Three-dimensional modeling apparatus, method for calibrating three-dimensional modeling apparatus, and method for manufacturing three-dimensional object

Abstract

To form three-dimensional modeling objects with high dimensional accuracy.SOLUTION: The three-dimensional modeling apparatus has a first ejection unit that ejects a first material, a second ejection unit that ejects a second material, a drive unit that moves the first ejection unit and the second ejection unit relative to the stage, and a control unit. The control unit executes the calibration process includes: a first process to eject the first material from the first ejection unit to form the linear first and second portions of the calibration modeling object, which are arranged parallel to each other; a second process to eject the second material from the second ejection unit to form the linear third portion of the calibration modeling object, which is arranged between the first and second portions; and a third process to adjust the relative position of the second ejection portion with respect to the first ejection portion according to a correction value obtained based on the relative position of the third portion with respect to the first portion and the second portion, and if the third process is executed in the calibration process, the control unit executes the first and second processes again.SELECTED DRAWING: Figure 9

Description

[Technical field]

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

[0002] Patent Document 1 discloses a fused deposition modeling type three-dimensional modeling device. This three-dimensional modeling device includes a feed section that feeds a filament material into a discharge section, a feed amount detection section that detects the feed amount of the filament material fed into the discharge section, and a discharge amount detection section that detects the discharge amount of the material discharged from the discharge section, and adjusts the feed amount to achieve the desired discharge amount by deriving the relationship between the feed amount and the discharge amount. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-011474 A Summary of the Invention [Problem to be solved by the invention]

[0004] As described in the above document, by adjusting the amount of material fed to the discharge section, a three-dimensional object can be formed with good dimensional accuracy. However, in a three-dimensional printing device having a modeling nozzle that discharges a modeling material and a supporting nozzle that discharges a supporting material, the relative position of the supporting nozzle to the modeling nozzle may be shifted, which may cause the supporting nozzle to come into contact with a modeling layer formed with the modeling material, causing the shape of the modeling layer to be distorted, or the position of the supporting layer formed with the supporting material may be shifted, causing the modeling layer to be insufficiently supported, causing the shape of the modeling layer to be distorted during modeling. In other words, the relative position of the supporting nozzle to the modeling nozzle may be shifted, which may cause the three-dimensional object to be unable to be formed with good dimensional accuracy. Such problems occur not only in three-dimensional printing devices equipped with a modeling nozzle and a supporting nozzle, but also in three-dimensional printing devices equipped with multiple modeling nozzles. [Means for solving the problem]

[0005] According to a first aspect of the present disclosure, there is provided a three-dimensional printing apparatus. The three-dimensional printing apparatus includes a first discharger that discharges a first material toward a stage, a second discharger that discharges a second material toward the stage, a drive unit that moves each of the first discharger and the second discharger relative to the stage, and a control unit that controls the first discharger, the second discharger, and the drive unit. The control unit executes a calibration process including a first process for forming linear first and second portions that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharger, a second process for forming linear third portion that is parallel to the first and second portions of the calibration object by discharging the second material from the second discharger, and a third process for adjusting the relative position of the second discharger with respect to the first discharger by controlling the drive unit according to a correction value acquired based on the relative position of the third portion with respect to the first and second portions. When the third process is executed in the calibration process, the control unit executes the first process and the second process again.

[0006] According to a second aspect of the present disclosure, there is provided a method for calibrating a three-dimensional printing device including a first discharger that discharges a first material toward a stage and a second discharger that discharges a second material toward the stage. The method for calibrating the three-dimensional printing device includes a first step of forming a linear first portion and a linear second portion that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharger, a second step of forming a linear third portion that is between the first portion and the second portion of the calibration object by discharging the second material from the second discharger, and a third step of adjusting a relative position of the second discharger with respect to the first discharger according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion. When the third step is performed, the first step and the second step are performed again.

[0007] According to a third aspect of the present disclosure, there is provided a method for manufacturing a three-dimensional object. The method for manufacturing a three-dimensional object includes a modeling step of forming the three-dimensional object using a first discharge unit that discharges a first material toward a stage and a second discharge unit that discharges a second material toward the stage, and a calibration step of adjusting a relative position of the second discharge unit with respect to the first discharge unit prior to the modeling step. The calibration step includes a first step of forming a linear first portion and a linear second portion that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharge unit, a second step of forming a linear third portion of the calibration object that is between the first portion and the second portion by discharging the second material from the second discharge unit, and a third step of adjusting the relative position of the second discharge unit with respect to the first discharge unit according to a correction value acquired based on the relative position of the third portion with respect to the first portion and the second portion. In the calibration process, when the third step is executed, the first step and the second step are executed again. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a front view showing a schematic configuration of a three-dimensional modeling apparatus according to a first embodiment. [Diagram 2] FIG. 2 is an explanatory diagram showing a schematic configuration of a discharge section according to the first embodiment. [Diagram 3] FIG. 4 is a schematic perspective view showing the configuration of a groove forming surface side of a flat screw. [Figure 4] FIG. 2 is a top view showing the configuration of the side of the barrel facing the screw. [Diagram 5] 11 is a flowchart showing the contents of a three-dimensional modeling process. [Figure 6] FIG. 1 is a first explanatory diagram showing how a three-dimensional object is formed. [Figure 7] FIG. 2 is a second explanatory diagram showing how a three-dimensional object is formed. [Figure 8] FIG. 3 is a third explanatory diagram showing how a three-dimensional object is formed. [Figure 9] 5 is a flowchart showing the contents of a calibration process according to the first embodiment. [Figure 10] FIG. 2 is a top view showing a calibration model for a low-temperature material in the first embodiment. [Figure 11] Cross-sectional view taken along line XI-XI in Figure 10. [Figure 12] FIG. 2 is a top view showing a calibration model for a high-temperature material in the first embodiment. [Figure 13] FIG. 13 is an explanatory diagram showing a work history display screen. [Figure 14] FIG. 11 is a top view showing a calibration model for a low-temperature material according to the second embodiment. [Figure 15] FIG. 13 is a front view showing a schematic configuration of a three-dimensional modeling apparatus according to a third embodiment. [Figure 16] FIG. 13 is an explanatory diagram showing a schematic configuration of a three-dimensional modeling apparatus according to a fourth embodiment. [Figure 17] FIG. 13 is an explanatory diagram showing a schematic configuration of a discharge section according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A. First embodiment: FIG. 1 is a front view showing a schematic configuration of a three-dimensional modeling apparatus 11 in the first embodiment. In FIG. 1, arrows representing three mutually orthogonal coordinate axes, namely, X, Y, and Z axes, are shown. The X-axis and Y-axis are coordinate axes along a horizontal plane, and the Z-axis is a coordinate axis along a vertical direction. The arrows representing the X, Y, and Z axes are also shown in FIG. 2 and subsequent figures as appropriate so that the directions of the arrows correspond to those in FIG. 1. In FIG. 1 and subsequent figures, the direction indicated by the arrow representing the X-axis is sometimes called the +X direction or "right", and the opposite direction is sometimes called the -X direction or "left". The direction indicated by the arrow representing the Y-axis is sometimes called the +Y direction or "back", and the opposite direction is sometimes called the -Y direction or "front". The direction indicated by the arrow representing the Z-axis is sometimes called the +Z direction or "up", and the opposite direction is sometimes called the -Z direction or "down". The X-axis is sometimes called the first axis, and the Y-axis is sometimes called the second axis. The X-axis is sometimes called the second axis, and the Y-axis is sometimes called the first axis.

[0010] In this embodiment, the three-dimensional modeling apparatus 11 includes a housing 110, an operation panel 120, a first discharge unit 100A, a second discharge unit 100B, a drive unit 210, a stage 220, and a control unit 300.

[0011] The housing 110 has a printing space 111 therein. The housing 110 is provided with, for example, an opening that connects the printing space 111 to the outside. The housing 110 may be provided with a door or the like that opens and closes the opening that connects the printing space 111 to the outside. A first discharge unit 100A, a second discharge unit 100B, and a stage 220 are arranged in the printing space 111. The upper surface of the stage 220 is arranged parallel to the X-axis and Y-axis. The stage 220 may be referred to as a platen.

[0012] Operation panel 120 is provided on the front surface of housing 110. Operation panel 120 is configured, for example, with a touch panel type liquid crystal display or an organic EL display. Operation panel 120 is connected to control unit 300.

[0013] The first discharge unit 100A and the second discharge unit 100B are disposed above the stage 220. In this embodiment, the first discharge unit 100A and the second discharge unit 100B are disposed adjacent to each other on the left and right. Unless otherwise specified, the configuration of the second discharge unit 100B is the same as that of the first discharge unit 100A. In the following description, when the first discharge unit 100A and the second discharge unit 100B are described without making a particular distinction between them, they are simply referred to as the discharge unit 100. The discharge unit 100 may be referred to as a discharge head, an ejection unit, an ejection head, an extrusion unit, an extrusion head, or simply as a head. In other embodiments, the first discharge unit 100A and the second discharge unit 100B may be disposed adjacent to each other on the front and rear.

[0014] The first discharge unit 100A has a first nozzle 60A, and the second discharge unit 100B has a second nozzle 60B. The first discharge unit 100A discharges a first material from the first nozzle 60A toward the stage 220, and the second discharge unit 100B discharges a second material from the second nozzle 60B toward the stage 220. The term "discharge" here also includes the meaning of "ejection" or "extrusion." In the following description, when the first material and the second material are not particularly distinguished from each other, they are simply called materials. When the first nozzle 60A and the second nozzle 60B are not particularly distinguished from each other, they are simply called nozzles 60. The nozzle 60 may be called a nozzle tip or tip. The first nozzle 60A and the second nozzle 60B may be the same type of nozzle, or may be different types of nozzles. For example, the nozzle diameter of the first nozzle 60A and the nozzle diameter of the second nozzle 60B may be different from each other.

[0015] In this embodiment, the first material is a modeling material for forming a product part of a three-dimensional object, and the second material is a support material for forming a support part that supports the product part during modeling. As the modeling material, for example, ABS resin, polylactic acid (PLA), polyetherimide (PEI), a material combining nylon 12 and carbon fiber, etc. can be used. As the support material, for example, HIPS (High Impact Polystyrene), polyvinyl alcohol (PVA), etc. can be used. Note that in other embodiments, the first material and the second material may be modeling materials. In this case, the first material and the second material may be the same type of modeling material, or the first material and the second material may be different types of modeling materials.

[0016] The driving unit 210 changes the relative positions of the first discharge unit 100A and the second discharge unit 100B with respect to the stage 220. In this embodiment, the driving unit 210 has a first driving unit 211 that moves the stage 220 along the Z axis, and a second driving unit 212 that moves the first discharge unit 100A and the second discharge unit 100B along the X axis and the Y axis. The first driving unit 211 is configured as a lifting device and includes a motor for moving the stage 220 along the Z axis. The second driving unit 212 is configured as a horizontal conveying device and includes a motor for sliding the first discharge unit 100A and the second discharge unit 100B along the X axis and a motor for sliding the first discharge unit 100A and the second discharge unit 100B along the Y axis. Each motor is driven under the control of the control unit 300. In other embodiments, the first driving unit 211 may move the stage 220 along the X-axis and Y-axis, and the second driving unit 212 may move the first ejection unit 100A and the second ejection unit 100B along the Z-axis. The driving unit 210 may not be provided with the first driving unit 211, and the second driving unit 212 may move the first ejection unit 100A and the second ejection unit 100B along the three axes, X, Y, and Z. The driving unit 210 may not be provided with the second driving unit 212, and the first driving unit 211 may move the stage 220 along the three axes, X, Y, and Z.

[0017] In this embodiment, the driving unit 210 further includes a third driving unit 213 that changes the relative position of the second discharge unit 100B with respect to the first discharge unit 100A. The third driving unit 213 is provided between the second discharge unit 100B and the second driving unit 212, and moves the second discharge unit 100B along three axes, X, Y, and Z. The third driving unit 213 is configured, for example, by combining electric actuators that are driven under the control of the control unit 300. Note that, in another embodiment, the third driving unit 213 may be provided between the first discharge unit 100A and the second driving unit 212, and may be configured to move the first discharge unit 100A along three axes, X, Y, and Z. When the second driving unit 212 is not provided, the third driving unit 213 may be provided between the first discharge unit 100A or the second discharge unit 100B and the housing 110.

[0018] The control unit 300 is configured by a computer having one or more processors, a memory, and an input / output interface for inputting and outputting signals from and to the outside. The control unit 300 controls the first discharge unit 100A, the second discharge unit 100B, and the drive unit 210. In this embodiment, the control unit 300 can execute three-dimensional modeling processing and calibration processing, which will be described later, by having the processor execute programs and instructions loaded into the memory. The control unit 300 may be configured by a combination of multiple circuits instead of a computer.

[0019] 2 is an explanatory diagram showing a schematic configuration of the discharge unit 100 of this embodiment. The discharge unit 100 includes a material storage unit 20, a plasticizing mechanism 30, and the nozzle 60 described above.

[0020] The material storage unit 20 stores a pellet-shaped or powder-shaped material. In this embodiment, the material storage unit 20 is configured by a hopper. A supply path 22 that connects the material storage unit 20 and the plasticizing mechanism 30 is provided below the material storage unit 20. The material stored in the material storage unit 20 is supplied to the plasticizing mechanism 30 via the supply path 22.

[0021] The plasticizing mechanism 30 plasticizes at least a portion of the material supplied from the material storage section 20, and conveys the plasticized material to the nozzle 60. "Plasticization" is a concept that includes melting, and refers to changing a material from a solid to a fluid state. Specifically, in the case of a material that undergoes a glass transition, plasticization refers to raising the temperature of the material to or above the glass transition point. In the case of a material that does not undergo a glass transition, plasticization refers to raising the temperature of the material to or above the melting point.

[0022] The plasticizing mechanism 30 includes a material conveying mechanism 40 and a heating block 90. ​​The material conveying mechanism 40 has a function of conveying the material supplied via the supply path 22. In this embodiment, the material conveying mechanism 40 includes a screw case 31, a drive motor 32, and a flat screw 41. The flat screw 41 may be called a screw or a scroll.

[0023] The flat screw 41 is housed in the screw case 31. An opening is provided in the bottom surface of the screw case 31. A barrel 50 (described later) is fixed to the bottom surface of the screw case 31 so as to close the above-mentioned opening. The flat screw 41 is disposed in a space surrounded by the screw case 31 and the barrel 50.

[0024] The drive motor 32 is fixed to the upper surface of the screw case 31. The output shaft of the drive motor 32 passes through the screw case 31 and is connected to the flat screw 41. The output shaft of the drive motor 32 may be directly connected to the flat screw 41, or may be connected to the flat screw 41 via a reducer. The drive motor 32 is driven under the control of the control unit 300.

[0025] The flat screw 41 has a generally cylindrical shape with a height along the central axis RX smaller than its diameter. A grooved surface 42 is provided on the bottom surface of the flat screw 41, i.e., the surface facing the barrel 50. A screw groove 45 is formed on the grooved surface 42. A more specific configuration of the grooved surface 42 side will be described later. The flat screw 41 rotates around the central axis RX by the torque generated by the drive motor 32. As the flat screw 41 rotates, the material supplied from the material storage section 20 between the flat screw 41 and the barrel 50 is transported.

[0026] The heating block 90 has a function of heating the material being transported by the material transport mechanism 40. In this embodiment, the heating block 90 includes a barrel 50, a heater 58, and a case portion 91.

[0027] The barrel 50 has a screw-facing surface 52 that faces the groove forming surface 42 of the flat screw 41. An opening of a communication hole 56 is provided in the center of the screw-facing surface 52. The opening of the communication hole 56 provided in the screw-facing surface 52 is positioned on an extension line of the central axis RX of the flat screw 41. The communication hole 56 passes through the barrel 50.

[0028] In this embodiment, the heater 58 is disposed inside the barrel 50. The heater 58 is controlled by the control unit 300 and heated to a melting temperature for plasticizing the material. The melting temperature varies depending on the type of material used, and is, for example, equal to or higher than the glass transition point or melting point of the material. When the material is ABS resin, the melting temperature is set, for example, to equal to or higher than about 110° C., which is the glass transition point of ABS resin. In other embodiments, the heater 58 may be disposed outside the barrel 50.

[0029] The case portion 91 is disposed so as to cover the surface of the barrel 50 opposite the screw-facing surface 52, i.e., the bottom surface of the barrel 50. A through hole 94 is provided in the case portion 91. The through hole 94 in the case portion 91 and the lower end of the communication hole 56 in the barrel 50 form a mounting hole 80 for detachably fixing the nozzle 60. For example, a male thread is provided on the side surface of the nozzle 60, and a female thread is provided in the mounting hole 80, and the nozzle 60 is fixed to the mounting hole 80 using the male thread and the female thread.

[0030] The nozzle 60 is fixed in the mounting hole 80 so that its tip faces downward. A nozzle inlet 65 communicating with the communication hole 56 is provided at the rear end of the nozzle 60. A nozzle opening 63 for discharging the plasticized material is provided at the tip of the nozzle 60. The nozzle 60 is provided with a nozzle flow path 61 that communicates the nozzle inlet 65 with the nozzle opening 63. The nozzle 60 discharges the material that has flowed into the nozzle flow path 61 from the nozzle inlet 65, from the nozzle opening 63, toward the stage 220.

[0031] In this embodiment, the nozzle 60 is provided with a brim-shaped shield 68. The shield 68 is provided so as to protrude outward from the side surface of the nozzle 60. The shield 68 is disposed between the nozzle opening 63 and the heating block 90 in the Z axis direction. By providing the shield 68, it is possible to suppress the transfer of heat from the heating block 90 to the material laminated on the stage 220.

[0032] Fig. 3 is a schematic perspective view showing the configuration of the groove forming surface 42 side of the flat screw 41. In Fig. 3, the position of the central axis RX of the flat screw 41 is indicated by a dashed line. As described above, the groove forming surface 42 is provided with a screw groove 45. A screw central portion 47, which is the central portion of the groove forming surface 42 of the flat screw 41, is configured as a recess to which one end of the screw groove 45 is connected. The screw central portion 47 faces the communication hole 56 of the barrel 50. The screw central portion 47 intersects with the central axis RX.

[0033] The screw groove 45 of the flat screw 41 constitutes a so-called scroll groove. The screw groove 45 extends from the screw center 47 toward the outer periphery of the flat screw 41 in an arc-like spiral shape. The screw groove 45 may be configured to extend in an involute curve shape or a spiral shape. The groove forming surface 42 is provided with a convex rib portion 46 that constitutes the side wall portion of the screw groove 45 and extends along each screw groove 45. The screw groove 45 continues to a material inlet 44 formed on a side surface 43 of the flat screw 41. The material inlet 44 is a portion that receives the material supplied through the supply path 22 of the material storage section 20.

[0034] 3 shows an example of a flat screw 41 having three screw grooves 45 and three ridge portions 46. The number of screw grooves 45 and ridge portions 46 provided on the flat screw 41 is not limited to three, and only one screw groove 45 may be provided, or two or more screw grooves 45 may be provided. Also, FIG. 3 shows an example of a flat screw 41 in which a material introduction port 44 is formed in three places. The number of material introduction ports 44 provided on the flat screw 41 is not limited to three, and may be only one place or two or more places.

[0035] FIG. 4 is a top view showing the configuration of the screw-opposing surface 52 side of the barrel 50. As described above, a communication hole 56 is formed in the center of the screw-opposing surface 52. A plurality of guide grooves 54 are formed around the communication hole 56 in the screw-opposing surface 52. One end of each guide groove 54 is connected to the communication hole 56, and extends in a spiral shape from the communication hole 56 toward the outer periphery of the screw-opposing surface 52. Each guide groove 54 has a function of guiding a material to the communication hole 56. Note that one end of the guide groove 54 does not have to be connected to the communication hole 56. Also, the guide groove 54 does not have to be formed in the barrel 50.

[0036] 5 is a flowchart showing the contents of the three-dimensional modeling process in this embodiment. This process is started when the control unit 300 receives a predetermined operation from the user. For example, this process is started when a start button for the three-dimensional modeling process displayed on the operation panel 120 is tapped.

[0037] First, in step S110, the control unit 300 acquires the modeling data. The control unit 300 acquires the modeling data from, for example, an external computer or a recording medium. The modeling data includes first tool path data representing the movement path of the first nozzle 60A and second tool path data representing the movement path of the second nozzle 60B when forming each layer constituting the three-dimensional object. The first tool path data is associated with first discharge amount data representing the discharge amount of the first material discharged from the first nozzle 60A. The second tool path data is associated with second discharge amount data representing the discharge amount of the second material discharged from the second nozzle 60B.

[0038] Next, in step S120, the control unit 300 controls the first discharging unit 100A, the second discharging unit 100B, and the driving unit 210 according to the modeling data to form a layer on the stage 220 having at least one of a product portion formed from the modeling material discharged from the first nozzle 60A and a support portion formed from the support material discharged from the second nozzle 60B.

[0039] In step S130, the control unit 300 determines whether or not the modeling of all layers has been completed. The control unit 300 can determine whether or not the modeling of all layers has been completed using the modeling data. If it is not determined in step S130 that the modeling of all layers has been completed, the control unit 300 returns the process to step S120, and models a further layer on top of the layer. If it is determined in step S130 that the modeling of all layers has been completed, the control unit 300 ends this process.

[0040] Fig. 6 is a first explanatory diagram showing how a three-dimensional object OB is formed. Fig. 7 is a second explanatory diagram showing how a three-dimensional object OB is formed. Fig. 8 is a third explanatory diagram showing how a three-dimensional object OB is formed. Figs. 6 to 8 show an example of how a three-dimensional object OB is formed by the above-mentioned three-dimensional printing process.

[0041] In step S120 of the three-dimensional modeling process, the control unit 300, for example, controls the second driving unit 212 to eject a modeling material from the first nozzle 60A while moving the first nozzle 60A along the first tool path, as shown in Fig. 6, to form a modeling layer ML made of the modeling material, and then controls the second driving unit 212 to eject a support material from the second nozzle 60B while moving the second nozzle 60B along the second tool path, as shown in Fig. 7, to form a support layer SL made of the support material. After step S130, again in step S120, the control unit 300, for example, controls the first driving unit 211 to lower the stage 220 by the thickness of the modeling layer ML, and then controls the second driving unit 212 to eject a modeling material from the first nozzle 60A while moving the first nozzle 60A along the first tool path, as shown in Fig. 8, to form a modeling layer ML on the support layer SL and the modeling layer ML.

[0042] The control unit 300 repeats steps S120 and S130 to stack the modeling layers ML and the support layers SL to model a three-dimensional object OB. After the three-dimensional modeling process is completed, the product portion formed by the modeling layer ML and the support portion formed by the support layer SL are separated from each other in the three-dimensional object OB.

[0043] The more the number of times the three-dimensional modeling process is performed, the greater the degree of deterioration of the first nozzle 60A and the second nozzle 60B. When the degree of deterioration of the first nozzle 60A and the second nozzle 60B reaches a predetermined degree of deterioration, there is a possibility that the three-dimensional modeled object OB cannot be modeled with good dimensional accuracy, so the first nozzle 60A and the second nozzle 60B are replaced. When the first nozzle 60A and the second nozzle 60B are replaced, the relative position of the second nozzle 60B to the first nozzle 60A may be shifted due to an attachment error of the first nozzle 60A and the second nozzle 60B. When the relative position of the second nozzle 60B to the first nozzle 60A is shifted, the shape of the modeling layer ML may be deformed by the second nozzle 60B coming into contact with the modeling layer ML during the three-dimensional modeling process, or the relative position of the support layer SL to the modeling layer ML may be shifted, so that the support layer SL cannot support the modeling layer ML, resulting in the shape of the modeling layer ML being deformed. In the manufacturing method of the three-dimensional object OB of this embodiment, when at least one of the first nozzle 60A and the second nozzle 60B is replaced, the relative position of the second nozzle 60B with respect to the first nozzle 60A can be adjusted by performing a calibration process prior to the three-dimensional modeling process.

[0044] Fig. 9 is a flowchart showing the contents of the calibration process of this embodiment. Fig. 10 is a top view showing a calibration object CM1 that is formed according to the calibration-purpose modeling data for a low-temperature material in the calibration process of this embodiment. Fig. 11 is a cross-sectional view taken along line XI-XI in Fig. 10. Fig. 12 is a top view showing a calibration object CM2 that is formed according to the calibration-purpose modeling data for a high-temperature material in the calibration process of this embodiment. The calibration process may also be called a calibration process.

[0045] 9, the calibration process is started when the control unit 300 receives a predetermined operation from the user. This process is started, for example, when a calibration process start button displayed on the operation panel 120 is tapped.

[0046] First, in step S210, the control unit 300 reads material data indicating the type of the first material to be discharged from the first nozzle 60A and the type of the second material to be discharged from the second nozzle 60B. In this embodiment, the material data is pre-stored in the memory of the control unit 300. The control unit 300 reads the material data from the memory. The type of the first material and the type of the second material are input by the user via the operation panel 120, for example.

[0047] Next, in step S220, the control unit 300 acquires area data representing an area on the stage 220 for forming the calibration object CM1 shown in FIG. 10 or the calibration object CM2 shown in FIG. 12. The calibration objects CM1 and CM2 refer to three-dimensional objects used for calibrating the three-dimensional printing device 11. The calibration objects CM1 and CM2 are sometimes called calibration objects or calibration models. In this embodiment, the area on the stage 220 for forming the calibration objects CM1 and CM2 is specified by the user via the operation panel 120. The control unit 300 acquires area data representing the area on the stage 220 specified via the operation panel 120. Note that in other embodiments, the control unit 300 may form the calibration objects CM1 and CM2 in a predetermined area on the stage 220, instead of in the area specified by the user.

[0048] In step S230, the control unit 300 reads calibration-modeling data for forming the calibration objects CM1 and CM2. In this embodiment, calibration-modeling data for forming the calibration object CM1 using a low-temperature material having a melting temperature lower than a predetermined temperature, and calibration-modeling data for forming the calibration object CM2 using a high-temperature material having a melting temperature equal to or higher than a predetermined temperature are stored in advance in the memory of the control unit 300. The control unit 300 reads calibration-modeling data corresponding to the type of material represented in the material data read in step S210 from the memory. In this embodiment, when the calibration object CM1 is formed using a modeling material such as ABS resin or PLA, the control unit 300 reads calibration-modeling data for a low-temperature material. When the calibration object CM2 is formed using a modeling material such as polyetherimide (PEI) or a combination of nylon 12 and carbon fiber, the control unit 300 reads calibration-modeling data for a high-temperature material.

[0049] In step S240, the control unit 300 controls the first discharging unit 100A, the second discharging unit 100B, and the driving unit 210 in accordance with the calibration modeling data read in step S230, thereby modeling calibration models CM1 and CM2 in the area on the stage 220 represented in the area data.

[0050] 10, the calibration object CM1, which is formed in accordance with the calibration forming data for a low-temperature material, is configured in the shape of a rectangular frame when viewed from above. The calibration object CM1 has a left portion LP corresponding to the left side of the rectangle, a right portion RP corresponding to the right side of the rectangle, a front portion FP corresponding to the bottom side of the rectangle, and a rear portion BP corresponding to the top side of the rectangle.

[0051] In this embodiment, the left portion LP, the right portion RP, the front portion FP, and the rear portion BP each have five first portions P1, five second portions P2, one third portion P3, and one fourth portion P4. The number of first portions P1 provided in each portion LP, RP, FP, and BP is not limited to five, and may be, for example, two or more. The number of second portions P2 provided in each portion LP, RP, FP, and BP is not limited to five, and may be, for example, two or more. It is preferable that the number of first portions P1 and second portions P2 is the same.

[0052] In the following description, in order to indicate the affiliation of the first part P1, the second part P2, the third part P3, and the fourth part P4, the letters "left", "right", "front", or "rear" are added to the beginning of each name, and the letters "L", "R", "F", and "B" are added to the end of each reference number. For example, the first part P1 of the left part LP may be called the left first part P1L, the first part P1 of the right part RP may be called the right first part P1R, the second part P2 of the front part FP may be called the front second part P2F, and the second part P2 of the rear part BP may be called the rear second part P2B.

[0053] As described above, the left portion LP has five left first portions P1L, five left second portions P2L, one left third portion P3L, and one left fourth portion P4L. The five left first portions P1L are arranged side by side along the Y axis. Each left first portion P1L is configured in a straight line parallel to the Y axis. In this embodiment, each left first portion P1L is formed of one first material discharged in a linear form from the first nozzle 60A. The lengths of each left first portion P1L are the same as each other. The left first portion P1L is arranged in the -X direction as it approaches the -Y direction. The positions of adjacent left first portions P1L on the X axis differ by a predetermined distance. In this embodiment, the positions of adjacent left first portions P1L on the X axis differ by 0.05 millimeters. Note that, in other embodiments, the left first portions P1L may be arranged in the +X direction as it approaches the -Y direction. The positions of adjacent left first portions P1L on the X axis may differ by, for example, 0.10 mm instead of 0.05 mm.

[0054] The five left second portions P2L are arranged side by side along the Y axis. Each left second portion P2L is arranged in the +X direction relative to each left first portion P1L. Each left second portion P2L is parallel to the Y axis, in other words, is configured in a straight line parallel to each left first portion P1L. In this embodiment, each left second portion P2L is formed of one first material discharged in a linear form from the first nozzle 60A. The length of each left second portion P2L is the same as the length of each left first portion P1L. The five left second portions P2L are each arranged at a predetermined interval from the left first portion P1L that is located at the same position on the Y axis as the left second portion P2L itself. The size of the interval between the left second portion P2L and the left first portion P1L that is located at the same position on the Y axis is the same for all five. For example, the left second portion P2L disposed furthest in the +Y direction is disposed at a predetermined interval from the left first portion P1L disposed furthest in the +Y direction. The left second portion P2L disposed second from the +Y direction is disposed at a predetermined interval from the left first portion P1L disposed second from the +Y direction, and the size of the interval is the same as the size of the interval between the left second portion P2L disposed furthest in the +Y direction and the left first portion P1L disposed furthest in the +Y direction.

[0055] The left third portion P3L is disposed between each of the left first portions P1L and each of the left second portions P2L. The left third portion P3L is configured in a straight line parallel to the Y axis. In this embodiment, the left third portion P3L is formed of one second material discharged in a linear form from the second nozzle 60B. The length of the left third portion P3L is longer than the length of the left first portion P1L and the length of the left second portion P2L. The end portion of the left third portion P3L on the +Y direction side is disposed in the +Y direction relative to the end portion of the left first portion P1L on the +Y direction side of the left first portion P1L disposed furthest in the +Y direction among the five left first portions P1L. The end portion of the left third portion P3L on the -Y direction side is disposed in the -Y direction relative to the end portion of the left first portion P1L disposed furthest in the -Y direction among the five left first portions P1L.

[0056] The left fourth portion P4L is disposed in the +X direction relative to each of the left second portions P2L. The left fourth portion P4L is configured in a straight line parallel to the Y axis. In this embodiment, the left fourth portion P4L is formed of a single strand of the second material discharged in a linear form from the second nozzle 60B.

[0057] As described above, the right portion RP has the right first portion P1R, the right second portion P2R, the right third portion P3R, and the right fourth portion P4R. The right portion RP is configured symmetrically with the left portion LP. That is, the right first portion P1R is disposed in the +X direction toward the -Y direction, and the right second portion P2R is disposed in the +X direction toward the -Y direction. The right third portion P3R is disposed between each of the right first portions P1R and each of the right second portions P2R. The right fourth portion P4R is disposed in the -X direction with respect to each of the right second portions P2R.

[0058] As described above, the front portion FP has five front first portions P1F, five front second portions P2F, one front third portion P3F, and one front fourth portion P4F. The front portion FP has the same configuration as the left portion LP rotated 90 degrees counterclockwise when viewed from above downward. That is, the front first portion P1F, the front second portion P2F, the front third portion P3F, and the front fourth portion P4F are arranged parallel to the X axis. The front first portion P1F is arranged in the -Y direction toward the +X direction, and the front second portion P2F is arranged in the -Y direction toward the +X direction. The front third portion P3F is arranged between each front first portion P1F and each front second portion P2F. The front fourth portion P4F is arranged in the +Y direction with respect to each front second portion P2F.

[0059] As described above, the rear portion BP has the rear first portion P1B, the rear second portion P2B, the rear third portion P3B, and the rear fourth portion P4B. The rear portion BP is configured to be symmetrical with the front portion FP in the front-rear direction. That is, the rear first portion P1B is disposed in the +Y direction toward the +X direction, and the rear second portion P2B is disposed in the +Y direction toward the +X direction. The rear third portion P3B is disposed between each of the rear first portions P1B and each of the rear second portions P2B. The rear fourth portion P4B is disposed in the -Y direction with respect to each of the rear second portions P2B.

[0060] In this embodiment, the four third portions P3L, P3R, P3F, and P3B are configured in a square frame shape by connecting the ends of the third portions P3L, P3R, P3F, and P3B to each other. The four fourth portions P4L, P4R, P4F, and P4B are configured in a square frame shape by connecting the ends of the fourth portions P4L, P4R, P4F, and P4B to each other.

[0061] As shown in Fig. 11, in this embodiment, each of the first portion P1, the second portion P2, the third portion P3, and the fourth portion P4 is composed of one layer. In the following description, the interval between the first portion P1 and the third portion P3 arranged adjacent to each other is called the first interval W1, and the interval between the second portion P2 and the third portion P3 arranged adjacent to each other is called the second interval W2. In this embodiment, at the position of the left first portion P1L arranged most in the +Y direction, the position of the right first portion P1R arranged most in the +Y direction, the position of the front first portion P1F arranged most in the -X direction, and the position of the rear first portion P1B arranged most in the -X direction, the second tool path for forming the third portion P3 is provided between the first tool path for forming the first portion P1 and the first tool path for forming the second portion P2. Therefore, when there is no deviation in the relative positions of the nozzles 60A, 60B, the first interval W1 and the second interval W2 are equal at each of the above-mentioned positions.

[0062] As shown in FIG. 10, in this embodiment, in the area on the stage 220 represented in the area data, in addition to a calibration object CM1, an offset amount display object DM1, a unit display object DM2, and a material display object DM3 are formed.

[0063] The offset amount display object DM1 is disposed adjacent to the first portion P1. The shape of the offset amount display object DM1 represents the absolute value of the offset amount of the first portion P1 disposed adjacent to it. The offset amount of the first portion P1 means the amount of deviation of the first portion P1 from the reference position.

[0064] In the example shown in FIG. 10, the offset amount display object DM1 is disposed adjacent to the left first portion P1L and adjacent to the rear first portion P1B. The offset amount display object DM1 disposed adjacent to the left first portion P1L indicates the offset amount of each left first portion P1L on the X axis, with the position of the left first portion P1L disposed furthest in the +Y direction as the reference position. The offset amount of each left first portion P1L on the X axis corresponds to the amount of change in the position of the first nozzle 60A on the X axis when each left first portion P1L is formed. The offset amount display object DM1 disposed adjacent to the left first portion P1L indicates the numbers "0", "0.05", "0.1", "0.15", and "0.2" in order from the +Y direction.

[0065] The offset amount display object DM1 arranged adjacent to the rear first portion P1B indicates the offset amount of each rear first portion P1B on the Y axis, with the position of the rear first portion P1B arranged furthest in the -X direction as the reference position. The offset amount of each rear first portion P1B on the Y axis corresponds to the amount of change in the position of the first nozzle 60A on the Y axis when each rear first portion P1B is formed. The offset amount display object DM1 arranged adjacent to the rear first portion P1B indicates the numbers "0", "0.05", "0.1", "0.15", and "0.2" in order from the -X direction.

[0066] In this embodiment, the three-dimensional printing device 11 has, as operation modes, a metric mode in which length is represented according to the metric system, and an imperial mode in which length is represented according to the pound system. In the metric mode, the offset amount represented by the offset amount display object DM1 is represented according to the metric system, and in the imperial mode, the offset amount represented by the offset amount display object DM1 is represented according to the pound system.

[0067] The unit display object DM2 is placed near the offset amount display object DM1. The shape of the unit display object DM2 represents the unit of the offset amount, that is, the unit of the value represented by the offset amount display object DM1. In the example shown in FIG. 10, the shape of the unit display object DM2 represents the characters "mm." The characters "mm" represent that the unit of the value represented by the offset amount display object DM1 is millimeters. In the metric system mode, the unit represented by the unit display object DM2 is represented according to the metric system, and in the imperial system mode, the unit represented by the unit display object DM2 is represented according to the imperial system.

[0068] The shape of the material-indicating object DM3 represents the type of the first material and the type of the second material. In the example shown in Fig. 10, the shape of the material-indicating object DM3 represents the characters "ABS / HIPS." The characters "ABS / HIPS" represent that the type of the first material is ABS resin, and that the type of the second material is HIPS.

[0069] In this embodiment, the offset amount display object DM1, the unit display object DM2, and the material display object DM3 are made of a first material. Note that in other embodiments, at least one of the offset amount display object DM1, the unit display object DM2, and the material display object DM3 may be made of a second material.

[0070] Fig. 12 is a top view showing a calibration object CM2 printed in accordance with the calibration-printing data for a high-temperature material. The shape of the calibration object CM2 printed in accordance with the calibration-printing data for a high-temperature material differs from the shape of the calibration object CM1 printed in accordance with the calibration-printing data for a low-temperature material shown in Fig. 10. Specifically, the calibration object CM2 printed in accordance with the calibration-printing data for a high-temperature material differs from the calibration object CM1 printed in accordance with the calibration-printing data for a low-temperature material in that it does not have a right first portion P1R, a right second portion P2R, a right third portion P3R, a rear first portion P1B, a rear second portion P2B, or a rear third portion P3B.

[0071] In this embodiment, the size of the calibration object CM2 formed according to the calibration-forming data for the high-temperature material is larger than the size of the calibration object CM1 formed according to the calibration-forming data for the low-temperature material. Specifically, the length along the X-axis and the length along the Y-axis of the calibration object CM2 formed according to the calibration-forming data for the high-temperature material are longer than the length along the X-axis and the length along the Y-axis of the calibration object CM1 formed according to the calibration-forming data for the low-temperature material.

[0072] In this embodiment, in step S240 of Fig. 9, the control unit 300 forms the calibration objects CM1 and CM2, and then forms the offset amount display object DM1, the unit display object DM2, and the material display object DM3 in this order. Note that the order in which the calibration object CM1, the offset amount display object DM1, the unit display object DM2, and the material display object DM3 are formed is not limited to the order described above, and may be any order. For example, the calibration objects CM1 and CM2 may be formed after the offset amount display object DM1, the unit display object DM2, and the material display object DM3 have been formed in this order. The control unit 300 does not have to form at least one of the offset amount display object DM1, the unit display object DM2, and the material display object DM3 in the calibration process.

[0073] In this embodiment, when forming the calibration objects CM1 and CM2, the control unit 300 forms a first portion P1 and a second portion P2 in that order on the stage 220 by discharging a first material from the first nozzle 60A while moving the first discharging unit 100A and the second discharging unit 100B using the second driving unit 212, and then forms a third portion P3 and a fourth portion P4 in that order on the stage 220 by discharging a second material from the second nozzle 60B while moving the first discharging unit 100A and the second discharging unit 100B using the second driving unit 212. The control unit 300 makes the positions of the left first portion P1L, the left second portion P2L, the right first portion P1R, and the right second portion P2R on the X axis different from one another by using the second driving unit 212 to vary the position of the first nozzle 60A on the X axis when forming the left first portion P1L, the left second portion P2L, the right first portion P1R, and the right second portion P2R. The control unit 300 makes the positions of the left first portion P1L, the left second portion P2L, the right first portion P1R, and the right second portion P2R on the Y axis different from one another by using the second driving unit 212 to vary the position of the first nozzle 60A on the Y axis when forming the front first portion P1F, the front second portion P2F, the rear first portion P1B, and the rear second portion P2B. The order in which the first portion P1, the second portion P2, the third portion P3, and the fourth portion P4 are formed is not limited to the above-mentioned order, and may be any order. For example, the control unit 300 may form the fourth portion P4 after forming the third portion P3, and further form the first portion P1 and the second portion P2. Forming the first portion P1 and the second portion P2 by discharging the first material from the first nozzle 60A may be referred to as a first process, a first step of the calibration method of the three-dimensional printing device 11, or a step of the calibration step, and forming the third portion P3 by discharging the second material from the second nozzle 60B may be referred to as a second process, a second step of the calibration method of the three-dimensional printing device 11, or a second step of the calibration step.

[0074] As shown in FIG. 9, in step S250, the control unit 300 acquires the X correction value and the Y correction value. In this embodiment, the X correction value and the Y correction value are input to the operation panel 120 by the user. The X correction value and the Y correction value can be input to the operation panel 120 in units of 0.05 millimeters (0.002 inches). The control unit 300 acquires the X correction value and the Y correction value input to the operation panel 120. In this embodiment, the user first identifies the position where the absolute value of the difference between the first interval W1 and the second interval W2 on the X axis is minimum, and the position where the absolute value of the difference between the first interval W1 and the second interval W2 on the Y axis is minimum, by observing the calibration objects CM1 and CM2 using, for example, a magnifying glass. Next, the user refers to the offset amount displayed in the offset amount display object DM1 to grasp the offset amount of the first portion P1 on the X axis at the position where the absolute value of the difference between the first interval W1 and the second interval W2 on the X axis is the smallest, and the offset amount of the first portion P1 on the Y axis at the position where the absolute value of the difference between the first interval W1 and the second interval W2 on the Y axis is the smallest. After that, the user inputs a value obtained by multiplying the offset amount of the first portion P1 on the X axis at the identified position by "-1" into the operation panel 120 as the X correction value, and inputs a value obtained by multiplying the offset amount of the first portion P1 on the Y axis by "-1" into the operation panel 120 as the Y correction value.

[0075] In the example shown in FIG. 10, the position where the absolute value of the difference between the first interval W1 and the second interval W2 on the X axis is the position of the first left first portion P1L from the +Y direction among the five left first portions P1L. Since the value obtained by multiplying the offset amount of the first portion P1 on the X axis at the position of the first left first portion P1L from the +Y direction by "-1" is 0.00 millimeters, the user inputs 0.00 millimeters as the X correction value. The position where the absolute value of the difference between the first interval W1 and the second interval W2 on the Y axis is the position of the second rear first portion P1B from the -X direction among the five rear first portions P1B. Since the value obtained by multiplying the offset amount of the first portion P1 on the Y axis at the position of the first rear first portion P1B from the -X direction by "-1" is -0.05 millimeters, the user inputs -0.05 millimeters as the Y correction value.

[0076] In step S260, the control unit 300 determines whether the absolute value of the X correction value is less than a predetermined value and whether the absolute value of the Y correction value is less than a predetermined value. In this embodiment, the control unit 300 determines whether the absolute value of the X correction value is less than 0.05 millimeters (0.002 inches) and whether the absolute value of the Y correction value is less than 0.05 millimeters (0.002 inches).

[0077] If it is not determined in step S260 that the absolute value of the X correction value is less than the predetermined value and the absolute value of the Y correction value is not less than the predetermined value, the control unit 300 adjusts the relative position of the second nozzle 60B with respect to the first nozzle 60A in the X-axis and Y-axis according to the X correction value and the Y correction value in step S265. In this embodiment, the control unit 300 controls the third drive unit 213 to move the second discharge unit 100B parallel to the X-axis by a distance represented by the X correction value, thereby adjusting the relative position of the nozzles 60A, 60B in the X-axis. The control unit 300 controls the third drive unit 213 to move the second discharge unit 100B parallel to the Y-axis by a distance represented by the Y correction value, thereby adjusting the relative position of the nozzles 60A, 60B in the Y-axis. For example, when the X correction value is 0.00 millimeters and the Y correction value is −0.05 millimeters, the control unit 300 does not move the second discharge unit 100B parallel to the X axis, but moves it 0.05 millimeters in the −Y direction parallel to the Y axis. Note that adjusting the relative position of the second nozzle 60B with respect to the first nozzle 60A in accordance with the X correction value and the Y correction value may be referred to as a third process, a third step of the calibration method for the three-dimensional modeling device 11, or a third step of the calibration step.

[0078] When the relative positions of the nozzles 60A, 60B in the X-axis and Y-axis are adjusted in step S265, the control unit 300 returns to step S240, and again forms the calibration objects CM1, CM2 in accordance with the calibration forming data in order to check the degree of adjustment of the relative positions of the nozzles 60A, 60B in the X-axis and Y-axis. The control unit 300 repeats the process of step S265 and the processes of steps S240 to S260 until it is determined in step S260 that the absolute value of the X correction value is less than a predetermined value and that the absolute value of the Y correction value is less than a predetermined value. Note that, prior to the process of step S265, the calibration objects CM1, CM2 formed before the process of step S265 are preferably removed from the stage 220 by the user.

[0079] If it is determined in step S260 that the absolute value of the X correction value is less than the predetermined value and that the absolute value of the Y correction value is less than the predetermined value, the control unit 300 acquires the Z correction value in step S270. In this embodiment, the Z correction value is input to the operation panel 120 by the user. The control unit 300 acquires the Z correction value input to the operation panel 120. The user measures the thickness t4 of the fourth portion P4 of the calibration objects CM1 and CM2 using, for example, a caliper, and inputs the measured value of the thickness t4 of the fourth portion P4 as the Z correction value to the operation panel 120. In this embodiment, the Z correction value can be input in units of 0.01 millimeters (0.0005 inches).

[0080] In step S280, the control unit 300 determines whether the absolute value of the Z correction value is less than a predetermined value. In this embodiment, the control unit 300 determines whether the absolute value of the Z correction value is less than 0.01 millimeters (0.0005 inches).

[0081] If it is not determined in step S280 that the absolute value of the Z correction value is less than the predetermined value, the control unit 300 adjusts the position of the second discharge unit 100B relative to the stage 220 when the second material is discharged from the second nozzle 60B in step S282 so that the distance between the stage 220 and the tip of the first nozzle 60A when the first material is discharged from the first nozzle 60A and the thickness t4 of the fourth portion P4 are equal. In this embodiment, the control unit 300 adjusts the position of the second discharge unit 100B relative to the stage 220 when the second material is discharged from the second nozzle 60B by moving the second discharge unit 100B along the Z axis using the third driving unit 213. In addition, in another embodiment, the control unit 300 may adjust the position of the second ejection unit 100B relative to the stage 220 when ejecting the second material from the second nozzle 60B by causing the position of the stage 220 in the Z axis to differ between when the first material is ejected from the first nozzle 60A and when the second material is ejected from the second nozzle 60B using the first driving unit 211.

[0082] If it is determined in step S280 that the absolute value of the Z correction value is less than the predetermined value, in step S290, the control unit 300 stores the execution history data of the calibration process in memory. The execution history data of the calibration process includes the date and time when the calibration process was performed, the type of the first material represented in the material data, the type of the second material represented in the material data, the X correction value, the Y correction value, and the Z correction value. If the process of step S265 is performed multiple times, the X correction value represented in the execution history data is represented by the accumulated value of the X correction value obtained multiple times in step S250, and the Y correction value represented in the execution history data is represented by the accumulated value of the Y correction value obtained multiple times in step S250. Thereafter, the control unit 300 ends this process.

[0083] FIG. 13 is an explanatory diagram showing a work history display screen SC displayed on the operation panel 120. For example, when a user performs a predetermined operation on the operation panel 120, the control unit 300 displays the work history display screen SC on the operation panel 120. The work history display screen SC has columns for "Work Content", "Date and Time", "Material", "X Correction Value", "Y Correction Value", and "Z Correction Value" in order from the left. The "Work Content" column displays the work content performed on the three-dimensional modeling apparatus 11, such as a calibration process, a nozzle replacement operation for replacing the nozzles 60A and 60B, a stage replacement operation for replacing the stage 220, and a material replacement operation for replacing a material. The "Date and Time" column displays the date and time when the work was performed. The "Material" column displays the type of material stored in the material storage unit 20 when the work was performed. When a material replacement operation is performed, the "Material" column displays the type of material after replacement. The "X correction value", "Y correction value", and "Z correction value" columns show the X correction value, the Y correction value, and the Z correction value shown in the execution history data of the calibration process. Of the information to be displayed on the work history display screen SC, control unit 300 automatically acquires information that can be acquired automatically, and for information that cannot be acquired automatically, control unit 300 displays a screen on operation panel 120 requesting user input, and acquires the information input by the user.

[0084] In addition to the above information, the work history display screen SC may display information related to the nozzle replacement work and information related to the stage replacement work. For example, when a nozzle replacement work is performed, the type of the nozzles 60A, 60B after replacement may be displayed. When a stage replacement work is performed, the type of the stage 220 after replacement may be displayed.

[0085] In this embodiment, when each correction value represented in the execution history data of the latest calibration process deviates from each correction value represented in the execution history data of the previous calibration process by a predetermined value or more, the control unit 300 displays a warning message on the operation panel 120. Note that, in other embodiments, when each correction value represented in the execution history data of the latest calibration process deviates from the average value of each correction value represented in the execution history data of calibration processes executed within a predetermined period by a predetermined value or more, the control unit 300 may display a warning message on the operation panel 120.

[0086] According to the three-dimensional printing apparatus 11 of the present embodiment described above, the control unit 300 forms the calibration objects CM1 and CM2 in the calibration process. Using the calibration objects CM1 and CM2, the user can grasp whether there is a deviation in the relative positions of the nozzles 60A and 60B in the X-axis and Y-axis, and the X-correction value and the Y-correction value for adjusting the relative positions of the nozzles 60A and 60B. The control unit 300 adjusts the relative positions of the nozzles 60A and 60B according to the X-correction value and the Y-correction value input by the user to reduce the deviation. Therefore, even if there is a deviation in the relative positions of the nozzles 60A and 60B, by performing the calibration process prior to the three-dimensional printing process, it is possible to prevent the second nozzle 60B from coming into contact with the printing layer ML, which would cause the shape of the printing layer ML to be deformed, or the shape of the printing layer ML from being deformed due to a deviation in the relative position of the support layer SL with respect to the printing layer ML. Therefore, the three-dimensional object OB can be formed with good dimensional accuracy.

[0087] Furthermore, in this embodiment, the control unit 300 forms the calibration objects CM1, CM2 in an area on the stage 220 that is specified by the user. Therefore, the calibration objects CM1, CM2 can be formed at positions desired by the user. For example, with the calibration objects CM1, CM2 arranged on the stage 220, the calibration objects CM1, CM2 can be formed at a position where it is easy to identify the position where the first distance W1 and the second distance W2 are equal, or at a position where it is easy to remove the calibration objects CM1, CM2 from the printing space 111.

[0088] Furthermore, in this embodiment, the control unit 300 forms the calibration objects CM1 and CM2 that enable the user to grasp the X correction value and the Y correction value to be input to the operation panel 120 by specifying the position where the first interval W1 and the second interval W2 are equal. Therefore, the user can easily grasp the X correction value and the Y correction value to be input to the operation panel 120.

[0089] Furthermore, in this embodiment, the control unit 300 forms an offset amount display object DM1, which indicates the absolute value of the offset amount of the first portion P1, at a position adjacent to the first portion P1. In this embodiment, the offset amount of the first portion P1 multiplied by "-1" is the correction value, so the offset amount display object DM1 makes it easier for the user to recognize the X correction value and Y correction value to be input to the operation panel 120.

[0090] Furthermore, in this embodiment, the control unit 300 forms the unit indication object DM2 that indicates the unit of the offset amount, in addition to the calibration objects CM1 and CM2, so that input errors in the correction value due to erroneous recognition of the unit can be suppressed.

[0091] In addition, in this embodiment, the control unit 300 forms, together with the calibration objects CM1 and CM2, a material display object DM3 that represents the type of the first material and the type of the second material, making it easier for the user to recognize the type of the first material and the type of the second material.

[0092] Furthermore, in this embodiment, the control unit 300 forms the calibration object CM1 formed using a low-temperature material and the calibration object CM2 formed using a high-temperature material so that their shapes are different. This allows the calibration objects CM1 and CM2 to be formed in shapes that correspond to the type of material, and thus makes it possible to prevent the shapes of the calibration objects CM1 and CM2 from being distorted due to shrinkage when the material cools and contracts. In particular, in this embodiment, the size of the calibration object CM2 formed according to the calibration-forming data for the high-temperature material is larger than the size of the calibration object CM1 formed according to the calibration-forming data for the low-temperature material. This makes it possible to prevent the shape of the calibration object CM2 formed using a high-temperature material that shrinks more when the material cools and contracts than the low-temperature material from being distorted.

[0093] Furthermore, in this embodiment, the control unit 300 adjusts the position of the second nozzle 60B relative to the stage 220 so that the distance between the stage 220 and the first nozzle 60A when the first material is discharged from the first nozzle 60A is equal to the thickness t4 of the fourth portion P4. This reduces the difference between the thickness of the layer formed by the first material discharged from the first nozzle 60A and the thickness of the layer formed by the second material discharged from the second nozzle 60B, making it possible to form a three-dimensional object with good dimensional accuracy.

[0094] Moreover, in this embodiment, the control unit 300 stores the execution history data of the calibration process, and displays the information represented in the execution history data of the calibration process on the work history display screen SC. Therefore, when an abnormality occurs in the three-dimensional printing apparatus 11, the user can check whether the calibration process has been performed appropriately by referring to the work history display screen SC, which makes it easier to take measures against the abnormality in the three-dimensional printing apparatus 11. In particular, in this embodiment, when each correction value represented in the execution history data of the latest calibration process deviates from each correction value represented in the execution history data of the previous calibration process by a predetermined value or more, the control unit 300 displays a warning message on the operation panel 120, so that when an operational error occurs, the operational error can be easily noticed.

[0095] B. Second embodiment: 14 is a top view showing the configuration of a calibration object CM3 formed by a three-dimensional printing process in the second embodiment. In the three-dimensional printing apparatus 12 of the second embodiment, the shape of the calibration object CM3 formed by the calibration process executed by the control unit 300 is different from that in the first embodiment. The configuration of the three-dimensional printing apparatus 12, the content of the three-dimensional printing process, and the content of the calibration process are the same as those in the first embodiment unless otherwise specified.

[0096] 14 shows a calibration object CM3 that is formed in accordance with calibration modeling data for a low-temperature material. In this embodiment, the left first portion P1L, the left second portion P2L, the right first portion P1R, and the right second portion P2R of the calibration object CM3 are each configured as a single continuous straight line parallel to the Y axis. The front first portion P1F, the front second portion P2F, the rear first portion P1B, and the rear second portion P2B of the calibration object CM3 are each configured as a single continuous straight line parallel to the X axis. Ends of the first portions P1L, P1R, P1F, and P1B are connected to each other, and the four first portions P1L, P1R, P1F, and P1B are configured in the shape of a square frame. Ends of the second portions P2L, P2R, P2F, and P2B are connected to each other, and the four second portions P2L, P2R, P2F, and P2B are configured in a square frame shape. Although not shown in the drawings, in this embodiment, also in the calibration object that is modeled in accordance with the high-temperature calibration modeling data, the left first portion P1L and the left second portion P2L are each configured as a single continuous straight line parallel to the Y-axis, and the front first portion P1F and the front second portion P2F are each configured as a single continuous straight line parallel to the X-axis.

[0097] In this embodiment, when there is no misalignment of the relative positions between the nozzles 60A and 60B, the interval between the left first portion P1L and the left third portion P3L is equal to the interval between the left second portion P2L and the left third portion P3L, and the interval between the front first portion P1F and the front third portion P3F is equal to the interval between the front second portion P2F and the front third portion P3F. When there is a misalignment of the relative positions between the nozzles 60A and 60B on the X axis, the interval between the left first portion P1L and the left third portion P3L is different from the interval between the left second portion P2L and the left third portion P3L. When there is a misalignment of the relative positions between the nozzles 60A and 60B on the Y axis, the interval between the front first portion P1F and the front third portion P3F is different from the interval between the front second portion P2F and the front third portion P3F.

[0098] In this embodiment, in step S250 of the calibration process shown in FIG. 9, the control unit 300 acquires the X correction value and the Y correction value input by the user to the operation panel 120, as in the first embodiment. The user measures the interval between the left first portion P1L and the left third portion P3L and the interval between the left second portion P2L and the left third portion P3L, and calculates the difference between the interval between the left first portion P1L and the left third portion P3L and the interval between the left second portion P2L and the left third portion P3L. Furthermore, the user measures the interval between the front first portion P1F and the front third portion P3F and the interval between the front second portion P2F and the front third portion P3F, and calculates the difference between the interval between the front first portion P1F and the front third portion P3F and the interval between the front second portion P2F and the front third portion P3F. The user can measure each of the above-mentioned intervals using, for example, a vernier caliper. The user inputs into operation panel 120 the difference between the distance between the left first portion P1L and the left third portion P3L and the distance between the left second portion P2L and the left third portion P3L divided by "2" as the X correction value, and inputs into operation panel 120 the difference between the distance between the front first portion P1F and the front third portion P3F and the distance between the front second portion P2F and the front third portion P3F divided by "2" as the Y correction value.

[0099] According to the three-dimensional printing apparatus 12 in this embodiment described above, as in the first embodiment, the control unit 300 executes a calibration process to adjust the relative positions of the nozzles 60A, 60B, thereby reducing the deviation in the relative positions of the nozzles 60A, 60B.

[0100] C. Third embodiment: 15 is a front view showing a schematic configuration of a three-dimensional printing apparatus 13 in the third embodiment. The three-dimensional printing apparatus 13 in the third embodiment is different from the first embodiment in that it is provided with a measuring unit 500. The other configurations, the contents of the three-dimensional printing process, and the contents of the calibration process are the same as those in the first embodiment unless otherwise specified.

[0101] In this embodiment, the measurement unit 500 is fixed to the first discharge unit 100A. The measurement unit 500 measures the dimensions of the calibration objects CM1 and CM2. The measurement unit 500 is configured with a laser scanner, and measures the dimensions of the calibration objects CM1 and CM2 by scanning the calibration objects CM1 and CM2 with laser light. The measurement unit 500 is controlled by the control unit 300. Information on the dimensions of the calibration objects CM1 and CM2 measured by the measurement unit 500 is transmitted to the control unit 300. In another embodiment, the measurement unit 500 may be configured with a camera instead of a laser scanner. In this case, the control unit 300 can obtain the X correction value, the Y correction value, and the Z correction value by analyzing an image captured by the camera. The measurement unit 500 may be fixed to the second discharge unit 100B instead of the first discharge unit 100A, or may be provided separately from the first discharge unit 100A and the second discharge unit 100B.

[0102] In this embodiment, the control unit 300 acquires the X correction value and the Y correction value from the measurement unit 500 in step S250 of the calibration process shown in Fig. 9. The measurement unit 500 measures the first distance W1 and the second distance W2 between each part of the calibration objects CM1, CM2 by scanning the calibration objects CM1, CM2 with a laser beam, and calculates the X correction value and the Y correction value.

[0103] In step S270 of the calibration process, the control unit 300 acquires the Z correction value from the measurement unit 500. The measurement unit 500 measures the thickness t4 of the fourth portion P4 by scanning the fourth portion P4 of the calibration objects CM1 and CM2 with a laser beam, and calculates the Z correction value. The measurement unit 500 may be referred to as a first measurement unit or a second measurement unit. Also, a measurement unit that measures the first distance W1 and the second distance W2 and a measurement unit that measures the thickness t4 of the fourth portion P4 may be provided separately. In this case, the measurement unit that measures the first distance W1 and the second distance W2 is referred to as a first measurement unit, and the measurement unit that measures the thickness t4 of the fourth portion P4 is referred to as a second measurement unit.

[0104] According to the three-dimensional printing apparatus 13 in the present embodiment described above, as in the first embodiment, the control unit 300 executes a calibration process to adjust the relative positions of the nozzles 60A, 60B, thereby reducing the deviation in the relative positions of the nozzles 60A, 60B. In particular, in the present embodiment, the measurement unit 500 calculates each correction value, and the control unit 300 acquires each correction value from the measurement unit 500. This eliminates the need for the user to calculate and input each correction value, and also eliminates the possibility of inputting an incorrect correction value due to human error. Note that in the three-dimensional printing apparatus 14 in the present embodiment, the control unit 300 may print the calibration object CM3 of the second embodiment.

[0105] Furthermore, in this embodiment, the control unit 300 automatically repeats the formation of the calibration objects CM1, CM2, the measurement of the calibration objects CM1, CM2 by the measurement unit 500, and the adjustment of the relative positions of the nozzles 60A, 60B, thereby reliably reducing the deviation in the relative positions of the nozzles 60A, 60B.

[0106] D. Fourth embodiment: 16 is an explanatory diagram showing a schematic configuration of a three-dimensional modeling apparatus 14 in the fourth embodiment. In the three-dimensional modeling apparatus 14 in the fourth embodiment, the configurations of the first discharge unit 101A and the second discharge unit 100B are different from those of the first discharge unit 100A and the second discharge unit 100B in the first embodiment. The other configurations, the contents of the three-dimensional modeling process, and the contents of the calibration process are the same as those in the first embodiment unless otherwise specified. Therefore, the configurations of the discharge units 101A and 101B will be mainly described.

[0107] The three-dimensional modeling apparatus 14 of this embodiment includes a housing 110, an operation panel 120, a first discharge unit 101A, a second discharge unit 101B, a drive unit 210, a stage 220, and a control unit 300. The configuration of the second discharge unit 101B is the same as the configuration of the first discharge unit 101A. In the following description, when the first discharge unit 101A and the second discharge unit 101B are not particularly distinguished from each other, they are simply referred to as discharge units 101.

[0108] In this embodiment, a first discharge unit 101A, a second discharge unit 101B, and a stage 220 are housed in a printing space 111 inside the housing 110. The three-dimensional printing device 14 further includes two blowers 16A and 16B. The blower 16A is configured as a blower that blows air toward the first discharge unit 101A via a manifold 17A, and the blower 16B is configured as a blower that blows air toward the second discharge unit 101B via a manifold 17B.

[0109] In this embodiment, the material storage section 21A that stores the first material is disposed away from the first discharge section 100A, and the material storage section 21B that stores the second material is disposed away from the second discharge section 100B. Each of the material storage sections 21A and 21B is fixed to the housing 110. The material storage sections 21A and 21B are configured as holders that store filament-like materials. The material storage sections 21 and 21B are configured to be able to unwind the material stored therein to the outside of the material storage sections 21A and 21B.

[0110] FIG. 17 is an explanatory diagram showing a schematic configuration of the discharge unit 101 of this embodiment. The discharge unit 101 includes a heating block 190 as a plasticizing mechanism having a heater and provided with a mounting hole 180, a nozzle 160 detachably attached to the mounting hole 180, and a material conveying mechanism 140 that conveys the material MF toward the nozzle flow path 161 of the nozzle 160 attached to the heating block 190. The discharge unit 101 is disposed between the material conveying mechanism 140 and the heating block 190 in the Z axis, and further includes a shield 168 that suppresses heat transfer from the heating block 190 to the material conveying mechanism 140. In this embodiment, unlike the first embodiment, the material conveying mechanism 140 does not include a screw case 31 or a flat screw 41, and is composed of two wheels 149. Unlike the first embodiment, the heating block 190 does not include a barrel 50 or a case portion 91. The heating block 190 has a built-in heater (not shown).

[0111] The nozzle 160 of this embodiment is attached to the heating block 190 by being inserted from the -Z direction through the mounting hole 180 and the shield opening 169 provided in the shield 168. That is, in this embodiment, the length of the nozzle 160 along the Z axis and the length of the nozzle flow path 161 along the Z axis are longer than the length of the mounting hole 180 along the Z axis. Therefore, in this embodiment, the inlet 165 provided at the rear end of the nozzle 160 is located in the +Z direction with respect to the heating block 190, more specifically, with respect to the shield 168.

[0112] The two wheels 149 constituting the material transport mechanism 140 rotate to draw the material MF in the material storage unit 21 to the outside and guide it between the two wheels 149, and transport it toward the nozzle flow path 161 of the nozzle 160. The heating block 190 plasticizes the material MF transported into the nozzle flow path 161 by heat from a heater (not shown) built into the heating block 190.

[0113] In this embodiment, the material MF is cooled near the inlet 165 of the nozzle 160 by air sent from the blower 16 via the manifold 17. This suppresses plasticization of the material MF near the inlet 165, and the material MF is efficiently transported into the inlet 165. The outlet end 18 of the manifold 17 is located in the +Z direction with respect to the shield 168. This makes it easier for the air sent out from the manifold 17 to be guided near the inlet 165 by the shield 168, so that the material MF near the inlet 165 is efficiently cooled.

[0114] According to the three-dimensional modeling apparatus 14 in the present embodiment described above, similarly to the first embodiment, the control unit 300 executes a calibration process to adjust the relative positions of the nozzles 160A, 160B, thereby reducing the deviation in the relative positions of the nozzles 160A, 160B. Note that in the three-dimensional modeling apparatus 14 of the present embodiment, the control unit 300 may execute the calibration process of the second embodiment. Also, similarly to the third embodiment, the three-dimensional modeling apparatus 14 may include a measuring unit 500, and the control unit 300 may execute the calibration process of the third embodiment.

[0115] E. Other embodiments: (E1) In the three-dimensional modeling apparatuses 11 to 14 of the above-described embodiments, the control unit 300 adjusts the relative position of the second nozzles 60B, 160B to the first nozzles 60A, 160A by moving the second discharge units 100B, 101B in the calibration process. In contrast, the control unit 300 may adjust the relative position of the second nozzles 60B, 160B to the first nozzles 60A, 160A by moving the first discharge units 100A, 101A instead of the second discharge units 100B, 101B in the calibration process, or may adjust the relative position of the second nozzles 60B, 160B to the first nozzles 60A, 160A by moving both the first discharge units 100A, 101A and the second discharge units 100B, 101B.

[0116] (E2) In the three-dimensional modeling apparatuses 11 to 14 of the above-described embodiments, the control unit 300 may form, in the calibration process, a model representing at least one of the types of the first nozzles 60A, 160A attached to the first discharge units 100A, 101A and the types of the second nozzles 60B, 160B attached to the second discharge units 100B, 101B, together with the calibration objects CM1 to CM3. The control unit 300 may acquire information on the types of the nozzles 60A, 60B, 160A, 160B input in advance by the user, for example. In this case, it is possible to make the user easily recognize the types of the nozzles 60A, 60B, 160A, 160B attached to the discharge units 100A, 100B, 101A, 101B.

[0117] (E3) In the three-dimensional printing devices 11 to 14 in each of the above-described embodiments, the length along the X axis and the length along the Y axis of the calibration object CM2 that the control unit 300 prints in accordance with the calibration printing data for a high-temperature material are longer than the length along the X axis and the length along the Y axis of the calibration object CM1 that the control unit 300 prints in accordance with the calibration printing data for a low-temperature material. In contrast, the length along the X axis and the length along the Y axis of the calibration object CM2 that the control unit 300 prints in accordance with the calibration printing data for a high-temperature material may be the same as the length along the X axis and the length along the Y axis of the calibration object CM1 that the control unit 300 prints in accordance with the calibration printing data for a low-temperature material. In addition, the control unit 300 does not need to use different calibration printing data when a low-temperature material is used and when a high-temperature material is used. In other words, a calibration object having the same shape may be printed when a low-temperature material is used and when a high-temperature material is used.

[0118] (E4) In the three-dimensional printing apparatuses 11, 13, and 14 of the first, third, and fourth embodiments described above, the control unit 300 forms the calibration objects CM1 and CM2 having a plurality of first portions P1 arranged offset from one another, a plurality of second portions P2 arranged offset from one another, and a third portion P3 arranged on a straight line between each of the first portions P1 and each of the second portions P2. In contrast, the control unit 300 may form a calibration object having a plurality of first portions P1 arranged on a straight line, a plurality of second portions P2 arranged on a straight line, and a plurality of third portions P3 arranged offset from one another between the first portions P1 and the second portions P2. Furthermore, the offset amount display object DM1 may indicate the offset of the third portion P3. In this case, the user can also determine the correction value to be input by determining the position where the distance between the first portion P1 and the third portion P3 is equal to the distance between the second portion P2 and the third portion P3.

[0119] (E5) In the three-dimensional modeling apparatuses 11 to 14 of the above-described embodiments, the control unit 300 adjusts the relative position of the second nozzles 60B, 160B in the Z axis with respect to the first nozzles 60A, 160A in the calibration process. In contrast, the control unit 300 does not need to adjust the relative position of the second nozzles 60B, 160B in the Z axis with respect to the first nozzles 60A, 160A in the calibration process.

[0120] (E6) In the 3D modeling apparatuses 11 to 14 of the above-mentioned embodiments, the control unit 300 stores execution history data of the calibration process. In contrast, the control unit 300 does not need to store execution history data of the calibration process. In this case, the calibration process can be simplified.

[0121] F. Other forms: The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various forms without departing from the spirit of the present disclosure. For example, the present disclosure can be realized in the following forms. The technical features in the above-mentioned embodiments corresponding to the technical features in each form described below can be appropriately replaced or combined in order to solve some or all of the problems of the present disclosure, or to achieve some or all of the effects of the present disclosure. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

[0122] (1) According to a first aspect of the present disclosure, there is provided a three-dimensional printing apparatus, the three-dimensional printing apparatus including a first discharging unit discharging a first material toward a stage, a second discharging unit discharging a second material toward the stage, a driving unit moving each of the first and second discharging units relative to the stage, and a control unit controlling the first and second discharging units, and the driving unit. The control unit executes a calibration process including a first process for forming linear first and second parts that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharging unit, a second process for forming linear third part that is between the first and second parts of the calibration object by discharging the second material from the second discharging unit, and a third process for adjusting a relative position of the second discharging unit with respect to the first discharging unit by controlling the driving unit according to a correction value acquired based on a relative position of the third part with respect to the first and second parts. When the third process is executed in the calibration process, the control unit executes the first process and the second process again. According to the three-dimensional modeling device of this embodiment, even if the relative position of the second discharge unit with respect to the first discharge unit is shifted, the relative position of the second discharge unit with respect to the first discharge unit can be adjusted by the calibration process, and therefore a three-dimensional object can be formed with good dimensional accuracy.

[0123] (2) In the three-dimensional printing apparatus of the above aspect, the control unit may, in the calibration process, print the calibration object in an area on the stage that is designated by a user. According to the three-dimensional printing apparatus of this aspect, it is possible to print a calibration object at a position desired by the user.

[0124] (3) In the three-dimensional printing apparatus of the above-mentioned form, the calibration object has a plurality of first parts and second parts arranged in a line along a first axis parallel to the first parts and the second parts, and the control unit, when printing the plurality of first parts and second parts, changes the position of the first ejection unit on a second axis perpendicular to the first axis and parallel to the stage, for each of the first and second parts, and the correction value may be a value corresponding to the amount of change in the position of the first ejection unit on the second axis when the difference between the spacing between the first part and the third part and the spacing between the second part and the third part is minimum. According to the three-dimensional modeling apparatus of this aspect, the value corresponding to the amount of change in the position of the first discharge unit can be used as the correction value.

[0125] (4) In the three-dimensional printing apparatus of the above aspect, the control unit may, prior to the third process, print a model representing an amount of change in position of the first extrusion part when each of the first and second parts is printed, at a position corresponding to each of the first and second parts. According to the three-dimensional modeling apparatus of this aspect, it is possible to allow the user to easily recognize the amount of change in the position of the first discharge unit.

[0126] (5) In the three-dimensional printing apparatus of the above-mentioned form, the calibration object has a plurality of the third parts arranged in a line along a first axis parallel to the first part and the second part, and the control unit, when printing the plurality of the third parts, changes the position of the second ejection unit on a second axis perpendicular to the first axis and parallel to the stage, for each of the third parts, and the correction value may be a value corresponding to the amount of change in the position of the second ejection unit on the second axis when the difference between the spacing between the first part and the third part and the spacing between the second part and the third part is minimum. According to the three-dimensional modeling apparatus of this aspect, the value corresponding to the amount of change in the position of the second discharge unit can be used as the correction value.

[0127] (6) In the three-dimensional printing apparatus of the above aspect, the control unit may, prior to the third process, print an object representing an amount of change in position of the second discharging unit when each of the third portions is printed, at a position corresponding to each of the third portions. According to the three-dimensional modeling apparatus of this aspect, it is possible to allow the user to easily recognize the amount of change in the position of the second discharge unit.

[0128] (7) In the three-dimensional printing apparatus of the above aspect, the control unit may form a model that represents a unit of the correction value prior to the third process. According to the three-dimensional printing apparatus of this aspect, it is possible to suppress a user from misunderstanding the unit of the correction value.

[0129] (8) In the three-dimensional printing apparatus of the above aspect, the control unit may form a modeled object representing at least one of the first material type and the second material type prior to the third process. According to the three-dimensional modeling apparatus of this embodiment, it is possible to allow the user to easily recognize the type of material.

[0130] (9) In the three-dimensional printing apparatus of the above aspect, the control unit may change a shape of the calibration object depending on the type of the first material or the type of the second material. According to the three-dimensional printing apparatus of this aspect, by forming the shape of the calibration object in a shape that matches the type of material, it is possible to prevent the shape of the calibration object from collapsing when the material cools and shrinks.

[0131] (10) In the three-dimensional printing apparatus of the above-described embodiment, the control unit may, when at least one of the melting temperature of the first material and the melting temperature of the second material exceeds a predetermined temperature, print the calibration object having a larger shape than when at least one of the melting temperature of the first material and the melting temperature of the second material is below said temperature. According to the three-dimensional printing apparatus of this aspect, it is possible to prevent the shape of the calibration object from being distorted when the material cools and shrinks.

[0132] (11) In the three-dimensional printing apparatus of the above aspect, the control unit may, prior to the third process, form a modeled object representing at least one of a type of a first nozzle attached to the first discharging unit for discharging the first material and a type of a second nozzle attached to the second discharging unit for discharging the second material. According to the three-dimensional modeling apparatus of this aspect, it is possible to allow the user to easily recognize the type of nozzle.

[0133] (12) In the three-dimensional printing apparatus of the above aspect, the control unit may store an execution history indicating that the calibration process has been executed. According to the three-dimensional printing apparatus of this aspect, when an abnormality occurs in the three-dimensional printing apparatus, it is possible to check the execution history of the calibration process.

[0134] (13) In the three-dimensional printing apparatus of the above aspect, a first measurement unit may be provided that acquires a relative position of the third portion with respect to the first portion and the second portion, and the control unit may acquire the correction value from the first measurement unit. According to this embodiment of the three-dimensional printing device, the control unit automatically acquires the correction value from the first measurement unit, thereby reducing the burden on the user compared to an embodiment in which the control unit acquires the correction value input by the user.

[0135] (14) In the three-dimensional printing apparatus of the above aspect, the control unit may repeat printing the calibration object and obtaining the correction value from the first measurement unit in the calibration process until the correction value becomes equal to or less than a predetermined value. According to the three-dimensional printing apparatus of this aspect, the control unit automatically repeats printing of the calibration object and measurement by the first measurement unit, so that the burden on the user can be reduced.

[0136] (15) In the three-dimensional printing apparatus of the above-mentioned form, a second measurement unit is provided which measures a thickness of the calibration object, the calibration object having a fourth portion formed by the second material ejected from the second ejection unit, and the control unit may measure the thickness of the fourth portion using the second measurement unit after the correction value becomes equal to or less than a predetermined value during the calibration process, and adjust the position of the second ejection unit relative to the stage so that the distance between the stage and the first ejection unit when ejecting the first material is equal to the thickness of the fourth portion. According to this embodiment of the three-dimensional modeling device, the difference between the thickness of the layer formed by the first material discharged from the first discharge section and the thickness of the layer formed by the second material discharged from the second discharge section can be reduced, so that a three-dimensional object can be formed with good dimensional accuracy.

[0137] (16) According to a second aspect of the present disclosure, there is provided a method for calibrating a three-dimensional printing device including a first discharger that discharges a first material toward a stage and a second discharger that discharges a second material toward the stage. The method for calibrating a three-dimensional printing device includes a first step of forming a linear first portion and a linear second portion that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharger, a second step of forming a linear third portion of the calibration object that is between the first portion and the second portion by discharging the second material from the second discharger, and a third step of adjusting a relative position of the second discharger with respect to the first discharger in accordance with a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion. When the third step has been performed, the first step and the second step are performed again. According to the method for calibrating a three-dimensional modeling device of this embodiment, even if a deviation occurs in the relative position of the second discharge unit with respect to the first discharge unit, the relative position of the second discharge unit with respect to the first discharge unit can be adjusted, and therefore a three-dimensional object can be formed with good dimensional accuracy.

[0138] (17) According to a third aspect of the present disclosure, there is provided a method for manufacturing a three-dimensional object. The method for manufacturing a three-dimensional object includes a modeling step of forming the three-dimensional object using a first discharge unit that discharges a first material toward a stage and a second discharge unit that discharges a second material toward the stage, and a calibration step of adjusting a relative position of the second discharge unit with respect to the first discharge unit prior to the modeling step. The calibration step includes a first step of forming linear first and second parts that are parallel to the stage and parallel to each other of a calibration object to be formed on the stage by discharging the first material from the first discharge unit, a second step of forming linear third part that is between the first and second parts of the calibration object by discharging the second material from the second discharge unit, and a third step of adjusting the relative position of the second discharge unit with respect to the first discharge unit in accordance with a correction value acquired based on the relative position of the third part with respect to the first and second parts. In the calibration process, when the third step is executed, the first step and the second step are executed again. According to the manufacturing method of the three-dimensional object of this aspect, even if the relative position of the second discharge part with respect to the first discharge part is shifted, the relative position of the second discharge part with respect to the first discharge part can be adjusted by the calibration process, and therefore the three-dimensional object can be formed with good dimensional accuracy in the modeling process.

[0139] The present disclosure may be realized in various forms other than a three-dimensional printing apparatus, for example, a calibration method for a three-dimensional printing apparatus, a manufacturing method for a three-dimensional object, or the like. [Explanation of symbols]

[0140] Reference Signs List 11 to 14: three-dimensional modeling apparatus, 20: material storage section, 30: plasticizing mechanism, 31: screw case, 32: drive motor, 40: material transport mechanism, 41: flat screw, 50: barrel, 56: communication hole, 58: heater, 60A: first nozzle, 60B: second nozzle, 90: heating block, 91: case section, 100A: first discharge section, 100B: second discharge section, 110: housing, 120: operation panel, 210: drive section, 220: stage, 300: control section, 500: measurement section

Claims

1. A three-dimensional modeling apparatus, a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second portions of the calibration object to be formed on the stage, the linear first and second portions being arranged parallel to the stage and parallel to each other, by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; the calibration object has a plurality of first portions and a plurality of second portions arranged side by side along a first axis parallel to the first portions and the second portions; the control unit, when forming the plurality of first portions and the plurality of second portions, changes a position of the first discharge unit in a second axis that is perpendicular to the first axis and parallel to the stage, for each of the first portions and the second portions; A three-dimensional printing device, wherein the correction value is a value corresponding to an amount of change in the position of the first discharge portion on the second axis when a difference between the spacing between the first portion and the third portion and the spacing between the second portion and the third portion is minimized.

2. The three-dimensional modeling apparatus according to claim 1 , The control unit, prior to the third process, forms a model representing an amount of change in the position of the first discharge unit when each of the first and second portions is formed, at a position corresponding to each of the first and second portions.

3. A three-dimensional modeling apparatus, comprising: a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second portions of the calibration object to be formed on the stage, the linear first and second portions being arranged parallel to the stage and parallel to each other, by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; the calibration object has a plurality of third portions arranged side by side along a first axis parallel to the first portions and the second portions; the control unit, when forming the plurality of third portions, changes a position of the second discharge unit in a second axis that is perpendicular to the first axis and parallel to the stage, for each of the third portions; the correction value is a value corresponding to an amount of change in a position of the second ejection portion on the second axis when a difference between a distance between the first portion and the third portion and a distance between the second portion and the third portion becomes minimum, The control unit, prior to the third process, forms a model representing an amount of change in the position of the second discharging unit when each of the third portions is formed, at a position corresponding to each of the third portions.

4. A three-dimensional modeling apparatus, comprising: a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second portions of the calibration object to be formed on the stage, the linear first and second portions being arranged parallel to the stage and parallel to each other, by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; The control unit of the three-dimensional printing device forms, prior to the third process, a modeled object representing at least one of the unit of the correction value, the type of the first material, the type of the second material, the type of a first nozzle that is attached to the first discharging unit and discharging the first material, and the type of a second nozzle that is attached to the second discharging unit and discharging the second material.

5. A three-dimensional modeling apparatus, comprising: a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second portions of the calibration object to be formed on the stage, the linear first and second portions being arranged parallel to the stage and parallel to each other, by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; The control unit changes a shape of the calibration object depending on the type of the first material or the type of the second material.

6. A three-dimensional modeling apparatus, a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second portions of the calibration object to be formed on the stage, the linear first and second portions being arranged parallel to the stage and parallel to each other, by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; The control unit, when at least one of the melting temperature of the first material and the melting temperature of the second material exceeds a predetermined temperature, forms the calibration object having a larger shape than when at least one of the melting temperature of the first material and the melting temperature of the second material is below a predetermined temperature.

7. A three-dimensional modeling apparatus, a first discharge unit that discharges a first material toward the stage; a second discharge unit that discharges a second material toward the stage; a drive unit that moves each of the first discharge unit and the second discharge unit relative to the stage; a control unit that controls the first ejection unit, the second ejection unit, and the drive unit; Equipped with The control unit is a first process for forming linear first and second parts, the linear first and second parts being arranged parallel to the stage and parallel to each other, of the calibration object to be formed on the stage by discharging the first material from the first discharging unit; a second process of forming a linear third portion of the calibration object that is disposed between the first portion and the second portion by discharging the second material from the second discharging unit; a third process of adjusting a relative position of the second ejection unit with respect to the first ejection unit by controlling the drive unit according to a correction value acquired based on a relative position of the third portion with respect to the first portion and the second portion; and performing a calibration process having the following steps: When the third process is executed in the calibration process, the control unit executes the first process and the second process again; a second measuring unit for measuring a thickness of the calibration object, the calibration object has a fourth portion formed by the second material discharged from the second discharging portion, The control unit, in the calibration process, After the correction value becomes equal to or smaller than a predetermined value, the second measuring unit measures a thickness of the fourth portion; a position of the second discharge unit relative to the stage is adjusted so that a distance between the stage and the first discharge unit when the first material is discharged is equal to a thickness of the fourth portion.

8. The three-dimensional modeling apparatus according to any one of claims 1 to 7, The control unit is configured to form the calibration object in an area on the stage that is designated by a user in the calibration process.

9. The three-dimensional modeling apparatus according to any one of claims 1 to 8, The control unit stores an execution history indicating that the calibration process has been executed.

10. The three-dimensional modeling apparatus according to any one of claims 1 to 9, a first measurement unit configured to acquire a relative position of the third portion with respect to the first portion and the second portion; The control unit obtains the correction value from the first measurement unit.

11. The three-dimensional modeling apparatus according to claim 10, The control unit repeats, in the calibration process, printing of the calibration object and acquisition of the correction value from the first measurement unit until the correction value becomes equal to or less than a predetermined value.

12. 1. A method for calibrating a three-dimensional modeling apparatus including a first discharge unit that discharges a first material toward a stage and a second discharge unit that discharges a second material toward the stage, comprising: a first step of forming linear first and second parts, the linear first and second parts being arranged parallel to the stage and parallel to each other, of the calibration object to be formed on the stage by discharging the first material from the first discharging unit; a second step of forming a linear third portion of the calibration object, the linear third portion being disposed between the first portion and the second portion, by discharging the second material from the second discharging unit; a third step of adjusting a relative position of the second ejection unit with respect to the first ejection unit in accordance with a correction value obtained based on a relative position of the third portion with respect to the first portion and the second portion; having When the third step is performed, the first step and the second step are performed again; the calibration object has a plurality of first portions and a plurality of second portions arranged side by side along a first axis parallel to the first portions and the second portions; In the first step, when forming the plurality of first portions and the plurality of second portions, a position of the first discharge portion in a second axis perpendicular to the first axis and parallel to the stage is changed for each of the first portions and the second portions; A method for calibrating a three-dimensional printing device, wherein the correction value is a value corresponding to an amount of change in the position of the first discharge portion on the second axis when a difference between the spacing between the first portion and the third portion and the spacing between the second portion and the third portion is minimized.

13. A method for manufacturing a three-dimensional object, comprising the steps of: a modeling process of modeling the three-dimensional object using a first discharge unit that discharges a first material toward a stage and a second discharge unit that discharges a second material toward the stage; a calibration process of adjusting a relative position of the second discharge unit with respect to the first discharge unit prior to the modeling process; having The calibration step includes: a first step of forming linear first and second parts, the linear first and second parts being arranged parallel to the stage and parallel to each other, of the calibration object to be formed on the stage by discharging the first material from the first discharging unit; a second step of forming a linear third portion of the calibration object, the linear third portion being disposed between the first portion and the second portion, by discharging the second material from the second discharging unit; and a third step of adjusting a relative position of the second ejection unit with respect to the first ejection unit in accordance with a correction value obtained based on a relative position of the third portion with respect to the first portion and the second portion, In the calibration step, when the third step is executed, the first step and the second step are executed again; the calibration object has a plurality of first portions and a plurality of second portions arranged side by side along a first axis parallel to the first portions and the second portions; In the first step, when forming the plurality of first portions and the plurality of second portions, a position of the first discharge portion in a second axis perpendicular to the first axis and parallel to the stage is changed for each of the first portions and the second portions; A method for manufacturing a three-dimensional object, wherein the correction value is a value corresponding to the amount of change in the position of the first discharge portion on the second axis when the difference between the spacing between the first portion and the third portion and the spacing between the second portion and the third portion is minimum.

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