Control device and 3D modeling device

Abstract

To provide a control apparatus capable of suppressing a decrease in interlaminar strength between molding layers laminated by a three-dimensional molding device.SOLUTION: A control apparatus includes: a stage; a discharge part that discharges a molding material; a processor that controls a three-dimensional molding device that includes a move part that relatively moves the stage and the discharge part; and a storage part that stores molding path information and correspondence information. The molding path information is information indicating a molding path of each of N molding layers. The correspondence information is information in which overlap degree information indicating a degree of overlap among the molding paths and speed information indicating a relative movement speed of the discharge part with respect to the stage are associated with each other. The processor performs molding control to mold a three-dimensional molding object by laminating N molding layers, and the molding control includes movement speed control to determine the movement speed when forming each of the N molding layers through the discharge part based on the molding path information and the corresponding information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to a control device and a three-dimensional shaping device.

Background Art

[0002] Research and development have been conducted on a three-dimensional shaping device that shapes a three-dimensional object by laminating a shaping material in which at least a part is melted. Here, for example, the three-dimensional shaping device discharges a shaping material onto a stage and laminates N shaping layers formed by the discharged shaping material on the stage to shape one three-dimensional object.

[0003] Regarding this, Patent Document 1 discloses a three-dimensional shaping device that laminates the nth layer in a direction different from the direction of the shaping path of the (n - 1)th layer when laminating the nth layer on the (n - 1)th layer. Here, N is an integer of 1 or more. Also, n is any integer from 1 to N. Further, the nth layer refers to the nth shaping layer among the N shaping layers.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when the three-dimensional shaping device forms the shaping path of the nth layer along a direction different from the direction of the shaping path of the (n - 1)th layer, there are cases where the nth layer cannot be fixed on the (n - 1)th layer.

Means for Solving the Problems

[0006] To solve the above problems, one aspect of the present invention provides a control device comprising: a processor for controlling a three-dimensional molding apparatus comprising: a stage; an ejection unit for ejecting molding material onto the stage; and a moving unit for relatively moving the stage and the ejection unit; and a storage unit storing molding path information and correspondence information, wherein the molding path information is information indicating the molding path for each of the N molding layers formed by the molding material ejected from the ejection unit, where N is an integer of 1 or more; the correspondence information is information associated with overlap degree information indicating the degree of overlap of the molding paths and speed information indicating the relative moving speed of the ejection unit with respect to the stage; the processor performs molding control to build a three-dimensional molded object of a predetermined shape by stacking the N molding layers by ejecting the molding material onto the stage by the ejection unit; and the molding control includes moving speed control that determines the moving speed when each of the N molding layers is formed by the ejection unit based on the molding path information and the correspondence information.

[0007] Furthermore, one aspect of the present invention is a control device comprising: a processor for controlling a three-dimensional molding apparatus comprising: a stage; an ejection unit for ejecting molding material onto the stage; a moving unit for moving the stage and the ejection unit relative to each other; and a storage unit storing molding path information and correspondence information, wherein the molding path information is information indicating the molding path for each of the N molding layers formed by the molding material ejected from the ejection unit, where N is an integer of 1 or more; and the correspondence information is information that associates overlap degree information indicating the degree of overlap of the molding paths with width information indicating the width of the molding paths; the processor performs molding control to build a three-dimensional molded object of a predetermined shape by stacking the N molding layers by ejecting the molding material onto the stage by the ejection unit; and the molding control includes width control that determines the width of the molding path when each of the N molding layers is formed by the ejection unit based on the molding path information and the correspondence information.

[0008] Furthermore, one aspect of the present invention comprises a stage, an ejection unit for ejecting a molding material onto the stage, a moving unit for moving the stage and the ejection unit relative to each other, and a control device, wherein the control device comprises a processor for controlling the ejection unit and the moving unit, and a storage unit for storing molding path information and correspondence information, wherein the molding path information is information indicating the molding path for each of the N molding layers formed by the molding material ejected from the ejection unit, where N is an integer of 1 or more, and the correspondence information is overlap information indicating the degree of overlap of the molding paths. The information is a combination of degree information and speed information indicating the relative movement speed of the extrusion unit with respect to the stage, and the processor performs molding control to create a three-dimensional object of a predetermined shape by stacking the N molding layers by extruding the molding material onto the stage by the extrusion unit, and the molding control includes movement speed control that determines the movement speed when each of the N molding layers is formed by the extrusion unit based on the molding path information and the correspondence information, the three-dimensional molding apparatus. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows an example of the configuration of the three-dimensional modeling apparatus 1. [Figure 2] This figure shows an example of the configuration of the control device 40. [Figure 3] This is a schematic diagram illustrating the process by which a three-dimensional object is created in the three-dimensional printing apparatus 1. [Figure 4] This is an example of a flowchart for the molding data generation process performed by the control device 40. [Figure 5] This figure shows an example of the planar shape of n layers in a three-dimensional object. [Figure 6] Figure 4 is a schematic diagram showing an example of path data PD in the intermediate data generated. [Figure 7] This is an example of a flowchart for the control parameter generation process performed by the control device 40. [Figure 8] Figure 5 shows an example of the planar shape of the n-1 layer located below the n layer. [Figure 9] This is a schematic diagram representing the area S when the angle between the direction of movement of nozzle Nz at point A(n,k) and the direction of movement of nozzle Nz at point A(n-1,k) is 0 degrees. [Figure 10] This is a schematic diagram representing the area S when the angle between the direction of movement of nozzle Nz at point B(n,k) and the direction of movement of nozzle Nz at point B(n-1,k) is 90 degrees. [Figure 11] This is an example of a flowchart for the molding data generation process performed by the control device 40. [Figure 12] This figure shows an example of the planar shape of n layers of a three-dimensional object placed on top of the layers shown in Figure 8. [Figure 13] This is a schematic diagram representing the area S when the width of the path data at point C(n,k) is half the width of the reference width Ss. [Modes for carrying out the invention]

[0010] <Embodiment> Embodiments of the present invention will be described below with reference to the drawings.

[0011] <Overview of 3D printing equipment> First, an overview of the three-dimensional molding apparatus according to this embodiment will be described.

[0012] The three-dimensional shaping device according to the embodiment includes a stage, a discharge unit, a moving unit, and a control device. The discharge unit discharges a shaping material onto the stage. The moving unit relatively moves the stage and the discharge unit. The control device includes a processor and a storage unit. The processor controls the discharge unit and the moving unit. The storage unit stores shaping path information and correspondence information. Here, the shaping path information is information indicating the shaping path of each of the N shaping layers formed by the shaping material discharged from the discharge unit. N is an integer of 1 or more. The correspondence information is information in which overlap degree information indicating the degree of overlap of the shaping paths and speed information indicating the relative moving speed of the discharge unit with respect to the stage are associated. Further, the processor performs shaping control to form a three-dimensional shaped object having a predetermined shape by laminating N shaping layers by discharging the shaping material onto the stage by the discharge unit. And the shaping control includes moving speed control for determining the moving speed when each of the N shaping layers is formed by the discharge unit based on the shaping path information and the correspondence information. Thereby, the three-dimensional shaping device can form N shaping layers at a moving speed according to the degree of overlap of the shaping paths, and as a result, it is possible to suppress a decrease in the interlayer strength between the shaping layers laminated by the three-dimensional shaping device.

[0013] Hereinafter, the configuration of the three-dimensional shaping device according to the embodiment, the configuration of the control device included in the three-dimensional shaping device, and the processing performed by the control device will be described.

[0014] <Configuration of Three-Dimensional Shaping Device> Hereinafter, the configuration of the three-dimensional shaping device according to the embodiment will be described by taking the three-dimensional shaping device 1 as an example.

[0015] FIG. 1 is a diagram showing an example of the configuration of the three-dimensional shaping device 1.

[0016] Here, the three-dimensional coordinate system TC is a three-dimensional orthogonal coordinate system indicating directions in the figure where the three-dimensional coordinate system TC is drawn. Hereinafter, for convenience of explanation, the X-axis in the three-dimensional coordinate system TC will be simply referred to as the X-axis. Also, hereinafter, for convenience of explanation, the Y-axis in the three-dimensional coordinate system TC will be simply referred to as the Y-axis. Further, hereinafter, for convenience of explanation, the Z-axis in the three-dimensional coordinate system TC will be simply referred to as the Z-axis. Also, hereinafter, as an example, the case where the negative direction of the Z-axis coincides with the gravitational direction will be described. For this reason, hereinafter, for convenience of explanation, the positive direction of the Z-axis will be referred to as the upward direction or simply up, and the negative direction of the Z-axis will be referred to as the downward direction or simply down. Also, hereinafter, for convenience of explanation, the upward and downward directions will be referred to as the vertical direction.

[0017] The three-dimensional modeling apparatus 1 includes a discharge unit 10 having a nozzle Nz, a stage 20 having a modeling surface 21 on which a three-dimensional model is modeled, a moving unit 30, and a control device 40. In the three-dimensional modeling apparatus 1, the control device 40 is communicably connected to a data generation device 50. Note that the three-dimensional modeling apparatus 1 may be configured to include the data generation device 50 together with the discharge unit 10, the stage 20, the moving unit 30, and the control device 40.

[0018] The three-dimensional 3D printing apparatus 1 extrudes a printing material X (not shown) from the extrusion unit 10 toward the printing surface 21 of the stage 20, while changing the relative position between the extrusion unit 10 and the stage 20. In this way, the three-dimensional 3D printing apparatus 1 builds a single three-dimensional object by stacking N printing layers formed by the printing material X extruded from the extrusion unit 10. Here, N can be any integer greater than or equal to 1. Furthermore, a printing layer is a layer of printing material X formed by extruding the material X along a printing path parallel to the printing surface 21. The printing path is the scanning path of the nozzle Nz as it moves while extruding the printing material X relative to the stage 20. In other words, the printing path is the scanning path of the nozzle Nz as it moves while extruding the printing material X, relative to the printing surface 21 of the stage 20. Furthermore, in each of the N build layers, the build material X forming the build layer may be continuously connected or divided into multiple sections. For the sake of explanation, in the following, the nth build layer out of the N build layers will be referred to as the nth layer. In this case, for example, the n-1 layer is the (n-1)th build layer out of the N build layers. n is an integer between 1 and N, inclusive.

[0019] The discharge unit 10 is an example of the discharge section described above. The discharge unit 10 is a discharge device that discharges the molding material X onto the molding surface 21. More specifically, the discharge unit 10, along with the nozzle Nz described above, has a material melting section 11 that melts one or more types of materials to produce the molding material X, and a material supply section 12. In the discharge unit 10, the material supply section 12 and the material melting section 11 are connected by a supply passage 13. The material melting section 11 and the nozzle Nz are connected by a communication hole 14. Therefore, the nozzle Nz is in communication with the material melting section 11 via the communication hole 14. The nozzle Nz then discharges the molding material X supplied from the material melting section 11 through the communication hole 14 from its tip.

[0020] The material supply unit 12 contains one or more types of materials in the form of pellets, powder, etc. Below, as an example, we will describe the case where the material contained in the material supply unit 12 is pelletized ABS (acrylonitrile butadiene styrene) resin. Note that the material contained in the material supply unit 12 may be one or more other materials instead of ABS resin. The material supply unit 12 is composed of, for example, a hopper. The material contained in the material supply unit 12 is supplied to the material melting unit 11 via a supply passage 13 located below the material supply unit 12.

[0021] The material melting section 11 comprises a screw case 111, a flat screw 112 housed within the screw case 111, a drive motor 113 for driving the flat screw 112, and a barrel 114 fixed below the flat screw 112 within the screw case 111.

[0022] The flat screw 112 has a flattened cylindrical shape, and a spiral groove is formed on the bottom surface of the cylinder, extending from the outer circumference toward the central axis AX of the cylinder.

[0023] The barrel 114 is provided with a communication hole 14. The barrel 114 also has a built-in heater. The heater temperature is controlled by the control device 40.

[0024] The material supplied between the rotating flat screw 112 and the barrel 114 is melted, at least partially, by the rotation of the flat screw 112 and heating by a heater built into the barrel 114, becoming a fluid paste-like molding material X. The molding material X is supplied to the nozzle Nz through a communication hole 14 provided in the barrel 114 by the rotation of the flat screw 112. The molding material X supplied to the nozzle Nz is then extruded from the tip of the nozzle Nz toward the stage 20.

[0025] The moving unit 30 changes the relative position between the nozzle Nz of the discharge unit 10 and the stage 20. More specifically, the moving unit 30 changes the relative position between the nozzle Nz of the discharge unit 10 and the stage 20 by moving either the discharge unit 10 or the stage 20, or both. Below, as an example, we will describe the case in which the moving unit 30 changes the relative position between the nozzle Nz of the discharge unit 10 and the stage 20 by moving the stage 20. For example, the moving unit 30 is composed of a three-axis positioner that moves the stage 20 in directions parallel to the X, Y, and Z axes, respectively, by the driving force of three motors. In this case, these three motors are controlled by a control device 40. For the sake of explanation below, the relative speed of the discharge unit 10 with respect to the stage 20 will be simply referred to as the moving speed.

[0026] The control device 40 controls the entire three-dimensional molding apparatus 1. The control device 40 acquires and stores the three-dimensional molding data generated by the data generation device 50 via a network or recording medium. The control device 40 manufactures a three-dimensional object by executing a pre-stored three-dimensional molding program and performing molding control that controls the operation of the ejection unit 10 and the moving unit 30 according to the pre-stored three-dimensional molding data. Note that the control device 40 may be composed of a combination of multiple circuits rather than a computer.

[0027] Figure 2 shows an example of the configuration of the control device 40. The control device 40 comprises a processor 41, a storage unit 42, an input receiving unit 43, a communication unit 44, and a display unit 45. Note that the control device 40 may be an information processing device configured separately from the three-dimensional molding device 1. In this case, the three-dimensional molding device 1 is connected to this information processing device in a communicative manner and is controlled by this information processing device.

[0028] The processor 41 is, for example, a CPU (Central Processing Unit). The processor 41 may also be another type of processor, such as an FPGA (Field Programmable Gate Array). Furthermore, the processor 41 may be composed of multiple processors. The processor 41 realizes the various functions of the three-dimensional modeling apparatus 1 by executing various programs, instructions, etc., stored in the memory unit 42. Therefore, the processing described as being performed by the control device 40 in this embodiment is actually the processing performed by the processor 41.

[0029] The storage unit 42 includes HDD (Hard Disk Drive), SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), RAM (Random Access Memory), etc. Note that the storage unit 42 may be an external storage device connected via a digital input / output port such as USB (Universal Serial Bus) instead of being built into the 3D modeling apparatus 1. The storage unit 42 stores various programs, instructions, and information processed by the 3D modeling apparatus 1. For example, the storage unit 42 stores the aforementioned 3D modeling data and correspondence information. Correspondence information refers to information showing the relationship between the contact area between the n-layer and n-1-layer and the movement speed of the extrusion unit 10. In other words, correspondence information includes information that associates contact area information showing the contact area between the n-layer and n-1-layer with speed information showing the movement speed of the extrusion unit 10. Contact area information is an example of overlap degree information, indicating the degree of overlap between build paths. In other words, the contact area between layer n and layer n-1 is an example of the degree of overlap between build paths.

[0030] The input receiving unit 43 receives user input while viewing the image displayed on the display unit 45. The input receiving unit 43 is an input device including, for example, a keyboard, mouse, or touchpad. The input receiving unit 43 may also be a touch panel integrated with the display unit 45.

[0031] The communication unit 44 is comprised of, for example, digital input / output ports such as USB, and Ethernet (registered trademark) ports.

[0032] The display unit 45 displays an image. The display unit 45 is a display device that includes, for example, a liquid crystal display panel, an organic EL (ElectroLuminescence) display panel, etc., as a display provided by the three-dimensional molding apparatus 1.

[0033] The data generation device 50 is a device that generates three-dimensional modeling data used by the three-dimensional modeling device 1 to create three-dimensional objects. The data generation device 50 is composed of a computer equipped with one or more processors, memory, and an input / output interface for inputting and outputting signals to and from the outside. The data generation device 50 includes a data generation unit 51. The data generation unit 51 generates three-dimensional modeling data that includes path data indicating the modeling path for each of the N modeling layers. The control device 40 controls the ejection unit 10 and the moving unit 30 according to the three-dimensional modeling data generated by the data generation unit 51 to create a three-dimensional object on the stage 20.

[0034] The data generation unit 51 generates three-dimensional modeling data using shape data such as 3D CAD (Computer Aided Design) data representing the shape of a three-dimensional object. In other words, the three-dimensional modeling data is data used to stack N modeling layers on the three-dimensional modeling apparatus 1. Specifically, the three-dimensional modeling data includes path data and discharge control data indicating the amount of modeling material X discharged by the discharge unit 10. As mentioned above, the modeling path indicated by the path data is the scanning path of the nozzle Nz moving while discharging the modeling material X relative to the stage 20. The data generation unit 51 is realized by a processor provided in the data generation device 50 executing a predetermined program stored in the memory of the data generation device 50. This program may be recorded on a tangible, non-temporary recording medium that is readable by a computer.

[0035] Here, the build path consists of one or more sub-passes. Each sub-pass is a linear path. Ejection control data is individually associated with each sub-pass. In this embodiment, the ejection amount indicated by the ejection control data associated with a sub-pass is the amount of build material X ejected per unit time in that sub-pass. In addition, the total amount of build material X ejected in the entire sub-pass may also be associated with each sub-pass as ejection control data.

[0036] Figure 3 is a schematic diagram illustrating how a three-dimensional object is fabricated in the three-dimensional printing apparatus 1. In the three-dimensional printing apparatus 1, as described above, in the material melting section 11, solid raw materials supplied to the groove of the rotating flat screw 112 are melted to produce the fabrication material X. When forming a certain fabrication layer, the control device 40 maintains the distance between the fabrication surface 21 of the stage 20 and the nozzle Nz, and while changing the position of the nozzle Nz relative to the stage 20 along the fabrication path for the fabrication layer, it extrudes the fabrication material X from the nozzle Nz. The fabrication material X extruded from the nozzle Nz is continuously deposited in the direction of movement of the nozzle Nz. In Figure 3, a linear area LP, which is a fabrication area that extends linearly along the fabrication path of the nozzle Nz, is fabricated as at least a part of the fabrication layer by this scanning by the nozzle Nz.

[0037] The control device 40 repeatedly scans with the nozzle Nz as described above to form a build layer. After forming one build layer, the control device 40 moves the position of the nozzle Nz relative to the stage 20 in the Z direction. Then, by stacking more build layers on top of the build layers formed so far, a three-dimensional object is created.

[0038] For example, when the control device 40 moves the nozzle Nz in the Z direction after completing the formation of one layer, it may temporarily suspend the extrusion of the molding material X from the nozzle Nz if there are multiple molding areas separated from each other in each layer. In this case, the control device 40 reduces the rotation speed of the flat screw 112 to stop the extrusion of the molding material X from the nozzle Nz. After changing the position of the nozzle Nz, the control device 40 increases the rotation speed of the flat screw 112 to resume the deposition of the molding material X from the changed position of the nozzle Nz.

[0039] Figure 4 is an example of a flowchart of the molding data generation process performed by the data generation device 50. This process generates the three-dimensional molding data used to create the three-dimensional object, prior to actually creating the three-dimensional object. Figure 5 shows an example of the n-layer planar shape of a three-dimensional object.

[0040] As shown in Figure 4, in step S100, the data generation unit 51 analyzes 3D CAD data, which is an example of shape data of a three-dimensional object input from an external source, and generates layer data by slicing the three-dimensional object into N layers along the XY plane. The layer data represents the outer shell of the three-dimensional object in that XY plane. In Figure 5, an example in which a rectangular outer shell is represented by the layer data is shown by the thick line LD1.

[0041] The layer data shown in Figure 5 consists of the first and second build data.

[0042] The first build data is data for forming the outer shell region that is in contact with the inside of the outer shell represented by the layer data. The outer shell region is the region that affects the appearance of the three-dimensional object. The first build data includes path data that shows the build path for creating the outermost perimeter along the outer shell of the three-dimensional object. In other words, the first build data is represented by the build path for creating the outermost perimeter along the outer shell of the three-dimensional object. Note that the first build data may include not only path data that shows the build path for creating the outermost perimeter of the three-dimensional object, but also path data that shows a build path that includes one full rotation inside the outermost perimeter. Furthermore, the number of rotations of the build path for forming the outer shell region may be set arbitrarily.

[0043] The second build data is data for creating the internal region, which is the area inside the outer shell represented by the layer data, excluding the outer shell region. The internal region has a greater impact on the strength of the three-dimensional object than on its appearance. The second build data includes path data that shows the build path for creating the internal region, which is the area inside the outer shell represented by the layer data, excluding the outer shell region. In other words, the second build data is represented by a build path for creating the internal region, which is the area inside the outer shell represented by the layer data, excluding the outer shell region.

[0044] Figure 5 shows an example where the first build data ZD1 is represented by the outermost build path. This build path includes multiple sub-passes PP1 for building the outer shell region. As described above, each sub-pass PP1 is a linear path. Therefore, in Figure 5, the first build data ZD1 is represented by four consecutive sub-passes PP1, indicated by dashed lines, from the starting point indicated as "S1" to the ending point indicated as "E1". Each sub-pass PP1 is associated with extrusion control data indicating the amount of build material X deposited on the stage 20 that will result in a predetermined reference width Ss.

[0045] Figure 5 shows an example where the second build data ZD2 is represented by a build path that meanders in an S-shape. The data generation unit 51 generates data representing the build path that fills the internal region as the second build data ZD2 by moving the extrusion unit 10 back and forth along the X direction in the XY plane and gradually moving the extrusion unit 10 in the Y direction which is perpendicular to the X direction. The build path that fills the internal region includes multiple sub-passes PP2. As described above, each sub-pass PP2 is a linear path. Therefore, in Figure 5, the second build data ZD2 is represented by five sub-passes PP2 from the starting point indicated as "S2" to the ending point indicated as "E2". Each sub-pass PP2 is associated with extrusion control data indicating the amount of extrusion required for the build material X deposited on the stage 20 to have a predetermined reference width Ss. In this embodiment, the width of the build path created in the first build data ZD1 and the width of the build path created in the second build data ZD2 are both assumed to be the standard width Ss, but these may be different widths.

[0046] In Figure 5, the endpoint "E1" of the build path represented by the first build data ZD1 and the starting point "S2" of the build path represented by the second build data ZD2 are shown in different positions. However, this is for illustrative purposes only; in reality, these positions are the same. Therefore, the build path represented by the first build data ZD1 and the build path represented by the second build data ZD2 are continuously connected. Note that these build paths may be separated. In other words, the endpoint "E1" of the build path represented by the first build data ZD1 and the starting point "S2" of the build path represented by the second build data ZD2 may be in different positions.

[0047] In step S110, the data generation unit 51 generates the first molding data.

[0048] In step S120, the data generation unit 51 generates the second molding data.

[0049] Here, the data generation unit 51 performs the processing in steps S110 to S120 for each of the N layer data generated in step S100. This allows the data generation unit 51 to generate the first and second molding data that constitute each of these N layer data. For the sake of explanation, the first molding data generated in step S110 and the second molding data generated in step S120 will be collectively referred to as intermediate data. The intermediate data includes path data representing the molding path as the extrusion unit 10 extrudes the molding material X, expressed by multiple sub-paths; extrusion control data indicating the amount of molding material X extruded in each sub-path; sub-path width data indicating the width of each sub-path; and sub-path thickness data indicating the thickness of each sub-path. Note that the sub-path width data may be calculated from the extrusion control data in each of the steps described later. Similarly, the sub-path thickness data may be calculated from the path data, extrusion control data, and sub-path width data in each of the steps described later.

[0050] In step S130, the data generation unit 51 determines whether the above processing has been completed for all layer data. If it has not been completed for all layer data, the data generation unit 51 repeats the processing from step S110 to step S130 for the next layer data. If the generation of molding data is completed for all layer data, the data generation unit 51 terminates the processing shown in the flowchart in Figure 4, i.e., the molding data generation process.

[0051] Figure 6 is a schematic diagram showing an example of path data PD in the intermediate data generated in Figure 4. The information described in the path data PD is read and interpreted sequentially from top to bottom in Figure 6. The path data PD includes path parameters PP for identifying subpaths included in the build path and ejection parameters PM for identifying ejection control data in the intermediate data. In addition to these, the path data PD may also include other data. The path data PD is an example of build path information.

[0052] The path parameter PP specifies the coordinates (X,Y,Z) of a coordinate system where the X,Y,Z directions are the coordinate axes on the build surface 21 of the stage 20 where the nozzle Nz should next be located. In the path data PD, one sub-pass is identified by a pair of two path parameters PP(n,k) and PP(n,k+1) that are listed one after the other. The n listed as an argument to the path parameter PP is a subscript that specifies the layer to be formed by the path parameter PP. In other words, the sub-pass identified by the pair of path parameters PP(n,k) and PP(n,k+1) is a sub-pass included in the build path for forming n layers. k is an arbitrary natural number that indicates the order of the path parameters PP in the path data PD. Here, a sub-pass is specifically a unit of build path, and means a section of the path when the movement of the nozzle Nz when building a build layer is divided by a unidirectional linear movement from an arbitrary coordinate to the next coordinate.

[0053] In the following, as an example, we will explain the case where the path parameter PP(n,k) shown in Figure 6 is the path parameter at point A(n,k) of the build path shown in Figure 5, and the path parameter PP(n,k+1) shown in Figure 6 is the path parameter at point A(n,k+1) of the build path shown in Figure 5. The path parameter PP(n,k) is represented by coordinates (50,10,15), and the path parameter PP(n,k+1) is represented by coordinates (70,10,15). That is, the path parameters PP(n,k) and PP(n,k+1) identify a sub-path in which the nozzle Nz moves in the X direction by a predetermined unit distance of +20 from point A(n,k) to point A(n,k+1) of the build path. Thus, the path data PD is interpreted as containing data indicating a sub-path that shows the direction and distance of movement of the nozzle Nz.

[0054] The ejection parameter PM is appended to the path parameter PP in the path data PD. The ejection parameter PM appended to a path parameter PP specifies the amount of build material X to be ejected while the nozzle Nz moves to the coordinates indicated by that path parameter PP. In other words, the ejection parameter PM represents the total amount of build material X that is placed on the stage 20 as the nozzle Nz moves as represented by the build path included in the path data PD.

[0055] In the example in Figure 6, the letter "E" indicating the extrusion parameter PM is followed by an integer value representing the extrusion amount of the build material X in a predetermined unit quantity. In this example, it is specified that 20 units of build material X should be extruded while moving the nozzle Nz from coordinate (50,10,15) to coordinate (70,10,15).

[0056] Figure 7 is an example of a flowchart of the control parameter generation process performed by the control device 40. This process generates control parameters used by the control device 40 to control the ejection unit 10 and the moving part 30 based on the three-dimensional molding data. In Figure 7, the case where the initial value of n is 1 is explained as an example. Figure 8 is a diagram showing an example of the planar shape of the n-1 layer placed below the n layer shown in Figure 5.

[0057] The layer data shown in Figure 8 consists of the first build data and the second build data.

[0058] Figure 8 shows an example where the first build data ZD3 is represented by the outermost build path. This build path includes multiple sub-passes PP3 for building the outer shell region. As described above, each sub-pass PP3 is a linear path. Therefore, in Figure 8, the first build data ZD3 is represented by four consecutive sub-passes PP3, indicated by dashed lines, from the starting point indicated as "S3" to the ending point indicated as "E3". Each sub-pass PP3 is associated with extrusion control data indicating the amount of build material X deposited on the stage 20 that will result in a predetermined reference width Ss.

[0059] Figure 8 shows an example where the second build data ZD4 is represented by a build path that meanders in an S-shape. The data generation unit 51 generates data representing the build path that fills the internal region as the second build data ZD4 by gradually moving the extrusion unit 10 in the X direction perpendicular to the Y direction while moving the extrusion unit 10 back and forth along the Y direction in the XY plane. The build path that fills the internal region includes multiple sub-passes PP4. As described above, each sub-pass PP4 is a linear path. Therefore, in Figure 8, the second build data ZD4 is represented by five sub-passes PP4 from the starting point indicated as "S4" to the ending point indicated as "E4". Each sub-pass PP4 is associated with extrusion control data indicating the amount of extrusion required for the build material X deposited on the stage 20 to have a predetermined reference width Ss. In this embodiment, the width of the build path created in the first build data ZD3 and the width of the build path created in the second build data ZD4 are both assumed to be the reference width Ss, but these may be different widths.

[0060] In Figure 8, the endpoint "E3" of the build path represented by the first build data ZD3 and the starting point "S4" of the build path represented by the second build data ZD4 are shown in different positions. However, this is for illustrative purposes only; in reality, these positions are the same. Therefore, the build path represented by the first build data ZD3 and the build path represented by the second build data ZD4 are continuously connected. Note that these build paths may be separated. In other words, the endpoint "E3" of the build path represented by the first build data ZD3 and the starting point "S4" of the build path represented by the second build data ZD4 may be in different positions.

[0061] In step S200, the control device 40 calculates the contactable width of the bottom surface at point A(n,k) based on the partial path width data. The contactable width is, for example, 80% of the width indicated by the partial path width data at point A(n,k). The contactable width may also be calculated from the discharge rate parameter, path thickness data, and path width data. Furthermore, the contactable width may be, for example, shorter than 80% of the width indicated by the partial path width data at point A(n,k), or longer than 80% of the width indicated by the partial path width data at point A(n,k).

[0062] In step S210, the control device 40 calculates the contactable width of the surface at point A(n-1,k) based on the partial path width data. The X and Y coordinates at point A(n-1,k) are the same as the X and Y coordinates at point A(n,k). That is, when viewed from the Z direction, point A(n-1,k) and point A(n,k) overlap. The position where point A(n-1,k) and point A(n,k) overlap is also sometimes called the "overlap position".

[0063] In step S220, the control device 40 calculates the angle between the direction of movement of the nozzle Nz at point A(n,k) and the direction of movement of the nozzle Nz at point A(n-1,k). Specifically, the angle is calculated from the vector between point A(n,k) and point A(n,k+1) and the vector between point A(n-1,k) and point A(n-1,k+1). The direction of movement of the nozzle Nz at point A(n,k) is an example of the orientation of the build path at each position on the build path of the second build layer. Similarly, the direction of movement of the nozzle Nz at point A(n-1,k) is an example of the orientation of the build path at each position on the build path of the first build layer.

[0064] The vector between point A(n,k) and point A(n,k+1) is the value obtained by subtracting the path parameter PP(n,k) from the path parameter PP(n,k+1), which is (10,0,0). The vector between point A(n-1,k) and point A(n-1,k+1) is the value obtained by subtracting the path parameter PP(n-1,k) from the path parameter PP(n-1,k), which is (10,0,0). Therefore, the angle between the vector between point A(n,k) and point A(n,k+1) and the vector between point A(n-1,k) and point A(n-1,k+1) is 0 degrees.

[0065] In step S230, the control device 40 calculates the area S in which the layer data at point A(n,k) contacts the layer data at point A(n-1,k). Figure 9 is a schematic diagram showing the area S when the angle between the direction of movement of the nozzle Nz at point A(n,k) and the direction of movement of the nozzle Nz at point A(n-1,k) is 0 degrees. In Figure 9, the area S is represented as the area within the hatched region. The area S is calculated based on the contactable width of the bottom surface at point A(n,k), the contactable width of the surface at point A(n-1,k), the angle between the direction of movement of the nozzle Nz at point A(n,k) and the direction of movement of the nozzle Nz at point A(n-1,k), the path data, and / or the partial path width data. In this embodiment, the area S is the smaller of the contactable width of the bottom surface at point A(n,k) and the contactable width of the surface at point A(n-1,k), multiplied by the value obtained by subtracting the path parameter PP(n,k) from the path parameter PP(n,k+1).

[0066] The area S changes depending on the angle between the direction of movement of the nozzle Nz at point n of layer n and the direction of movement of the nozzle Nz at point n-1 of layer n. Figure 10 is a schematic diagram showing the area S when the angle between the direction of movement of the nozzle Nz at point B(n,k) and the direction of movement of the nozzle Nz at point B(n-1,k) is 90 degrees. In Figure 10, the area S is represented as the area within the hatched region. The area S is the product of the contactable width of the bottom surface at point B(n,k) and the contactable width of the surface at point B(n-1,k).

[0067] Furthermore, when the angle is 45 degrees, the area S is the value obtained by multiplying the contactable width of the bottom surface at the nth layer point by the contactable width of the surface at the n-1th layer point, and then dividing the result by the sine of the angle between the direction of movement of the nozzle Nz at the nth layer point and the direction of movement of the nozzle Nz at the n-1th layer point.

[0068] In step S240, the control device 40 determines the relative movement speed of the discharge unit 10 with respect to the stage 20. Specifically, the control device 40 determines the relative movement speed of the discharge unit 10 with respect to the stage 20 from the area S, based on correspondence information that shows the relationship between the contact area between the n-layer and the n-1-layer and the movement speed of the discharge unit 10. The correspondence information may be in the form of a table containing multiple records that associate contact area information with speed information, a function that associates contact area information with speed information, or other forms of information that associate contact area information with speed information.

[0069] In step S250, the control device 40 determines the rotational speed of the flat screw 112. For example, the control device 40 determines the rotational speed of the flat screw 112 based on the discharge control data and the moving speed. In Figure 7, the process in step S250 is shown as "determining the motor rotational speed".

[0070] Here, the control device 40 repeatedly executes the processes of steps S200 to S250 for each value of k which is an argument of the path parameter PP. That is, the control device 40 repeatedly executes the processes of steps S200 to S250 for each value of k, such as the processes of steps S200 to S250 when k = 1, the processes of steps S200 to S250 when k = 2, and so on. Thereby, the control device 40 can determine the relative moving speed of the discharge unit 10 with respect to stage 20 for each of the plurality of partial paths.

[0071] In step S260, the control device 40 determines whether the processes from step 200 to step 250 in the path data of the nth layer have been completed. That is, in step S260, the control device 40 determines whether the processes of steps S200 to S250 have been executed for all values of k. In FIG. 7, the process of step S260 is indicated by "k < kend".

[0072] If the control device 40 determines in step S260 that the process has not been completed, the control device 40 executes the processes from step 200 to step 260 for the next value of k.

[0073] If the control device 40 determines in step S260 that the process has been completed, the control device 40 ends the repeated process of steps S200 to S260. Thereafter, the control device 40 transitions to step S270 and selects the next value of n, that is, the next shaping layer. Note that if there is no unselected shaping layer in step S270, the control device 40 ends the repeated process of steps S200 to S270. In FIG. 7, the process of step S270 is indicated by "all layers".

[0074] According to the three-dimensional molding apparatus 1 of this embodiment described above, the relative movement speed of the extrusion unit 10 with respect to the stage 20 is set based on the contact area between the n-1 layer and the n layer. Here, the relationship between the angle between the direction of movement of the nozzle Nz at the n layer and the direction of movement of the nozzle Nz at the n-1 layer and the contact area between the n layer and the n-1 layer will be explained. The cross-section of a partial pass is often circular, elliptical, or a rounded polygon. Therefore, even if the three-dimensional molding apparatus 1 extrudes the molding material X by crushing it from the nozzle Nz, by setting the distance between the tip of the nozzle Nz that extrudes the molding material X and the molding surface 21 to be less than or equal to the inner diameter of the nozzle Nz, a gap is formed between the n-1 layer and the n layer. In other words, the area of ​​the bottom surface that the n layer can contact is smaller than the projected area of ​​the n layer in the stacking direction, and the area of ​​the top surface that the n-1 layer can contact is smaller than the projected area of ​​the n-1 layer in the stacking direction.

[0075] The area S shown in Figure 9 is larger than the area S shown in Figure 10. This is because, when the angle between the direction of movement of the nozzle Nz at point B(n,k) and the direction of movement of the nozzle Nz at point B(n-1,k) is 90 degrees, the area in the stacking direction where the bottom surface that the n layer can contact and the surface that the n-1 layer can contact overlap is smaller than the area in the stacking direction where the bottom surface that the n layer can contact and the surface that the n-1 layer can contact overlap when the angle between the direction of movement of the nozzle Nz at point A(n,k) and the direction of movement of the nozzle Nz at point A(n-1,k) is 0 degrees. In other words, the contact area between the n layer and the n-1 layer changes depending on the angle between the direction of movement of the nozzle Nz at the point of the n layer and the direction of movement of the nozzle Nz at the point of the n-1 layer.

[0076] When the contact area between the n-1 layer and the n layer becomes small, the heat from the molding material X constituting the n layer is less effectively transferred to the molding material X constituting the n-1 layer. Therefore, if the temperature of the n-1 layer is lower than the temperature required for the n layer to adhere to the n-1 layer, it may not be possible to adhere the n layer to the n-1 layer. In this case, one possible method to adhere the n layer to the n-1 layer is to completely fill the gap between the n-1 layer and the n layer by extruding liquefied, heated molding material X from the nozzle Nz. However, this method may cause changes in the crystal structure of the n-1 layer and deterioration of the material properties of the n-1 layer. As a result, the molding accuracy of the n-1 layer and the material strength of the three-dimensional object may decrease.

[0077] Therefore, in this embodiment, the relative movement speed of the extrusion unit 10 with respect to the stage 20 when the three-dimensional molding apparatus 1 is molding a partial pass at point B(n,k) in Figure 10 is set to a slower movement speed than the relative movement speed of the extrusion unit 10 with respect to the stage 20 when the three-dimensional molding apparatus 1 is molding a partial pass at point A(n,k) in Figure 9. When the relative movement speed of the extrusion unit 10 with respect to the stage 20 is slow, even when the contact area between the n-1 layer and the n layer is small, the heat of the molding material X constituting the n layer is more easily transferred to the molding material X constituting the n-1 layer. As a result, the n layer can be fixed more reliably onto the n-1 layer.

[0078] In this embodiment, the control device 40 sets the relative movement speed of the ejection unit 10 with respect to the stage 20 based on the angle between the direction of movement of the nozzle Nz at the nth layer and the direction of movement of the nozzle Nz at the n-1th layer. However, the control device 40 may be configured to set the relative movement speed of the ejection unit 10 with respect to the stage 20 based on the width of a partial path at point A(n,k). In this case, the partial path width data is an example of overlap degree information indicating the degree of overlap of the build paths. Figure 11 is an example of a flowchart of the build data generation process performed by the control device 40. Here, in Figure 11, the case where the initial value of n is 1 is described as an example. Figure 12 is a diagram showing an example of the planar shape of the nth layer of a three-dimensional build object placed on the layers shown in Figure 8.

[0079] The layer data shown in Figure 12 consists of the first build data and the second build data.

[0080] Figure 12 shows an example where the first build data ZD5 is represented by the outermost build path. This build path includes multiple sub-passes PP5 for building the outer shell region. As described above, each sub-pass PP5 is a linear path. Therefore, in Figure 16, the first build data ZD5 is represented by four consecutive sub-passes PP5, indicated by dashed lines, from the starting point indicated as "S5" to the ending point indicated as "E5". Each sub-pass PP5 is associated with extrusion control data indicating the amount of build material X deposited on the stage 20 that will result in a predetermined reference width Ss.

[0081] Figure 12 shows an example where the second build data ZD6 is represented by a build path that meanders in an S-shape. The data generation unit 51 generates data representing the build path that fills the internal region as the second build data ZD6 by gradually moving the extrusion unit 10 in the X direction perpendicular to the Y direction while moving the extrusion unit 10 back and forth along the Y direction in the XY plane. The build path that fills the internal region includes multiple sub-passes PP6. As described above, each sub-pass PP6 is a linear path. Therefore, in Figure 16, the second build data ZD6 is represented by 10 sub-passes PP6 from the starting point indicated as "S6" to the ending point indicated as "E6". Each sub-pass PP6 is associated with extrusion control data indicating the amount of extrusion that results in half the amount of build material X deposited on the stage 20 being half of a predetermined reference width Ss. In this embodiment, the width of the build path created in the first build data ZD5 is set to the base width Ss, and the width of the build path created in the second build data ZD6 is set to half the width of the base width Ss. However, these widths may be different.

[0082] In Figure 12, the endpoint "E5" of the build path represented by the first build data ZD5 and the starting point "S6" of the build path represented by the second build data ZD6 are shown in different positions. However, this is for illustrative purposes only; in reality, these positions are the same. Therefore, the build path represented by the first build data ZD5 and the build path represented by the second build data ZD6 are continuously connected. Note that these build paths may be separated. In other words, the endpoint "E5" of the build path represented by the first build data ZD5 and the starting point "S6" of the build path represented by the second build data ZD6 may be in different positions.

[0083] In step S300, the control device 40 calculates the contactable width of the bottom surface at point C(n,k) based on the partial path width data. The contactable width is, for example, 80% of the width indicated by the partial path width data at point C(n,k). The contactable width may also be calculated from the discharge volume parameter, path thickness data, and partial path width data. Furthermore, the contactable width may be, for example, shorter than 80% of the width indicated by the partial path width data at point C(n,k), or longer than 80% of the width indicated by the partial path width data at point C(n,k).

[0084] In step S310, the control device 40 calculates the contactable width of the surface at point C(n-1,k) based on the partial path width data. The coordinates of nozzle Nz at point C(n-1,k) are (30,30,5), and the coordinates of nozzle Nz at point C(n,k) are (30,30,15). That is, when viewed from the Z direction, point C(n,k) overlaps with point C(n-1,k).

[0085] In step S320, the control device 40 calculates the area S in which the layer data at point C(n,k) contacts the layer data at point C(n-1,k). Figure 13 is a schematic diagram showing the area S when the width of the partial path at point C(n,k) is half the width of the reference width Ss. In Figure 13, the area S is represented as the area within the hatched region. The area S is calculated based on the contactable width of the bottom surface at point C(n,k) and the path data. In this embodiment, the area S is the value obtained by subtracting the path parameter PP(n,k) from the path parameter PP(n,k) and multiplying it by the contactable width of the bottom surface at point C(n,k). The area S changes, for example, depending on the width of the partial path at point C(n,k).

[0086] In step S330, the control device 40 determines the relative movement speed of the discharge unit 10 with respect to the stage 20. Specifically, the control parameter generation unit determines the relative movement speed of the discharge unit 10 with respect to the stage 20 from the area S based on the corresponding information.

[0087] As described above, the correspondence information indicating the relationship between the contact area between the n-th layer and the (n-1)-th layer and the moving speed of the discharge unit 10 is stored in the storage unit 42 as, for example, table-form information.

[0088] In step S340, the control device 40 determines the rotation speed of the flat screw 112. For example, the control device 40 determines the rotation speed of the flat screw 112 based on the discharge control data and the moving speed. In FIG. 11, the process of step S340 is indicated by "determining the rotation speed of the motor".

[0089] Here, the control device 40 repeatedly executes the processes of steps S300 to S340 for each value of k that is an argument of the path parameter PP. That is, the control device 40 executes the processes of steps S300 to S340 for k = 1, the processes of steps S300 to S340 for k = 2, and so on, repeatedly executing the processes of steps S300 to S340 for each value of k that is an argument of the path parameter PP. Thereby, the control device 40 can determine the relative moving speed of the discharge unit 10 with respect to the stage 20 for each of the plurality of partial paths.

[0090] In step S350, the control device 40 determines whether the processing from step 300 to step 340 in the path data in the n-th layer has been completed. That is, in step S350, the control device 40 determines whether the processes of steps S300 to S340 have been executed for all values of k. In FIG. 11, the process of step S350 is indicated by "k < kend".

[0091] If the control device 40 determines in step S350 that the processing has not been completed, the control device 40 executes the processing from step 300 to step 350 for the next value of k.

[0092] If the control device 40 determines that it has completed the process in step S350, the control device 40 terminates the iterative process from steps S300 to S350. Then, the control device 40 proceeds to step S360 and selects the next value of n, i.e., the next build layer. If there are no unselected build layers in step S360, the control device 40 terminates the iterative process from steps S300 to S360. Figure 11 shows the process in step S360 as "all layers".

[0093] According to the three-dimensional molding apparatus 1 of this embodiment described above, the relative movement speed of the extrusion unit 10 with respect to the stage 20 is set based on the contact area between the n-1 layer and the n layer. Here, the relationship between the contactable width at point C(n,k) and the movement speed between the n layer and the n-1 layer will be explained. The area S shown in Figure 9 is larger than the area S shown in Figure 13. This is because the contactable width at point A(n,k) shown in Figure 9 is larger than the contactable width at point C(n,k) shown in Figure 13.

[0094] When the contact area between the n-1 layer and the n layer becomes small, the heat from the molding material X constituting the n layer is less effectively transferred to the molding material X constituting the n-1 layer. Therefore, if the temperature of the n-1 layer is lower than the temperature required for the n layer to adhere to the n-1 layer, it may not be possible to adhere the n layer to the n-1 layer. One possible method to adhere the n layer to the n-1 layer is to completely fill the gap between the n-1 layer and the n layer by extruding liquefied, heated molding material X from the nozzle Nz. However, this method may cause changes in the crystal structure of the n-1 layer and deterioration of the material properties of the n-1 layer. As a result, the molding accuracy of the n-1 layer and the material strength of the three-dimensional object may decrease.

[0095] Therefore, in this embodiment, the relative movement speed of the extrusion unit 10 relative to the stage 20 when the three-dimensional printing apparatus 1 prints a partial pass at point C(n,k) in Figure 13 is set to a slower movement speed than the relative movement speed of the extrusion unit 10 relative to the stage 20 when the three-dimensional printing apparatus 1 prints a partial pass at point A(n,k) in Figure 9. When the relative movement speed of the extrusion unit 10 relative to the stage 20 is slow, even when the contact area between the n-1 layer and the n layer is small, the heat of the printing material X constituting the n layer is more easily transferred to the linear portion constituting the n-1 layer. As a result, the three-dimensional printing apparatus 1 can more reliably fix the n layer on top of the n-1 layer.

[0096] Furthermore, as mentioned above, the path data may include partial path width data at each position on the build path. Here, when the three-dimensional printing apparatus 1 stacks n layers on top of n-1 layers, it changes the width of the build material X extruded onto the top surface of layer n-1 by changing the distance between the top surface of layer n-1 and the tip of the nozzle Nz. However, the maximum width of the build material X extruded onto the top surface of layer n by the three-dimensional printing apparatus 1 is the outer diameter of the tip of the nozzle Nz. This is because if the distance between the top surface of layer n-1 and the tip of the nozzle Nz is made shorter than the inner diameter of the tip of the nozzle Nz, the build material X extruded from the tip of the nozzle Nz will be compressed by the tip of the nozzle Nz as it is extruded onto the top surface of layer n-1.

[0097] Furthermore, instead of the three-dimensional molding apparatus 1 calculating the area S based on the width of a partial path and setting the movement speed of the ejection unit 10 based on the calculated area S and corresponding information, the apparatus may be configured to set the movement speed of the ejection unit 10 based on the width of a partial path and corresponding information. In this case, the corresponding information is information that associates information indicating the width of a partial path with speed information. In this case, the information indicating the width of a partial path is an example of overlap degree information indicating the degree of overlap of the molding paths.

[0098] The data generation device 50 may be integrated with the control device 40. Alternatively, the data generation device 50 may be provided in the three-dimensional modeling apparatus 1.

[0099] Furthermore, the elements described above can be combined in any way you like. Furthermore, the control device 40 described above may be configured to change the moving speed according to the type of n-1 layer when the extrusion unit 10 extrudes the molding material X as n layers. The types of molding layers are, for example, the molding surface 21, the raft layer, the solid layer of the molded body, the molding layer of the molded body, the solid layer of the support, and the support layer of the support. The molded body is the part of the stacked N molding layers that is separated from the N molding layers as a single three-dimensional object. The support is the part of the stacked N molding layers excluding the part that is separated from the N molding layers as a single three-dimensional object.

[0100] As described above, the control device according to the embodiment includes a processor for controlling a three-dimensional molding apparatus comprising a stage, an ejection unit for ejecting molding material onto the stage, and a moving unit for moving the stage and the ejection unit relative to each other, and a storage unit that stores molding path information and correspondence information. The molding path information is information indicating the molding path for each of the N molding layers formed by the molding material ejected from the ejection unit, where N is an integer of 1 or more. The correspondence information is information that associates overlap degree information indicating the degree of overlap of the molding paths with speed information indicating the relative movement speed of the ejection unit with respect to the stage. The processor performs molding control to build a three-dimensional object of a predetermined shape by stacking N molding layers by ejecting molding material onto the stage by the ejection unit. The molding control includes movement speed control that determines the movement speed when each of the N molding layers is formed by the ejection unit based on the molding path information and correspondence information. As a result, the control device can suppress a decrease in interlayer strength between the molding layers stacked by the three-dimensional molding apparatus. In the example described above, the control device 40 is an example of the control device. Also, in the example described above, the stage 20 is an example of the stage. Also, in the example described above, the molding material X is an example of the molding material. Also, in the example described above, the ejection unit 10 is an example of the ejection unit. Also, in the example described above, the moving unit 30 is an example of the moving unit. Also, in the example described above, the three-dimensional molding apparatus 1 is an example of the three-dimensional molding apparatus. Also, in the example described above, the processor 41 is an example of the processor. Also, in the example described above, the storage unit 42 is an example of the storage unit.

[0101] Furthermore, the control device may use a configuration in which the correspondence information includes first correspondence information that associates first overlap degree information indicating a predetermined first degree of overlap and first speed information indicating a predetermined first speed as the moving speed, and second correspondence information that associates second overlap degree information indicating a second degree of overlap smaller than the first degree and second speed information indicating a second speed slower than the first speed as the moving speed.

[0102] Furthermore, the control device may use a configuration in which the correspondence information is in a table format, including a record containing the first correspondence information and a record containing the second correspondence information.

[0103] Furthermore, in the control device, a configuration may be used in which the correspondence information is a function that associates the degree of overlap information with the speed information.

[0104] Although embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may be modified, substituted, deleted, etc., as long as it does not depart from the spirit of this invention.

[0105] Furthermore, a program to realize the function of any component in the apparatus described above may be recorded on a computer-readable recording medium, and that program may be loaded into a computer system and executed. Here, the apparatus is, for example, a three-dimensional molding apparatus 1, a control device 40, a data generation apparatus 50, etc. The term "computer system" here includes hardware such as an OS (Operating System) and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD (Compact Disk)-ROMs, and storage devices such as hard disks built into a computer system. In addition, the term "computer-readable recording medium" also includes volatile memory inside a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line, which retains the program for a certain period of time.

[0106] Furthermore, the above program may be transmitted from a computer system that stores the program in a memory device or the like to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" used to transmit the program refers to a medium that has the function of transmitting information, such as a network like the Internet or a communication line like a telephone line. Furthermore, the above program may be intended to implement some of the functions described above. In addition, the above program may be one that can implement the functions described above in combination with a program already recorded in the computer system, a so-called differential file or differential program. [Explanation of symbols]

[0107] 1. XX…3D printing device, 10…Ejection unit, 11…Material melting unit, 12…Material supply unit, 13…Supply path, 14…Communication hole, 20…Stage, 21…Printing surface, 30…Moving unit, 40…Control device, 41…Processor, 42…Storage unit, 43…Input receiving unit, 44…Communication unit, 45…Display unit, 50…Data generation device, 51…Data generation unit, 111…Screw case, 112…Flat screw, 113…Drive motor, 114…Barrel, AX…Central axis, Nz…Nozzle, TC…3D coordinate system, X…Printing material

Claims

1. A processor for controlling a three-dimensional molding apparatus comprising a stage, an extrusion unit for extruding molding material onto the stage, and a moving unit for moving the stage and the extrusion unit relative to each other. A memory unit that stores the modeling path information and corresponding information, Equipped with, The molding path information is information indicating the molding path for each of the N molded layers formed by the molding material extruded from the extrusion unit. N is an integer greater than or equal to 2, Correspondence information is information that associates overlap degree information, which indicates the degree of overlap of the molding paths, with speed information, which indicates the relative movement speed of the ejection unit with respect to the stage. The processor performs molding control to create a three-dimensional object of a predetermined shape by stacking the N molding layers by extruding the molding material onto the stage using the extrusion unit. The molding control includes a movement speed control that determines the movement speed when each of the N molded layers is formed in the extrusion unit, based on the molding path information and the corresponding information. Control device.

2. The correspondence information includes first correspondence information which associates first overlap degree information indicating a predetermined first degree of overlap with first velocity information indicating a predetermined first velocity as the moving speed, and second correspondence information which associates second overlap degree information indicating a second degree of overlap smaller than the first degree with second velocity information indicating a second velocity slower than the first velocity as the moving speed. The control device according to claim 1.

3. The correspondence information is in a table format, including a record containing the first correspondence information and a record containing the second correspondence information. The control device according to claim 2.

4. The aforementioned correspondence information is a function that associates the overlap degree information with the speed information. The control device according to claim 2.

5. In the movement speed control, the processor identifies, based on the build path information, the orientation of the build path at each position on the build path of the first build layer among the N build layers, and the orientation of the build path at each position on the build path of the second build layer stacked on top of the first build layer, and determines the degree of overlap for the second build layer based on these identified orientations. The control device according to claim 2.

6. In the movement speed control, the processor determines the degree of overlap for the second build layer based on the orientation of the build path of the second build layer and the orientation of the build path of the first build layer for each of the one or more overlapping positions where the build path of the second build layer and the build path of the first build layer overlap, and determines the movement speed for forming the second build layer in the ejection unit based on the degree of overlap for the second build layer determined for each of the one or more overlapping positions and the corresponding information. The control device according to claim 5.

7. In the movement speed control, the processor identifies, based on the build path information, the width of the build path at each position on the build path of the third build layer among the N build layers, and the width of the build path at each position on the build path of the fourth build layer stacked on top of the third build layer, and determines the degree of overlap for the fourth build layer based on these identified widths. The control device according to claim 2.

8. A processor for controlling a three-dimensional molding apparatus comprising a stage, an extrusion unit for extruding molding material onto the stage, and a moving unit for moving the stage and the extrusion unit relative to each other. A memory unit that stores the modeling path information and corresponding information, Equipped with, The molding path information is information indicating the molding path for each of the N molded layers formed by the molding material extruded from the extrusion unit. N is an integer greater than or equal to 2, Correspondence information is information that associates overlap degree information, which indicates the degree of overlap of the build paths, with width information, which indicates the width of the build paths. The processor performs molding control to create a three-dimensional object of a predetermined shape by stacking the N molding layers by extruding the molding material onto the stage using the extrusion unit. The molding control includes width control, which determines the width of the molding path when each of the N molding layers is formed in the extrusion unit, based on the molding path information and the corresponding information. Control device.

9. The stage and, A dispensing unit for dispensing molding material onto the stage, A moving unit that moves the stage and the discharge unit relative to each other, Control device and Equipped with, The control device is A processor that controls the discharge unit and the moving unit, A memory unit that stores the modeling path information and corresponding information, Equipped with, The molding path information is information indicating the molding path for each of the N molded layers formed by the molding material extruded from the extrusion unit. N is an integer greater than or equal to 2, Correspondence information is information that associates overlap degree information, which indicates the degree of overlap of the molding paths, with speed information, which indicates the relative movement speed of the ejection unit with respect to the stage. The processor performs molding control to create a three-dimensional object of a predetermined shape by stacking the N molding layers by extruding the molding material onto the stage using the extrusion unit. The molding control includes a movement speed control that determines the movement speed when each of the N molded layers is formed in the extrusion unit, based on the molding path information and the corresponding information. Three-dimensional printing equipment.

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