 61 and read new modeling data. This reduces the number of times the movement of the nozzle 61 is stopped, thereby preventing a decrease in the modeling speed.

[0058] In the second embodiment, the control unit 300 stops the movement of the nozzle 61 at a corner CN of the three-dimensional object MD. Alternatively, the control unit 300 may simply slow down the movement speed of the nozzle 61 at the corner CN without stopping the movement of the nozzle 61. In this case, the control unit 300 reads new modeling data while the movement speed of the nozzle 61 is slowing down. Even in this case, the modeling data can be read during the period when the movement speed of the nozzle 61 is slowing down during the modeling period, thereby preventing a decrease in the modeling speed due to the reading of new modeling data. When reading new modeling data while the movement speed is slowing down, the control unit 300 omits the processes of steps S140 and S150 shown in FIG. 7 and reads as much modeling data as possible from the modeling file MF and stores it in the modeling data storage unit DB during the period when the modeling speed is slowing down.

[0059] In the second embodiment, the control unit 300 reads new modeling data when the nozzle 61 is positioned at a junction between modeling paths. The timing for reading new modeling data is not limited to this. For example, in a case where each layer of the three-dimensional object MD is composed of an outer region and an infill region, modeling data may be read after modeling of the outer region is completed and before modeling of the infill region is started. In addition, in a case where the three-dimensional object MD has a main body portion and a support structure, modeling data may be read when the modeling location is changed from the main body portion to the support structure, or when the support structure is changed to the main body portion. In addition, new modeling data may be read when the modeling mode is changed during the modeling period, such as when the type of modeling material MM is changed or when the line width of the modeling path is changed.

[0060] C. Other Embodiments: (C1) In the above embodiment, the shaping data holding unit DB is configured as a ring buffer. However, the shaping data holding unit DB may be configured as a normal buffer.

[0061] (C2) In the above embodiment, the control unit 300 reads the shaping data from the shaping file MF so that the shaping data storage unit DB is filled with the shaping data in the initial reading process of step S100 shown in Figures 6 and 7. In contrast, the control unit 300 may omit the execution of the initial reading process and start the shaping process while reading the shaping data into the shaping data storage unit DB by the read-ahead process.

[0062] (C3) In the above embodiment, the control unit 300 reads new modeling data from the modeling file MF into the modeling data storage unit DB during both the discharge period and the stop period during the modeling period. In contrast, the control unit 300 may not read modeling data during the discharge period during the modeling period, but may read new modeling data only during a stop period from the end of modeling of the first layer of the three-dimensional object MD to the start of modeling of the second layer, or during a stop period when the movement of the nozzle 61 is stopped at a corner CN of the three-dimensional object MD.

[0063] (C4) In the above embodiment, the molding unit 110 plasticizes the material using the flat screw 40. However, the molding unit 110 may also plasticize the material by, for example, rotating an in-line screw. Alternatively, the molding unit 110 may also plasticize the filament-shaped material using a heater.

[0064] D. Other forms: The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features of the embodiments corresponding to the technical features in each aspect described below can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0065] (1) According to a first aspect of the present disclosure, there is provided a three-dimensional printing apparatus including: a plasticizing unit that plasticizes a material to generate a printing material; a nozzle that is in communication with the plasticizing unit and has a discharge port that discharges the printing material toward a stage; a movement mechanism that changes the relative position of the nozzle and the stage; a printing data storage unit that stores printing data for printing a three-dimensional object; and a control unit that controls the dispensing of the printing material from the nozzle and the movement mechanism in accordance with the printing data read from the printing data storage unit to print the three-dimensional object, wherein the control unit reads new printing data into the printing data storage unit during a printing period in which the three-dimensional object is printed. According to this aspect, instead of loading all of the modeling data prior to the modeling period in which the three-dimensional object is to be modeled, new modeling data is loaded into the modeling data storage unit during the modeling period in which the three-dimensional object is to be modeled, so that modeling of the three-dimensional object can be started promptly.

[0066] (2) In the above-described embodiment, the modeling period may include a discharge period during which the modeling material is discharged from the nozzle and a stop period during which the discharge of the modeling material from the nozzle is stopped, and the control unit may load new modeling data into the modeling data storage unit during the stop period. With this embodiment, it is possible to prevent a decrease in modeling speed due to the loading of new modeling data.

[0067] (3) In the above embodiment, the control unit may, during the stop period, not read the new shaping data if the shaping data storage unit is filled with the shaping data, and may read the new shaping data if the shaping data storage unit is not filled with the shaping data. With this embodiment, the waiting time for reading new shaping data can be minimized.

[0068] (4) In the above-described embodiment, the control unit may load new modeling data into the modeling data storage unit during the stop period from when modeling of a first layer of the three-dimensional object is completed to when modeling of a second layer, which is to be modeled after the first layer, is started. With this embodiment, it is possible to prevent a decrease in modeling speed due to the loading of new modeling data.

[0069] (5) In the above-described embodiment, the three-dimensional object may be formed based on a plurality of modeling paths, including a first modeling path and a second modeling path tangent to the first modeling path, and the control unit may load new modeling data into the modeling data storage unit during a period in which the nozzle is positioned at a point corresponding to the tangent point between the first modeling path and the second modeling path. In this embodiment, the modeling data can be loaded during a period in which the nozzle movement speed decreases during the modeling period. Therefore, a decrease in the modeling speed due to the loading of new modeling data can be suppressed.

[0070] (6) In the above-described embodiment, the first modeling path and the second modeling path may be in contact with each other at an angle. In this embodiment, the modeling data can be read during a period in which the nozzle movement speed decreases during the modeling period. Therefore, it is possible to prevent a decrease in modeling speed due to the reading of new modeling data.

[0071] The present disclosure is not limited to the above-described three-dimensional printing apparatus, but can be realized in various forms, such as a method for manufacturing a three-dimensional object, a computer program, and a non-transitory tangible recording medium on which a computer program is recorded in a computer-readable manner. [Explanation of symbols]

[0072] 20...material supply section, 22...communicating passage, 30...plasticizing section, 31...screw case, 32...drive motor, 40...flat screw, 42...groove section, 43...ridge section, 44...material inlet, 46...center section, 47...upper surface, 48...lower surface, 50...barrel, 52...upper surface, 54...guide groove, 56...communicating hole, 58...barrel heater, 60...discharge section, 61...nozzle, 62...discharge outlet, 65...flow path, 70...discharge adjustment section, 74...first drive section, 75...suction section, 76...second drive section, 77...discharge control section, 100...three-dimensional modeling apparatus, 110...modeling section, 210...stage, 211...modeling surface, 230...movement mechanism, 300...control section, 310...plate processor, 320...storage unit, BF1...movement command buffer, BF2...additional information buffer, CV1...first intermediate converter, CV2...second intermediate converter, DB...printing data storage unit, DE...device element, DP...device control program, HP...head control program, MF...printing file, ML...printing layer, MM...printing material, MP1...first printing path, MP2...second printing path, MR...raw material, MU1...first motion unit, MU2...second motion unit, MD...three-dimensional printed object, PG...motion control program, RX...rotation axis, SD1...first servo driver, SD2...second servo driver

Claims

1. a plasticizing unit that plasticizes the material to generate a modeling material; a nozzle communicating with the plasticizing unit and having a discharge port for discharging the modeling material toward a stage; a moving mechanism for changing the relative position between the nozzle and the stage; a modeling data storage unit that stores modeling data for forming a three-dimensional object; a control unit that controls the ejection of the modeling material from the nozzle and the movement mechanism in accordance with the modeling data read out from the modeling data storage unit to model the three-dimensional model; Equipped with the control unit reads new modeling data into the modeling data storage unit during a modeling period in which the three-dimensional object is modeled. A three-dimensional modeling apparatus characterized by:

2. The three-dimensional modeling apparatus according to claim 1, the modeling period includes a discharge period during which the modeling material is discharged from the nozzle and a stop period during which the discharge of the modeling material from the nozzle is stopped, the control unit reads new modeling data into the modeling data storage unit during the stop period. A three-dimensional modeling apparatus characterized by:

3. The three-dimensional modeling apparatus according to claim 2, the control unit does not read the new shaping data when the shaping data storage unit is filled with the shaping data during the stop period, and reads the new shaping data when the shaping data storage unit is not filled with the shaping data. A three-dimensional modeling apparatus characterized by:

4. The three-dimensional modeling apparatus according to claim 2, the control unit reads new modeling data into the modeling data storage unit during the stop period from when modeling of a first layer of the three-dimensional object is completed to when modeling of a second layer that is to be modeled after the first layer is started. A three-dimensional modeling apparatus characterized by:

5. The three-dimensional modeling apparatus according to claim 1, the three-dimensional object is formed based on a plurality of modeling paths including a first modeling path and a second modeling path tangent to the first modeling path; the control unit reads new modeling data into the modeling data holding unit during a period in which the nozzle is located at a position corresponding to a tangent point between the first modeling path and the second modeling path. A three-dimensional modeling apparatus characterized by:

6. The three-dimensional modeling apparatus according to claim 5, The first shaping path and the second shaping path are in contact with each other at an angle. A three-dimensional modeling apparatus characterized by:

7. a step of plasticizing the material by a plasticizing unit to generate a modeling material; a step in which a control unit discharges the modeling material from the nozzle toward the stage while changing a relative position between the nozzle and the stage, in accordance with modeling data read from a modeling data storage unit that stores modeling data for modeling a three-dimensional object; a step in which the control unit reads new modeling data into the modeling data storage unit; Equipped with During a modeling period in which the three-dimensional object is modeled, the new modeling data is read into the modeling data storage unit. A method for manufacturing a three-dimensional object, comprising:

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