Construction methods

Abstract

This method provides a 3D printing method for forming structures that can improve the uneven surface shape of the sides of structures, even when forming structures with complex shapes. [Solution] The method comprises a lamination step in which a lamination material 15 is laminated in the lamination direction Z by an extrusion device 10 equipped with an extrusion nozzle 11 that performs a first relative movement relative to the structure 50 by a first moving means 18, and a correction step in which droplets of correction material 25 are sprayed toward a recess C4 formed on the side surface 55 of the structure 50 in the lamination step by an injection device 20 equipped with injection nozzles 21a to 21g that perform a second relative movement relative to the extrusion nozzle 11 by a second moving means 78, and the structure 50 is formed by repeating the lamination step and the correction step multiple times.

Description

Technical Field

[0001] The present invention relates to a method for forming a structure.

Background Art

[0002] In recent years, the applications of 3D printers have been rapidly expanding, and their deployment in construction applications utilizing the material extrusion method has drawn attention. The material extrusion method has advantages such as enabling the shaping of large structures, but conventionally, there has been a problem that uneven shapes are formed on the sides of structures. In contrast, for example, Patent Document 1 proposes a method for forming a structure to improve such uneven shapes.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above-described method for forming a structure may be difficult to apply to structures with complex shapes. An object of the present invention is to provide a method for forming a structure using a 3D printer that can improve the uneven shape on the side surface of the structure even when forming a structure with a complex shape.

Means for Solving the Problems

[0005] The present invention is a method for forming a structure, comprising: a lamination step of forming a structure by laminating lamination material in the lamination direction using an extrusion apparatus equipped with an extrusion nozzle that performs a first relative movement relative to the structure by a first moving means; and a modification step of spraying droplets of modification material toward a recess formed on the side surface of the structure in the lamination step using a spraying apparatus equipped with a spraying nozzle that performs a second relative movement relative to the extrusion nozzle by a second moving means, wherein the lamination step and the modification step are repeated multiple times. [Effects of the Invention]

[0006] According to an aspect of the present invention, a method for forming structures using a 3D printer is provided that allows for improvement of the uneven shape of the sides of structures, even when forming structures with complex shapes. [Brief explanation of the drawing]

[0007] [Figure 1] This is a perspective view showing the structure formation method of the first embodiment. [Figure 2] This is a top view showing a method for forming a structure according to the first embodiment. [Figure 3] This is a front view showing the structure formation method of the first embodiment. [Figure 4] This is a side view showing the structure formation method of the first embodiment. [Figure 5] This is a side view of a structure formed by the structure formation method of the first embodiment. [Figure 6] This is a top view showing the state of formation of a complex-shaped structure using the structure formation method of the first embodiment. [Figure 7] This is a block diagram showing the control method in the control device of the first embodiment. [Figure 8] This is a perspective view showing the method for forming a structure according to the second embodiment. [Figure 9] This is a top view showing the state of formation of a complex-shaped structure using the structure formation method of the second embodiment. [Modes for carrying out the invention]

[0008] [First Embodiment] The method for forming a structure according to the first embodiment of the present invention will be described below with reference to Figures 1 to 7.

[0009] Figure 1 is a perspective view showing a method for forming a structure.

[0010] As shown in Figure 1, the structure 50 comprises layers L1, L2, and L3. The extrusion nozzle 11 of the extrusion device 10 can perform a first relative movement relative to the structure 50 by means of a first moving means 18. The extrusion device 10 is a device that constitutes a material extrusion type 3D printer, and the first moving means 18 may be a robotic arm type or a gantry type device. The first moving means 18 is controlled by a control device 16.

[0011] The extrusion nozzle 11 performs the first relative movement described above along the trajectory T (showing the position corresponding to the center of the extrusion nozzle 11 on the upper surface of layer L3) at a position spaced apart from layer L3 in direction Z, and continuously extrudes the lamination material 15 onto layer L3. The lamination material 15 extruded onto layer L3 becomes one with layer L3 to form layer L4, which becomes part of the structure 50. Figure 1 shows an example where the trajectory T is a straight line along direction X. Layers L1, L2, and L3 are stacked sequentially along the stacking direction Z, following a process similar to that for layer L4. The number of such layers is not limited to four (layers L1 to L4), but can be any number of layers.

[0012] The lamination material 15 is a material such as mortar, concrete, or geopolymer, which is fluid when extruded from the extrusion nozzle 11 but hardens over time after extrusion.

[0013] The above process corresponds to the lamination process.

[0014] FIG. 2 is a top view showing a structure forming method (a partial cross-sectional view along the interface between layer L3 and layer L4), and is an example when the locus T is linear along the direction X.

[0015] As shown in FIGS. 1 and 2, the injection device 20 includes a total of seven injection nozzles 21a, 21b, 21c, 21d, 21e, 21f, and 21g. The number of the injection nozzles is not limited to seven of the injection nozzles 21a to 21g, and may be one or a plurality other than seven.

[0016] The injection nozzles 21a to 21g are connected to the extrusion nozzle 11 by a connecting member 70. Thereby, when the extrusion nozzle 11 moves along the locus T, the injection nozzles 21a to 21g can move in parallel with the locus T.

[0017] The connecting member 70 includes an injection nozzle side connecting member 72, an extrusion nozzle side connecting member 73, and a second moving means 78. The second moving means 78 can rotate and move in the rotation direction U with the direction Z as the rotation axis direction. Thereby, the injection nozzle side connecting member 72 can perform a second relative movement with respect to the extrusion nozzle side connecting member 73, and the injection nozzles 21a to 21g can perform a second relative movement with respect to the extrusion nozzle 11. The second moving means 78 is controlled by the control device 16 and may include a motor or the like.

[0018] FIG. 3 is a front view showing a structure forming method, and is an example when the locus T is linear along the direction X.

[0019] As shown in FIG. 3, the injection nozzles 21a to 21g are linearly arranged along a direction R which is a direction inclined with respect to the direction Z.

[0020] The ejection device 20 is a component of a material ejection type 3D printer. A valve-type inkjet head capable of ejecting relatively high-viscosity liquids (a system that constantly pressurizes the liquid and opens and closes the nozzle as needed using an electromagnetic valve or piezoelectric element to eject droplets) is suitable, but a piezo-type inkjet head (a system that pressurizes the liquid as needed using a piezoelectric element and ejects droplets from a constantly open nozzle) may also be used.

[0021] Figure 4 is a side view showing the method of forming the structure.

[0022] As shown in Figure 4, in the lamination process described above, the extrusion nozzle 11 continuously discharges the lamination material 15 onto layer L3, and when the lamination material 15 becomes layer L4, a striated recess C4 is formed on the side surface 55 of the structure 50 at the boundary between layer L3 and layer L4. This corresponds to the uneven shape of the side surface 55 of the structure 50.

[0023] As shown in Figures 1 to 4, in order to improve the recess C4, droplets of the correction material 25 are sprayed from the required spray nozzles 21a to 21g toward the recess C4, causing the droplets to land in the recess C4.

[0024] The repair material 25 is a material such as cement mortar or polymer cement mortar, which is liquid when sprayed from the spray nozzles 21a to 21g, but hardens over time after spraying.

[0025] As shown in Figures 3 and 4, as an example, we will describe the case where the impact points of the droplets ejected from the injection nozzles 21b, 21c, 21d, 21e, and 21f correspond to the recess C4, the impact point of the droplet ejected from injection nozzle 21a is located in the opposite direction of direction Z from the position of recess C4, and the impact point of the droplet ejected from injection nozzle 21g is located in the direction of direction Z from the position of recess C4.

[0026] As shown in Figures 1 to 4, in the above case, droplets 25b, 25c, 25d, 25e, and 25f are ejected from the injection nozzles 21b, 21c, 21d, 21e, and 21f, respectively, and droplets do not need to be ejected from the injection nozzles 21a and 21g. Figures 1 and 3 show droplets 25b to 25f that landed within a unit time as dashed lines.

[0027] Since the injection nozzles 21a to 21g spray droplets 25b to 25f while moving parallel to the trajectory T (along the direction X), each of the droplets 25b to 25f that land on the recess C4 is arranged parallel to the trajectory T (along the direction X). Also, since the injection nozzles 21a to 21g are in different positions in direction Z, the droplets 25b to 25f are arranged in positions offset from direction Z. As a result, at least a portion of the recess C4 is efficiently covered by the droplets 25b to 25f, and the recess C4 is improved into the modified portion D4.

[0028] Modified parts D2 and D3 are improved from recesses C2 (Figure 4) and C3 (Figure 4), respectively, through the same process as modified part D4 described above. The number of such modified parts is not limited to three (D2-D4), but may be one or more than three.

[0029] As shown in Figure 4, the depth of the recess C4 corresponding to the landing position of the droplets of the corrective material 25 ejected from each of the injection nozzles 21b to 21f is greatest for the injection nozzle 21d, followed by the injection nozzles 21c and 21e, and then the injection nozzles 21b and 21f.

[0030] In the above case, the volume per unit time of each of the droplets 25b to 25f may be changed depending on the depth of the recess C4 corresponding to the landing position of the droplets of the corrective material 25 sprayed from each of the spray nozzles 21b to 21f. In this case, the greater the depth of the recess C4 corresponding to the droplet's impact point, the larger the volume per unit time of each droplet 25b to 25f may be. For example, the volume per unit time of droplet 25d may be larger than the volume per unit time of droplets 25c and 25e. Also, the volume per unit time of droplets 25c and 25e may be larger than the volume per unit time of droplets 25b and 25f.

[0031] As shown in Figure 3, in the above case, the volume of each droplet 25b to 25f per unit time can be changed by changing the number of droplets 25b to 25f per unit time. For example, the number of droplets 25d per unit time (19) may be greater than the number of droplets 25c and 25e per unit time (9). Also, the number of droplets 25c and 25e per unit time (9) may be greater than the number of droplets 25b and 25f per unit time (2).

[0032] The above steps correspond to the correction process.

[0033] The structure is formed by repeating the above lamination process and the above correction process multiple times in the following order: formation of layer L2 by extrusion nozzle 11 (lamination process), improvement of recess C2 by injection nozzles 21b to 21f (correction process), formation of layer L3 by extrusion nozzle 11 (lamination process), improvement of recess C3 by injection nozzles 21b to 21f (correction process), formation of layer L4 by extrusion nozzle 11 (lamination process), and improvement of recess C4 by injection nozzles 21b to 21f (correction process).

[0034] Figure 5 is a side view showing a structure formed by the structure formation method. Figure 5(a) shows the structure 50 without the above modification step, and Figures 5(b) and 5(c) show the structure 50 when the recesses C2, C3, and C4 on the side surface 55 are modified in the above modification step.

[0035] As shown in Figure 5(a), if the above modification step is not performed, the recesses C2 to C4 formed in the lamination step will remain as they are. As shown in Figure 5(b), in the above modification process, the recesses C2 to C4 may be improved to become flat modified sections D2 to D4, respectively. As shown in Figure 5(c), in the above modification process, recesses C2 to C4 may be improved to modified portions E2 to E4, each with a reduced depth compared to recesses C2 to C4. Modified portions E2 to E4 can be formed in the same process as modified portions D2 to D4, but when forming modified portions E2 to E4, the volume of droplets 25b to 25f per unit time may be reduced compared to when forming modified portions D2 to D4.

[0036] Figure 6 is a top view (partially a cross-sectional view along the interface between layer L3 and layer L4) showing the state of formation of a complex-shaped structure by the structure formation method of the first embodiment, and is an example where the trajectory T is curved.

[0037] In the case shown in Figure 2, where the extrusion nozzle 11 performs a first relative movement along a linear trajectory T and layers L1 to L4 are formed in a linear fashion, the angle between the injection nozzle-side connecting member 72 and the extrusion nozzle-side connecting member 73 is defined as angle U0. As shown in Figure 6, when the extrusion nozzle 11 performs a first relative movement along a curved trajectory T and layers L1 to L4 are formed in a curved shape (in Figure 6, layers L1 to L3 are in the same position as layer L4), the injection nozzle-side connecting member 72 performs a second relative movement, which is rotational movement, with respect to the extrusion nozzle-side connecting member 73 by the second moving means 78, and the angle is angle U1. Angle U1 may be determined such that the distance Ga between the injection nozzle 21a and the side surface 55 along the droplet injection direction, and the distance Gg between the injection nozzle 21g and the side surface 55 along the droplet injection direction, each fall within a desired range.

[0038] Figure 7 is a block diagram showing the control method for the second moving means 78 in the control device 16.

[0039] As shown in Figures 6 and 7, the control device 16 calculates the changes in the distance Ga between the injection nozzle 21a and the side surface 55 along the droplet injection direction, and the distance Gg between the injection nozzle 21g and the side surface 55 along the droplet injection direction, when the rotation angle U is changed with respect to the position of the side surface 55, which is defined from the trajectory T data of the extrusion nozzle 11 that performs the first relative movement and the width W data of the structure 50. Next, the set upper limit GU of the distance between the spray nozzles 21a, 21g and the side surface 55 along the direction of droplet ejection, and the set lower limit GL of the distance between the spray nozzles 21a, 21g and the side surface 55 along the direction of droplet ejection, are compared with the change. GL ≤ Ga ≤ GU, and GL ≤ Gg ≤ GU Calculate the rotation angle U1 that satisfies the given relationship. Then, the second moving means 78 performs a rotational movement, which is a second relative movement, such that the rotation angle becomes rotation angle U1.

[0040] The trajectory T, width W, rotation angle U, distance Ga, distance Gg, upper limit GU, and lower limit GL correspond to the positional relationship data between the injection nozzles 21a to 21g and the side surface 55 for calculating the rotation angle U1.

[0041] The method for calculating the rotation angle U1 is not limited to the method described above; the rotation angle U1 may be calculated using other methods. Some positional relationship data may not be used. The injection nozzles that control the distance from the side surface 55 are not limited to injection nozzles 21a and 21g, but may be other injection nozzles. Furthermore, the injection nozzles that control the distance from the side surface 55 are not limited to two such injection nozzles, but may be one or more injection nozzles other than two. The distance between the spray nozzle and the side surface 55 does not have to be along the direction of droplet ejection; it may be the shortest distance between the spray nozzle and the side surface 55.

[0042] The effects of the structure formation method according to the first embodiment of the present invention will be described below.

[0043] The structure formation method of this embodiment comprises the following steps: a lamination step in which a lamination material 15 is laminated in the lamination direction Z by an extrusion device 10 equipped with an extrusion nozzle 11 that performs a first relative movement relative to the structure 50 by a first moving means 18, and a modification step in which droplets of modification material 25 are sprayed toward a recess C4 formed on the side surface 55 of the structure 50 in the lamination step by an injection device 20 equipped with injection nozzles 21a to 21g that perform a second relative movement relative to the extrusion nozzle 11 by a second moving means 78, and the lamination step and the modification step are repeated multiple times.

[0044] This makes it possible to maintain the distance between the injection nozzles 21a~21g and the side surface 55 within a desired range, thereby avoiding problems such as misalignment of the impact position of droplets 25b~25f that occur when the distance between the injection nozzles 21a~21g and the side surface 55 is too large, and problems such as contact between the injection nozzles 21a~21g and the side surface 55 that occur when the distance between the injection nozzles 21a~21g and the side surface 55 is too small. For this reason, even when forming structures with complex shapes, it is possible to improve the recesses C2~C4 of the side surface 55.

[0045] Since the second relative movement described above is determined based on data regarding the positional relationship between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55, the distance between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55 can be maintained more accurately within the desired range. For this reason, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0046] By including the data of the trajectory T of the first relative movement in the above positional relationship data, the distance between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55 can be maintained more accurately within the desired range. Therefore, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0047] By including the data on the width W of the structure 50 in the positional relationship data described above, the distance between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55 can be maintained more accurately within the desired range. Therefore, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0048] The second relative movement is determined such that the distance between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55 falls between the upper limit GU and the lower limit GL. This allows the distance between the injection nozzles 21a to 21g (at least one of the nozzles) and the side surface 55 to be maintained more accurately within the desired range. Therefore, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0049] The above-mentioned injection nozzle is provided with multiple injection nozzles 21a to 21g, and the above-mentioned distance is the distance between each of the multiple injection nozzles 21a and 21g and the side surface 55, so that the distance between the injection nozzles 21a to 21g and the side surface 55 can be maintained more accurately within the desired range. For this reason, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0050] Since the above distance is the distance between the side surface 55 and each of the injection nozzles 21a and 21g located at both ends along the arrangement direction R of the injection nozzles 21a and 21g, the distance between the injection nozzles 21a and 21g and the side surface 55 can be maintained more accurately within the desired range. For this reason, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0051] The second moving means 78 performs rotational movement with direction Z as the axis of rotation, thereby enabling the second relative movement described above with a simple mechanism. For this reason, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 on the side surface 55.

[0052] The second moving means 78 is connected to the injection nozzles 21a to 21g by the injection nozzle-side connecting member 72 and to the extrusion nozzle 11 by the extrusion nozzle-side connecting member 73, thereby enabling the second relative movement described above with a simple mechanism. For this reason, even when forming structures with more complex shapes, it is possible to improve the recesses C2 to C4 on the side surface 55.

[0053] [Second Embodiment] Hereinafter, a method for forming a structure according to a second embodiment of the present invention will be described with reference to Figures 8 and 9. However, components having the same configuration as those in the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted as appropriate.

[0054] Figure 8 is a perspective view illustrating a method for forming a structure, and is an example where the trajectory T is a straight line along direction X.

[0055] As shown in Figure 8, in the X direction, a distance measuring means 80 is provided between the extrusion nozzle 11 of the extrusion device 10 and the injection nozzles 21a to 21g of the injection device 20. The distance measuring means 80 is connected by a distance measuring means-side connecting member 71 to a connecting member 70 which includes an injection nozzle-side connecting member 72, an extrusion nozzle-side connecting member 73, and a second moving means 78. As a result, when the extrusion nozzle 11 moves along the trajectory T, the injection nozzles 21a to 21g and the distance measuring means 80 can move parallel to the trajectory T.

[0056] The distance measuring means 80 is a reflective laser displacement sensor, an ultrasonic sensor, a stereo vision sensor, or the like, capable of measuring the distance between the distance measuring means 80 and the side surface 55.

[0057] Figure 9 is a top view (partially a cross-sectional view along the interface between layer L3 and layer L4) showing the state of formation of a complex-shaped structure by the structure formation method of the second embodiment, and is an example where the trajectory T is curved.

[0058] As shown in Figures 8 and 9, the distance GS between the distance measuring means 80 and the side surface 55 is calculated such that the distance Ga between the injection nozzle 21a and the side surface 55 along the direction of droplet injection, and the distance Gg between the injection nozzle 21g and the side surface 55 along the direction of droplet injection, are within a desired range. Then, the control device 17 controls the rotation angle of the second moving means 78 so that the distance between the distance measuring means 80 and the side surface 55 becomes distance GS, and performs a rotational movement, which is the second relative movement. Since the distance measuring means 80 and the injection nozzles 21a to 21g are connected by the distance measuring means side connecting member 71 and the injection nozzle side connecting member 72, the rotational movement relative to the extrusion nozzle 11 is the same with respect to the same rotation angle.

[0059] The distance measuring means 80 may measure not only the distance between the distance measuring means 80 and the side surface 55, but also the shape of the recess C4 along direction Z. In this case, the distance measuring means 80 measures the depth of the recess C4 at a position in direction Z corresponding to the landing position of the droplets ejected from each of the injection nozzles 21a to 21g. From the result, the control device 17 may determine the volume of droplets ejected per unit time from each of the injection nozzles 21a to 21g and eject droplets 25b to 25f toward the recess C4.

[0060] The effects of the structure formation method according to the second embodiment of the present invention will be described below.

[0061] The positional relationship between the injection nozzles 21a to 21g and the structure 50 is obtained by the distance measuring means 80 connected to the injection nozzles 21a to 21g, so that the distance between the injection nozzles 21a to 21g and the side surface 55 can be accurately maintained within the desired range. For this reason, even when forming structures with complex shapes, it is possible to improve the recesses C2 to C4 of the side surface 55.

[0062] The distance measuring means 80 measures the shape of the recess C4, making it possible to detect abnormalities during the correction process and enabling stable improvement of recesses C2 to C4.

[0063] Based on the results of the shape measurement described above, the shape measuring means 80 can measure the shape of the recesses C4 at predetermined intervals by changing the volume of droplets per unit time sprayed from the spray nozzles 21a to 21g, and adjust the volume of droplets per unit time sprayed from the spray nozzles 21a to 21g according to the results. This makes it possible to improve the recesses C2 to C4 even if the shape of the recesses C4 changes while the layer L4 is being formed during the lamination process.

[0064] [Variation] Next, modified examples of each of the above embodiments will be described.

[0065] In the first embodiment, the structure 50 is fixed, the extrusion nozzle 11 is moved relative to the structure 50 by a first moving means 18, and the injection nozzles 21a to 21g are moved relative to the extrusion nozzle 11 by a second moving means 78. However, the extrusion nozzle 11 may be fixed, the structure 50 is moved relative to the extrusion nozzle 11 by the first moving means 18, and the injection nozzles 21a to 21g are moved relative to the extrusion nozzle 11 by a second moving means 78. In the second embodiment, the structure 50 is fixed, the extrusion nozzle 11 is moved relative to the structure 50 by a first moving means 18, and the injection nozzles 21a to 21g and the distance measuring means 80 are moved relative to the extrusion nozzle 11 by a second moving means 78. However, the extrusion nozzle 11 may be fixed, the structure 50 is moved relative to the extrusion nozzle 11 by the first moving means 18, and the injection nozzles 21a to 21g and the distance measuring means 80 are moved relative to the extrusion nozzle 11 by a second moving means 78.

[0066] In the first and second embodiments, the movement by the second moving means 78 is not limited to rotational movement, but may also be translational movement in a direction perpendicular to direction Z. By having the second moving means 78 perform translational movement in a direction perpendicular to direction Z, the second relative movement described above can be realized with a simple mechanism. For this reason, even when forming structures with complex shapes, it is possible to improve the recesses C2 to C4 on the side surface 55. Furthermore, the movement by the second means of movement 78 may be a combination of rotational movement and translational movement.

[0067] In the first embodiment, the second moving means 78 is connected to the first moving means 18 by a gear train or the like, and the rotation angle U of the second relative movement may change automatically in accordance with the curvature of the trajectory T of the first relative movement without the need for a control device 16.

[0068] In the first and second embodiments, the positions of the injection nozzles 21a to 21g relative to the position of the recess C4 are not limited to the above examples. The selection of whether or not to spray droplets from each of the injection nozzles 21a to 21g, the volume of droplets per unit time, and the number of droplets per unit time are not limited to the above examples.

[0069] In the first embodiment, the volume of droplets ejected per unit time from each of the injection nozzles 21b to 21f may be a constant value. This allows for easy modification of the recess C4.

[0070] In the second embodiment, in the X direction, the distance measuring means 80 may be provided in the opposite direction to the extrusion nozzle 11 of the extrusion device 10, as viewed from the injection nozzles 21a to 21g of the injection device 20.

[0071] The present invention is not limited to the above embodiments and modifications, and various modifications are possible. [Explanation of Symbols]

[0072] 10 Extruder 11 Extrusion nozzle 15 Lamination Materials 16 Control device 18. First means of transportation 20 Injector 21a, 21b, 21c, 21d, 21e, 21f, 21g spray nozzles 25 Correction materials 25b, 25c, 25d, 25e, 25f droplets 50 Structures 55 Side view 70 Connecting member 78. Second means of transportation C2, C3, C4 recesses D2, D3, D4 Correction Section Distance between Ga injection nozzle 21a and side surface 55 along the direction of droplet injection Gg Distance between the spray nozzle 21g and the side 55 along the direction of droplet ejection L1, L2, L3, L4 layers T locus W Structure width 50 Z stacking direction

Claims

1. A lamination process in which lamination materials are stacked in the lamination direction to form the structure by an extrusion apparatus equipped with an extrusion nozzle that performs a first relative movement relative to the structure by a first moving means, A correction step in which droplets of correction material are sprayed toward a recess formed on the side surface of the structure in the lamination step by an injection device equipped with an injection nozzle that performs a second relative movement relative to the extrusion nozzle by a second moving means, Equipped with, A method for forming a structure, which involves repeating the lamination process and the modification process multiple times.

2. The method for forming a structure according to claim 1, wherein the second relative movement is determined based on data relating the positional relationship between the injection nozzle and the side surface.

3. The method for forming a structure according to claim 2, wherein the positional relationship data includes the data of the trajectory of the first relative movement.

4. The method for forming a structure according to claim 3, wherein the positional relationship data further includes data on the width of the structure.

5. The method for forming a structure according to claim 2, wherein the second relative movement is determined such that the distance between the injection nozzle and the side surface is between a predetermined upper limit and lower limit.

6. The method for forming a structure according to claim 5, wherein a plurality of injection nozzles are provided, and the distance is the distance between each of the plurality of injection nozzles and the side surface.

7. The method for forming a structure according to claim 6, wherein the distance is the distance between each of the injection nozzles located at both ends along the arrangement direction of the injection nozzles and the side surface.

8. The method for forming a structure according to claim 2, wherein the positional relationship data is acquired by a distance measuring means connected to the injection nozzle.

9. The method for forming a structure according to claim 8, wherein the distance measuring means is positioned between the extrusion nozzle and the injection nozzle along the direction of the first relative movement.

10. The method for forming a structure according to claim 8, wherein the distance measuring means measures the shape of the recess.

11. A method for forming a structure according to claim 10, wherein the volume of the droplet per unit time is changed based on the results of the shape measurement.

12. The method for forming a structure according to claim 1, wherein the second moving means performs rotational movement with the stacking direction as the axis of rotation.

13. The method for forming a structure according to claim 12, wherein the second moving means is connected to the injection nozzle by an injection nozzle-side connecting member and is connected to the extrusion nozzle by an extrusion nozzle-side connecting member.

14. The method for forming a structure according to claim 1, wherein the second moving means performs translational movement in a direction perpendicular to the stacking direction.

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