Forming system and forming method

Abstract

The present invention provides a forming system and a forming method that can improve strength. [Solution] The control unit moves the nozzle 21 along an extrusion path which includes a base path extending along the X direction and a plurality of protruding paths extending outwards from the base path along the Y direction, and extrudes the molding material Mo together with the wire, thereby stacking layers L from the first layer to the nth layer (n is an integer of 2 or more), thereby forming a wall C1 having a recess C13 extending along the Z direction which intersects the X and Y directions. The control unit moves the nozzle 21 along an extrusion path which includes a reinforcing path R4 extending along the recess C13, and extrudes the molding material Mo together with the wire, thereby forming a column C2 in the recess C13, thereby forming a structure C having a wall C1 and a column C2.

Description

[Technical Field]

[0001] The present disclosure relates to a molding system and a molding method. [Background Art]

[0002] Conventionally, when forming a three-dimensional structure such as a building, a three-dimensional (3D) printer is sometimes used. A 3D printer forms a structure by moving a nozzle and stacking layers formed of a modeling material ejected from the nozzle. For example, Patent Document 1 discloses that a wire rod is embedded in a modeling material by ejecting the modeling material together with the wire rod from a nozzle. The wire rod embedded in the modeling material functions as a reinforcing material for the structure. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2022-184275 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the conventional technology, in each layer of the structure, the wire rods embedded in the modeling material are oriented along the horizontal direction. Therefore, although the structure is reinforced in the horizontal direction, further improvement in strength is expected. [Means for Solving the Problem]

[0005] The forming system according to the present disclosure is a forming system that forms a structure by discharging a shaping material together with a wire from a nozzle while moving the nozzle, the forming system comprises a control unit, the control unit generates a discharge path for forming the structure, and forms a first structure having the first structure and the second structure by discharging the shaping material together with the wire while moving the nozzle along the discharge path which includes a first path extending along a first horizontal direction and a plurality of second paths extending so as to protrude from the first path along a second horizontal direction intersecting the first direction, thereby stacking layers from the first layer to the nth layer (n is an integer of 2 or more), thereby forming a first structure having a recess extending along the first direction and the second direction, and forming a second structure in the recess by discharging the shaping material together with the wire while moving the nozzle along the discharge path which includes a third path extending along the recess, thereby forming a structure having the first structure and the second structure. [Effects of the Invention]

[0006] According to this disclosure, the strength can be improved. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is an explanatory diagram of the structure of the formation system. [Figure 2] Figure 2 is a schematic diagram showing a magnified view of the nozzle of the 3D printer shown in Figure 1. [Figure 3] Figure 3 is a schematic diagram of the nozzle assuming that it is cut along the 3-3 indicator line shown in Figure 2. [Figure 4] Figures 4(a) and 4(b) are schematic diagrams showing the extrusion orientation of the 3D printer shown in Figure 1. [Figure 5] Figure 5 is a perspective view of the structure. [Figure 6] Figure 6 is a schematic diagram of the structure assuming it is cut along the 6-6 indicator line shown in Figure 5. [Figure 7]Figure 7 is an explanatory diagram showing the hardware configuration of the information processing device. [Figure 8] Figure 8 is an explanatory diagram of the processing procedure. [Figure 9] Figure 9 is an explanatory diagram of the structure formation procedure. [Figure 10] Figure 10 is an explanatory diagram of the structure formation procedure. [Figure 11] Figure 11 is an explanatory diagram of the structure formation procedure. [Figure 12] Figure 12 is an explanatory diagram of the structure formation procedure. [Figure 13] Figure 13 is a perspective view of the structure in the modified example. [Figure 14] Figure 14 is a schematic diagram of the structure assuming it is cut along the 14-14 indicator line shown in Figure 13. [Figure 15] Figure 15 is a schematic diagram of the structure in the modified example, assuming it is cut in a horizontal plane. [Figure 16] Figure 16 is a schematic diagram of the structure in the modified example, assuming it is cut in a horizontal plane. [Figure 17] Figure 17 is a schematic diagram of the structure in the modified example, assuming it is cut in a horizontal plane. [Figure 18] Figure 18 is a perspective view of the structure in the modified example. [Modes for carrying out the invention]

[0008] A forming system, forming method, forming program, and reinforced concrete structure relating to one aspect of this disclosure will be described. <Overview of the Formation System> As shown in Figures 1 to 4, the forming system 10 includes a 3D printer 20, a control device 30, and a support server 40.

[0009] As shown in FIGS. 5 and 6, the forming system 10 forms a structure C by discharging the modeling material Mo together with the wire material Wi from a nozzle while moving the nozzle. In the following description, the XYZ directions are directions that intersect (are orthogonal to) each other. As an example, the X direction and the Y direction are directions along the horizontal direction. As an example, the Z direction is a direction along the vertical direction. In each direction, one direction is indicated with a + sign, and the opposite direction is indicated with a - sign.

[0010] The structure C includes a wall body C1 which is an example of a first structural portion, and a plurality of column bodies C2 which are examples of a second structural portion. Further, the wall body C1 and the plurality of column bodies C2 form one unit structural portion Ca. The wall body C1 includes a square plate-shaped base portion C11 along the ZX plane, and a plurality of convex portions C12 that protrude from the base portion C11 in the +Y direction and extend along the Z direction. As an example, the wall body C1 has four convex portions C12. The present invention is not limited thereto, and the wall body C1 may have two, three, or five or more convex portions C12.

[0011] The wall body C1 has a plurality of concave portions C13 each of which is a space sandwiched between two convex portions C12 in the X direction. The present invention is not limited thereto, and when the wall body C1 has two convex portions C12, it may have one concave portion C13. Each concave portion C13 is, for example, in the shape of a trough that is recessed toward -Y and extends along the Z direction. Since the wall body C1 is formed by stacking a plurality of layers L, a groove c is formed at the boundary of each layer L, respectively. That is, the wall body C1 has an uneven surface. One layer L formed of the modeling material Mo means a portion formed by the nozzle moving only once along a certain path while discharging the modeling material Mo.

[0012] The plurality of pillars C2 are each located inside the recess C13, and have a prismatic shape extending along the Z direction. Each pillar C2 has a single-layer structure made of one layer of modeling material Mo extending along the Z direction. The plurality of pillars C2 are each in close contact with the inner wall surface of the recess C13. As described above, the surface of the wall body C1 has a plurality of grooves each extending along the XY plane. On the surface of each pillar C2, a plurality of protrusions (not shown) are formed so as to be fitted into the plurality of grooves respectively. That is, each pillar C2 has a textured surface with irregularities.

[0013] <Example of Hardware Configuration> FIG. 7 is an example of the hardware configuration of an information processing device H10 that functions as the control device 30, the support server 40, and the like.

[0014] The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H15. Note that this hardware configuration is an example, and the device may include other hardware.

[0015] The communication device H11 is an interface that establishes a communication path with other devices to transmit and receive data, and is, for example, a network interface or a wireless interface.

[0016] The input device H12 is a device that receives input from a user or the like, and is, for example, a mouse, a keyboard, or the like. The display device H13 is a display, a touch panel, or the like that displays various types of information.

[0017] The storage device H14 is a storage unit that stores data and various programs for executing the various functions of the control device 30 and the support server 40. Examples of the storage device H14 include ROM, RAM, a hard disk, and the like.

[0018] The processor H15 uses programs and data stored in the memory device H14 to control various processes in the user terminal (not shown), the control device 30, and the support server 40. An example of the processor H15 is a CPU or MPU. This processor H15 loads programs stored in ROM, etc., into RAM and executes various processes corresponding to various operations. For example, when the application programs of the control device 30 and the support server 40 are started, the processor H15 operates the processes that execute the operations described later.

[0019] The processor H15 is not limited to performing all of its operations through software processing. For example, the processor H15 may include dedicated hardware circuits (e.g., application-specific integrated circuits: ASICs) that perform hardware processing for at least some of the operations it performs. In other words, the processor H15 may be configured as follows:

[0020] (1) One or more processors that operate according to a computer program (software) (2) One or more dedicated hardware circuits that perform at least some of the various processes, (3) Circuits that include combinations of those. A processor includes a CPU and memory such as RAM and ROM, where memory stores program code or instructions configured to cause the CPU to perform processing. Memory, or computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer.

[0021] <3D printer configuration> As shown in Figures 1 to 4, the 3D printer 20 includes a nozzle 21, a pressure pump 27, a wire supply device 23, and a robotic arm 25.

[0022] The nozzle 21 has an open discharge port 21a at its tip. The nozzle 21 has one or more bent portions 21c. The nozzle 21 is made of, for example, a round pipe, and has a discharge passage 21b formed inside it through which the molding material Mo is sent toward the discharge port 21a.

[0023] The end of the nozzle 21 opposite the discharge port 21a is connected to the end of the hose 22. The hose 22 is connected to a pressure pump 27. The pressure from this pressure pump 27 causes the molding material Mo supplied to the nozzle 21 via the hose 22 to be discharged from the discharge port 21a.

[0024] A robotic arm 25, which is an example of a means of movement, is attached to the nozzle 21 via a mounting portion 24. The robotic arm 25 is, for example, a multi-axis robotic arm. The nozzle 21 is supported by the robotic arm 25 and moves in the XYZ directions according to the movement of the robotic arm 25. The movement of the robotic arm 25 is controlled by instructions from the control unit 31 of the control device 30.

[0025] The control unit 31 controls the robot arm 25 so that, for example, the ejection direction of the molding material Mo from the nozzle 21 is in the -Z direction (downward) even when moving along the XYZ directions (see Figure 4(a)). The control unit 31 controls the robot arm 25 so that, for example, the ejection direction of the molding material Mo from the nozzle 21 is in the direction on the XY plane even when moving along the XYZ directions (see Figure 4(b)).

[0026] As an example, the shaping material Mo is a hardening cement composition. The hardening cement composition may contain, for example, cement, fine aggregate, a hardening accelerator, and organic fibers. However, it is not limited to this, and the shaping material Mo may be a geopolymer containing aluminum silicate and coal ash instead of cement.

[0027] As shown in Figures 2 and 3, the wire supply device 23 supplies wire Wi into the discharge passage 21b from a supply port 21d formed in the nozzle 21. The wire Wi is, for example, a stranded steel wire made by twisting multiple steel wires together. However, the wire Wi is not limited to this and may be a single steel wire or a carbon fiber.

[0028] The supply port 21d opens on the inner wall surface of the bent portion 21c toward the direction of travel A1 of the molded material Mo. For example, the center line of the wire supply passage 23a connected to the supply port 21d coincides with the center line 21C of the discharge passage 21b in the portion downstream of the supply port 21d. In other words, the centers of the discharge port 21a and the supply port 21d are preferably on the center line 21C. The nozzle 21 does not have a wall surrounding the supply port 21d and has a so-called non-double-pipe structure.

[0029] <Control device configuration> As shown in Figure 1, the control device 30 includes a control unit 31 that performs the structure formation process. Therefore, by executing the formation program stored in the memory unit, the control unit 31 functions as a stacking management unit 311, a movement control unit 312, and a discharge amount control unit 313.

[0030] The layer management unit 311 performs processing to manage the path and height of the build material Mo to be layered in order to form structure C. The layer management unit 311 counts the number of layers L that have been stacked, stores the current number of layers of build material Mo, and stops the movement of the nozzle 21 when the final number of layers of the structure is reached.

[0031] The movement control unit 312 performs processing to control the movement of the robot arm 25 that moves the nozzle 21 along the discharge path. The discharge volume control unit 313 controls the pressure pump 27 to control the discharge volume of the molding material Mo and the wire material Wi discharged from the nozzle 21 (feed-out speed).

[0032] <Configuration of the support server> The support server 40 is a computer device that determines the movement path of the nozzle 21, the amount of molding material Mo discharged from the nozzle 21, and the amount of wire Wi fed out. The support server 40 comprises a control unit 41 and an discharge path storage unit 42. The support server 40 is connected to the control unit 30 of the 3D printer 20 and transmits the completed discharge path data to the control unit 30.

[0033] The control unit 41 functions as an acquisition unit 411 and a setting unit 412 by executing a formation program stored in the memory unit. The acquisition unit 411 acquires the width determined by the shape and design of the structure C to be formed. The setting unit 412 generates the discharge path.

[0034] The discharge path storage unit 42 stores discharge path data for the nozzles 21 that form the structure. This discharge path data is recorded when the path and path discharge width are determined by the setting unit 412. The discharge path data includes data on the structure identifier, the discharge path for each cycle, and the path discharge width.

[0035] The structure identifier data area records data related to identifiers used to identify each structure. The patrol count data area records data related to the number of patrols for each patrol route from the start point to the end point at each level.

[0036] The discharge path data area records the three-dimensional coordinates of this circular path. The path discharge width data area records data relating to the width of the path formed by the molding material Mo discharged from the nozzle 21 moving in one direction.

[0037] <Route creation process> This section explains the route creation process. As shown in Figure 8, the control unit 41 of the support server 40 performs the process of acquiring the structure shape (step S11). Specifically, the acquisition unit 411 of the control unit 41 acquires the design drawing of the structure C to be formed. This design drawing includes data for the wall C1 and multiple columns C2. Next, the shape of each layer L and the design width of each part of the wall C1 are acquired. Next, the height of the wall C1 is divided by the layer height of the molding material Mo to generate the shape (nodes, links) of each layer and calculate the number of layers.

[0038] Next, the control unit 41 of the support server 40 determines an arbitrary node in the p-th layer as the starting point and generates a discharge route that circulates through all nodes via each link from this starting point (step S12). For example, the initial value of "p" is 1. A specific example of the discharge route generated in step S12 will be described later. The control unit 41 of the support server 40 performs a determination process to determine whether the formation of the wall C1 is complete (step S13). Specifically, the setting unit 412 of the control unit 41 determines that the formation is complete when it reaches the n-th layer, which is the number of layers corresponding to the height of the wall C1. If it is determined that the formation is not complete (if "NO" is obtained in step S13), the control unit 41 of the support server 40 increments "p" and repeats step S12 of the route generation process.

[0039] On the other hand, if it is determined that the formation of wall C1 is complete (if the answer is "YES" in step S13), the control unit 41 of the support server 40 determines that the mth column C2 will start from an arbitrary node in the qth layer (step S14). The control unit 41 generates a discharge route that circulates through all nodes via each link from this starting point (step S14). For example, the initial values ​​of "m" and "q" are both 1. The control unit 41 of the support server 40 performs a determination process to determine whether the formation of the mth column C2 is complete (step S15). Specifically, the setting unit 412 of the control unit 41 determines that the stacking is complete when it reaches a number of stacks corresponding to the thickness of column C2. If it is determined that the formation is not complete (if the answer is "NO" in step S15), the control unit 41 of the support server 40 increments "q" and repeats step S14 of the route generation process.

[0040] On the other hand, if it is determined that the formation of column C2 is complete (if the answer is "YES" in step S15), the control unit 41 of the support server 40 performs a determination process to determine whether the formation of all column C2 is complete (step S16). If it is determined that the formation is complete (if the answer is "YES" in step S16), the control unit 41 of the support server 40 terminates the route creation process. On the other hand, if it is determined that the formation of all column C2 is not complete (if the answer is "NO" in step S16), the control unit 41 of the support server 40 increments "m" and repeats steps S14 and S15 of the route generation process.

[0041] <Lamination process> The discharge path and layering process will be explained using Figures 6 and 9 to 12. The layering management unit 311 of the control unit 31 controls the movement control unit 312 and the discharge amount control unit 313 using the discharge path data recorded in the discharge path storage unit 42. The movement control unit 312 moves the robot arm 25 while discharging the molding material Mo together with the wire Wi from the nozzle 21. In this case, the movement control unit 312 moves the nozzle 21 along the discharge path recorded in the discharge path storage unit 42 to layer the molding material Mo.

[0042] The process for forming wall C1 will be explained in detail. As shown in Figure 6, the formation of the p-th layer material Mo is started with an arbitrary position (node) of the p-th layer as the starting point S1. The movement control unit 312 directs the nozzle 21 in the -Z direction (downward). The discharge path R includes, as an example, a base path R1, protruding paths R21~R24, and a connecting path R3. The base path R1 extends, as an example, from the starting point S1 along the X direction toward the +X direction. Each protruding path R21~R24 extends along the Y direction toward the +Y direction, protruding from the base path R1. Each protruding path R21~R24 is, for example, a path that extends toward the +Y direction and then folds back toward the -Y direction.

[0043] Multiple connection paths R3 connect to the protruding paths R21, R22, R22, R23, and R23, R24, respectively. Each connection path R3 is located in the +Y direction of the base path R1 and is parallel to the base path R1. Among the protruding paths R21 to R24, adjacent paths in the X direction are set so that the distance between the protrusions C12 formed by extruding the molding material Mo along the X direction is the same as the extrusion width of the molding material Mo along the X direction. This distance may be greater than or less than the extrusion width of the molding material Mo along the X direction. In each layer L, the extrusion path R is set to be drawn in a single continuous line.

[0044] As shown in Figures 6, 9, and 10, the molding material Mo is formed along the base path R1 from the starting point S1 of the extrusion path R (see Figure 6). The molding material Mo is formed along multiple protruding paths R21 to R24 of the extrusion path R. The molding material Mo is formed along multiple connecting paths R3 of the extrusion path R. Then, the molding material Mo is formed along the protruding path R24, and when the nozzle 21 reaches the endpoint G1, the nozzle 21 is raised by one layer, and the formation of the molding material Mo of the p+1th layer begins from the starting point S1 of the p+1th layer (see Figure 9). Thereafter, the wall C1 is completed by forming the molding material Mo along the extrusion path R in each layer L in the same manner until the formation of the nth layer of molding material Mo is completed (see Figure 10).

[0045] The base path R1 and the connecting path R3 are examples of first paths extending along a first direction in the horizontal direction. The multiple protruding paths R21 to R24 are examples of multiple second paths extending outwards from the first path along a second direction intersecting the first direction in the horizontal direction. The movement control unit 312 moves the nozzle 21 and builds up layers L from the first layer to the nth layer (n is an integer of 2 or more) by extruding the molding material Mo together with the wire Wi. The movement control unit 312 forms a first structure having a recess C13 that extends along a third direction intersecting the first and second directions.

[0046] The process of forming multiple columns C2 will be explained in detail. As shown in Figures 6, 11, and 12, the formation of the molding material Mo of the columnar body C2 is started at the lower end of an arbitrary recess C13 as the starting point S2 (see Figures 6 and 11). The movement control unit 312 directs the nozzle 21 in the -Y direction (base path R1) and adjusts the distance between the tip of the nozzle 21 and the inner wall surface of the recess C13 in the -Y direction to a length N. Here, the length N may be the same as the diameter of the discharge port 21a of the nozzle 21, or it may be two-thirds of the diameter, or it may be half the diameter. In other words, the molding material Mo is discharged from the nozzle 21 so as to be pressed against the inner wall surface of the recess C13.

[0047] Of the discharge path R, the molding material Mo is formed along the reinforcing path R4 that extends along the recess C13. The reinforcing path R4 extends along the Z direction and toward the +Z direction inside the recess C13. When the nozzle 21 reaches the endpoint G2 at the upper end of the recess C13 after forming the molding material Mo along the reinforcing path R4, a column C2 is formed inside the recess C13. When the movement control unit 312 causes layers L to be formed in the recess C13, it moves the nozzle 21 from the first layer which is stacked vertically to the nth layer, while discharging the molding material Mo together with the wire Wi.

[0048] The molding material Mo extruded from the nozzle 21 is viscous and fluid. Therefore, when the molding material Mo is extruded from the nozzle 21, it enters the groove c formed on the inner wall surface of the recess C13. In other words, the molding material Mo adheres closely to the inner wall surface of the recess C13. The extruded width of the molding material Mo is equal to or longer than the length of the recess C13 along the X direction. Thus, the molding material Mo is held by the three surfaces that make up the inner wall surface of the recess C13.

[0049] The movement control unit 312 repeatedly performs the control to form the column C2 for each recess C13. The 3D printer 20 may also be equipped with a cutting mechanism that cuts the wire Wi when forming the next column C2 after forming one column C2. The cutting mechanism may be controlled by the movement control unit 312.

[0050] Each reinforcement path R4 is an example of a third path extending along the recess C13. The movement control unit 312 moves the nozzle 21 along the discharge path R which includes the third path extending along the recess C13, and discharges the molding material Mo together with the wire Wi to form a layer L in the recess C13 and form a second structural part. This forms a structure C having a first structural part and a second structural part.

[0051] <effect> The operation of the embodiment will now be described. A base C11 and multiple protrusions C12 are formed by printing trajectories projecting from the base C11 in at least one horizontal direction. These patterns are stacked in the Z direction to form a wall C1 having multiple recesses C13 sandwiched between the protrusions C12 and extending vertically. Then, a structure C is formed by printing into the recesses C13 of the wall C1.

[0052] Therefore, in wall C1, the wires Wi are oriented horizontally, while in column C2, the wires Wi are oriented vertically. Thus, a structure C reinforced in both the horizontal and vertical directions can be easily created using a 3D printer 20.

[0053] Since the wall C1 is formed by stacking multiple layers L, multiple grooves c are formed on the inner wall surface of the recess C13. Therefore, when the molding material Mo is discharged from the nozzle 21 into the recess C13 to form the column C2, the molding material Mo adheres easily to the inner wall surface of the recess C13, and peeling off before the molding material Mo solidifies is suppressed. Furthermore, the molding material Mo comes into contact with the three surfaces that make up the inner wall surface of the recess C13. Therefore, peeling off of the molding material Mo before solidification is further suppressed.

[0054] <Effects> The effects of this embodiment will be described. (1) Using the 3D printer 20, a structure C having wall bodies C1 and column bodies C2 can be formed. Therefore, a structure C reinforced in both the horizontal and vertical directions can be easily obtained.

[0055] (2) When forming the columnar body C2 in the recess C13, the molding material Mo is extruded while moving the nozzle 21 from the lower end to the upper end of the recess C13. Therefore, when the molding material Mo is extruded continuously, the already extruded portion can support the newly extruded portion. Thus, the peeling off of the molding material Mo before it solidifies is suppressed.

[0056] (3) Multiple grooves c extending horizontally are formed on the inner wall surface of the recess C13. Therefore, the molding material Mo extruded into the recess C13 can be easily made to adhere closely to the inner wall surface of the recess C13.

[0057] (4) The length of the recess C13 along the X direction is the same as or slightly narrower than the extrusion width of the molding material Mo from the nozzle 21. Therefore, the molding material Mo extruded from the nozzle 21 can be supported by the three surfaces that make up the inner wall surface of the recess C13. Thus, the peeling off of the molding material Mo before solidification is further suppressed.

[0058] (5) The column C2 is solidified in close contact with the inner wall surface of the recess C13. Therefore, separation of the column C2 from the structure C is suppressed, and the strength of the structure C can be improved.

[0059] This embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically. As shown in Figures 13 and 14, the column C2 is not limited to a single-layer structure, but may also have a multi-layer structure with layers L stacked in the Y direction. In other words, the movement control unit 312 of the control unit 31 may cause multiple layers L to form on the recess C13. The reinforcement path R4 may be a path that starts at the lower end of the recess C13 as the starting point S2, folds back in the -Z direction at the upper end, and ends at the lower end of the recess C13 as the endpoint G2a. In this case, the column C2 has a two-layer structure. The reinforcement path R4 may also be a path that folds back further in the +Z direction and ends at the upper end of the recess C13 as the endpoint G2b. In this case, the column C2 has a three-layer structure. The column C2 may have a structure of four or more layers. In this modified example, the length of the protrusion C12 along the Y direction should be a length (thickness) corresponding to the number of layers L of the column C2.

[0060] As shown in Figure 15, the structure C may have a structure in which multiple unit structural parts Ca are arranged along the Y direction. In this modified example, the length of the protrusion C12 along the Y direction should be longer than the length of the column C2 along the Y direction. This way, even if the column C2 is formed inside the recess C13, a part of the recess C13 remains on the wall surface of the wall C1 in the +Y direction. The movement control unit 312 of the control unit 31 is positioned adjacent to the unit structural part Ca to form another unit structural part Ca, thereby forming a structure C having multiple unit structural parts Ca. At this time, the molding material Mo discharged from the nozzle 21 is made to adhere tightly to the recess C13 in which the above-mentioned part remains. As a result, the unit structural parts Ca are less likely to separate from each other, and the strength of the structure C can be increased.

[0061] As shown in Figure 16, the wall C1 may be cylindrical. In this modified example, the discharge path for forming the wall C1 may include a circular base path R1, a plurality of protruding paths R2 that are aligned along the circumference of the base path R1 and protrude outward in the diametrical direction, and a connecting path R3 that connects the plurality of protruding paths R2. In this case, by providing an intersection Rc where the discharge path R intersects in the Z direction, a discharge path R in which paths R1 to R3 are continuous can be created. The movement control unit 312 of the control unit 31 may increase the movement speed of the nozzle 21 when the nozzle 21 passes through the intersection Rc. This can suppress the thickness of the intersection Rc along the Z direction from becoming excessive. In Figure 16, an example is shown in which, after forming the wall C1 and column C2, an outer perimeter wall surrounding the wall C1 and column C2 is formed by further laminating the molding material Mo along the outer circumference, but the structure C may be configured without its outer perimeter wall.

[0062] As shown in Figure 17, the protruding path R2 may include a plurality of paths extending from the base path R1 so as to protrude in the +Y direction, which is one of the Y directions, and a plurality of paths extending from the base path R1 so as to protrude in the -Y direction, which is the other of the Y directions. The movement control unit 312 of the control unit 31 moves the nozzle 21 along the discharge path and discharges the molding material Mo, thereby forming recesses C13 on both sides of the wall C1 in the Y direction.

[0063] As shown in Figure 18, the multiple recesses C13 and multiple columns C2 are not limited to being independent of each other, but may be partially connected to each other. For example, by omitting some or all of the protruding paths R2 in the nth layer (uppermost layer) of the multiple protrusions C12, a connecting portion C14 can be formed to connect two recesses C13 in the X direction. For example, by omitting some or all of the protruding paths R2 in the first layer (lowest layer) of the multiple protrusions C12, a connecting portion C15 can be formed to connect two recesses C13 in the X direction. When the protruding paths R2 are omitted in the first layer (lowest layer), it is preferable to install a spacer to form the second layer. After the molding material Mo has solidified, the spacer is removed. Then, the molding material Mo can be formed with the lower end of one recess C13 as the starting point S3, passing through the connecting portions C14 and C15 to the upper end of another recess C13 as the ending point G3.

[0064] When the column C2 has a single-layer structure, the reinforcement path R4 may be a path that extends in the -Z direction, starting from the upper end of the recess C13 and ending at the lower end. Alternatively, the recess C13 may be a path arranged in t columns (where t is an integer of 2 or more) along the X direction. In this case, the length of the recess C13 along the X direction should be a length equivalent to t times the extrusion width of the molding material Mo from the nozzle 21.

[0065] The recesses C13 and columnar bodies C2 are not limited to extending along the vertical direction, but may also extend along directions that intersect the X and Y directions at angles not perpendicular to them. Furthermore, columnar bodies C2 may be formed in some of the multiple recesses C13.

[0066] In the above embodiment, the molding material Mo was used as the material to be formed. The molding material used for lamination of the structure is not limited to the molding material Mo; any material that has the fluidity to be extruded from the nozzle 21 and the hardness to be laminated may be used, such as synthetic resin. [Explanation of symbols]

[0067] C...structure, c...groove, C1...wall, C11...base, C12...protrusion, C13...recess, C14, C15...connection, C2...column, R...discharge path, R1...base path, R2...projection path, R3...connection path, R4...reinforcement path, Mo...formation material, Wi...wire, 10...forming system, 20...3D printer, 21...nozzle, 21a...discharge port, 24...mounting part, 25...robot arm, 30...control device, 40...support server, 31, 41...control unit, 40...support server, 42...discharge path memory unit, 311...layer management unit, 312...movement control unit, 313...discharge amount control unit, 411...acquisition unit, 412...setting unit.

Claims

1. A forming system that forms a structure by extruding a molding material together with a wire from the nozzle while moving the nozzle, The formed system includes a control unit, and the control unit is A discharge path is generated to form the aforementioned structure. By moving the nozzle along the discharge path, which includes a first path extending along a first horizontal direction and a plurality of second paths extending outward from the first path along a second horizontal direction intersecting the first direction, layers are formed by discharging the molding material together with the wire, stacking the layers from the first layer to the nth layer (where n is an integer of 2 or more), thereby forming a first structural part having a recess extending along a third direction intersecting the first and second directions. By moving the nozzle along the discharge path, which includes a third path extending along the recess, and discharging the molding material together with the wire, a second structural part is formed in the recess, thereby forming the structure having the first structural part and the second structural part. Formation system.

2. When forming the layer in the recess, the control unit moves the nozzle in the first structural part from the first layer toward the nth layer while discharging the molding material together with the wire. The forming system according to claim 1.

3. The control unit causes a plurality of the layers to be formed in the recess. The forming system according to claim 1 or claim 2.

4. The second path includes a plurality of paths extending from the first path so as to project in one of the second directions, and a plurality of paths extending from the first path so as to project in the other of the second directions, The recess is formed on both sides of the first structural portion in the second direction. The forming system according to claim 1 or claim 2.

5. The first structural part is cylindrical. The forming system according to claim 1 or claim 2.

6. The forming system according to claim 1 or claim 2, wherein the control unit forms a further unit structure adjacent to the unit structure including the first structure and the second structure, thereby forming a structure having a plurality of the unit structure.

7. A forming system for forming a structure by extruding a forming material together with a wire from a nozzle while moving the nozzle, and a forming method for forming the structure, The forming system comprises a control unit, and the control unit is A discharge path is generated to form the aforementioned structure. By moving the nozzle along the discharge path, which includes a first path extending along a first horizontal direction and a plurality of second paths extending outward from the first path along a second horizontal direction intersecting the first direction, layers are formed by discharging the molding material together with the wire, stacking the layers from the first layer to the nth layer (where n is an integer of 2 or more), thereby forming a first structural part having a recess extending along a third direction intersecting the first and second directions. By moving the nozzle along the discharge path, which includes a third path extending along the recess, and discharging the molding material together with the wire, a second structural part is formed in the recess, thereby forming the structure having the first structural part and the second structural part. Formation method.

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