JP6823435B2 - Modeling equipment and modeling method - Google Patents

Description

The present invention relates to a modeling apparatus and a modeling method.

Conventionally, a modeling device (3D printer) for modeling a modeled object using an inkjet head is known (see, for example, Patent Document 1). In such a modeling device, for example, an ink that is a material for modeling is ejected from an inkjet head to model a modeled object.

JP-A-2015-71282

When modeling is performed using an inkjet head, a colored model can be modeled by using a colored ink for coloring as a modeling material. In this case, for example, the modeled object is colored by forming a region (colored area) near the surface of the modeled object with coloring ink. Further, in this case, the ink dots composed of one drop of ink ejected from the coloring inkjet head can be considered as the smallest unit of modeling that indicates color in the colored region. In this case, the smallest unit of modeling is, for example, a voxel (three-dimensional pixel) constituting a modeled object.

However, when the modeled object colored in this way is modeled, the appearance of the color at each position of the colored region may differ depending on the position in the modeled object and the angle at which the modeled object is observed. If such a difference in the appearance of colors occurs, for example, the impression of uneven coloring may occur, and the quality of the modeled object may deteriorate. Therefore, conventionally, it has been desired to model a colored model by a more appropriate method. Therefore, an object of the present invention is to provide a modeling apparatus and a modeling method capable of solving the above problems.

The inventor of the present application has focused on the shape of ink dots, which is the smallest unit of modeling that indicates color in a colored region, with respect to the above-mentioned phenomenon of difference in color appearance. More specifically, the ink ejected from the inkjet head is in a liquid state having a low viscosity at the time of ejection. Therefore, when the ink lands on the surface to be modeled after being ejected from the inkjet head, the ink usually spreads in the landed surface, and the height is smaller than the size in the in-plane direction (for example, the diameter of dots). Changes to. Then, in this case, there is a large difference between the size and the height in the in-plane direction for the minimum unit of modeling in the colored region of the modeled object. Further, as a result, it is considered that the appearance of the color at each position of the colored region differs depending on the position in the modeled object and the angle at which the modeled object is observed.

On the other hand, the inventor of the present application considered to reduce the difference in color appearance by reducing the difference between the size and the height in the in-plane direction, at least for the smallest unit of modeling in the colored region of the modeled object. It was. Further, as a specific method thereof, for example, it was considered that the minimum unit indicating a color in a colored region is not composed of only one drop of ink but is composed of a plurality of drops of ink of the same color. With this configuration, for example, the difference between the in-plane size and the height of the smallest unit of modeling in the colored region can be made smaller. Further, this makes it possible to appropriately prevent a difference in the appearance of colors depending on the position in the modeled object and the angle at which the modeled object is observed.

In addition, the inventor of the present application has found the features necessary for obtaining such an effect through further diligent research, and has reached the present invention. In order to solve the above problems, the present invention is a modeling device for modeling a three-dimensional modeled object, depending on an inkjet head that ejects ink as a material of the modeled object by an inkjet method and a modeling resolution. A control unit for ejecting ink to the inkjet head is provided with reference to the boxel position, which is the position set in the above-mentioned position, and the inkjet head is used for coloring at least when modeling the colored modeled object. When the colored head, which is the inkjet head for ejecting ink, is provided and the colored model is modeled, the colored region formed by using the coloring ink can be visually recognized from the surface of the model. When the ink is formed at the position and the ink is ejected to the coloring head to the boxel position at least when the coloring region is formed, the control unit is preset on the coloring head with respect to one of the boxel positions. It is characterized by ejecting N drops (N is an integer of 2 or more) of ink.

With this configuration, for example, the minimum unit of modeling (for example, voxels) formed for each voxel position in the colored region has a size in the in-plane direction as compared with the case where only one ink dot is formed. The difference from the height can be made smaller. Further, this makes it possible to appropriately prevent a difference in the appearance of colors depending on, for example, the position in the modeled object or the angle at which the modeled object is observed.

Further, in this configuration, the N drops of ink discharged to one voxel position land so as to overlap in the direction in which the modeling materials are laminated (stacking direction). Regarding this configuration, for example, by configuring the minimum unit of modeling with a plurality of drops (N drops) of ink, the minimum unit is made into a shape closer to a cube that is isotropic with respect to each direction of, for example, XYZ. It can be thought of as a composition. In this case, the X direction and the Y direction are, for example, directions orthogonal to each other in the plane in which the ink dots spread. The Z direction is, for example, a direction orthogonal to the X direction and the Y direction. Further, in the modeling apparatus, the Z direction is, for example, a direction parallel to the direction in which the modeling materials are laminated. Further, in this case, the minimum unit of modeling is a cube, for example, it is formed by overlapping the length of one side of a square when the spread of dots in the XY plane is approximated by a square and the dots of N drops. The height of the smallest unit of modeling (height in the Z direction) is substantially equal to that of the model. Further, in this case, the length of one side of the square when the spread of the dots in the XY plane is approximated by a square is, for example, the square having an area equal to the area of the dots in the XY plane. It is the length of one side. Further, substantially equal means that they can be regarded as equal depending on, for example, the accuracy of modeling. Further, the length of one side of the square and the height of the minimum unit in the above are, for example, the design length and height.

When the ink is flattened by using a flattening roller or the like during the modeling operation, the height of the minimum unit of modeling is, for example, the height after flattening. Further, it is preferable to adjust the minimum unit of the colored region so that the length of one side of the square and the height of the minimum unit are equal to each other. In this case, the number of ink droplets (N droplets) to be ejected to the coloring head to one voxel position is, for example, about 2 to 5 droplets, preferably about 3 to 4 droplets.

Further, as the configuration of the present invention, it is conceivable to use a modeling method or the like having the same characteristics as described above. In this case as well, for example, the same effect as described above can be obtained.

According to the present invention, for example, a colored model can be modeled by a more appropriate method.

It is a figure which shows an example of the modeling apparatus 10 which concerns on one Embodiment of this invention. FIG. 1A shows an example of the configuration of the main part of the modeling apparatus 10. FIG. 1B shows an example of the configuration of the head portion 12 in the modeling apparatus 10. It is a figure explaining the conventional modeling method. FIG. 2A schematically shows an operation of forming ink dots 204 by ejecting ink droplets 202. FIG. 2B schematically shows how the ink layer is flattened. FIGS. 2C and 2D show an example of the configuration of the modeled object 50 when the modeled object 50 colored by the conventional method is modeled. It is a figure which shows an example of the operation of modeling performed in this example. FIG. 3A schematically shows an example of the cross-sectional shape of the modeled object 50 modeled in this example. FIG. 3B is a diagram showing dots 204 of a plurality of inks formed at one voxel position in this example. It is a flowchart which shows an example of the operation of modeling a modeled object 50. It is a figure which shows the modification of the structure of the head part 12 in the modeling apparatus 10.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. FIG. 1 shows an example of a modeling apparatus 10 according to an embodiment of the present invention. FIG. 1A shows an example of the configuration of the main part of the modeling apparatus 10. FIG. 1B shows an example of the configuration of the head portion 12 in the modeling apparatus 10.

The modeling apparatus 10 may have the same or the same configuration as the known modeling apparatus, except for the points described below. More specifically, except for the points described below, the modeling apparatus 10 is the same as or the same as a known modeling apparatus that performs modeling by ejecting droplets that are a material of the modeled object 50 using, for example, an inkjet head. It may have a similar configuration. In addition to the configurations shown in the figure, the modeling device 10 may further include various configurations necessary for modeling, coloring, and the like of the modeled object 50, for example.

In this example, the modeling device 10 is a modeling device (3D printer) that models a three-dimensional modeled object 50 by a layered manufacturing method. In this case, the additive manufacturing method is, for example, a method of stacking a plurality of layers to form a modeled object 50. The modeled object 50 is, for example, a three-dimensional three-dimensional structure. Further, in this example, the modeling device 10 includes a head unit 12, a modeling table 14, a scanning drive unit 16, and a control unit 20.

The head portion 12 is a portion for discharging the material of the modeled object 50. Further, in this example, ink is used as the material of the modeled object 50. In this case, the ink is, for example, a liquid discharged from an inkjet head. The inkjet head is, for example, an ejection head that ejects ink droplets by an inkjet method.

More specifically, the head portion 12 ejects ink that is cured (solidified) according to a predetermined condition from a plurality of inkjet heads as a material of the modeled object 50. Then, by curing the ink after landing, each layer constituting the modeled object 50 is formed in layers. Further, in this example, as the ink, an ultraviolet curable ink (UV ink) that is cured from a liquid state by irradiation with ultraviolet rays is used.

Further, the head portion 12 further discharges the material of the support layer in addition to the material of the modeled object 50. Further, as a result, the modeling apparatus 10 forms a support layer around the modeled object 50, if necessary. The support layer is, for example, a laminated structure that supports the modeled object 50 by surrounding the outer periphery of the modeled object 50 being modeled. The support layer is formed as needed at the time of modeling the modeled object 50, and is removed after the modeling is completed. For convenience of illustration, FIG. 1A shows a state in which the modeled object 50 is modeled without using the support layer.

The modeling table 14 is a trapezoidal member that supports the modeling object 50 being modeled, is arranged at a position facing the inkjet head in the head portion 12, and the modeled object 50 being modeled is placed on the upper surface. Further, in this example, the modeling table 14 has a structure in which at least the upper surface can be moved in the stacking direction (Z direction in the drawing), and is driven by the scanning drive unit 16 to model the modeled object 50. At least the upper surface is moved as the process progresses. In this case, the laminating direction is, for example, the direction in which the modeling materials are laminated in the additive manufacturing method. More specifically, in this example, the stacking direction is a direction orthogonal to the main scanning direction (Y direction in the figure) and the sub scanning direction (X direction in the figure).

The scanning drive unit 16 is a drive unit that causes the head unit 12 to perform a scanning operation that moves relative to the modeled object 50 being modeled. In this case, moving relative to the modeled object 50 being modeled means, for example, moving relative to the modeling table 14. Further, having the head portion 12 perform the scanning operation means, for example, causing the inkjet head of the head portion 12 to perform the scanning operation. Further, in this example, the scanning drive unit 16 causes the head unit 12 to perform a main scanning operation (Y scanning), a sub scanning operation (X scanning), and a stacking direction scanning (Z scanning).

The main scanning operation is, for example, an operation of ejecting ink while moving in the main scanning direction. In this example, the scanning drive unit 16 fixes the position of the modeling table 14 in the main scanning direction and moves the side of the head unit 12 to cause the head unit 12 to perform the main scanning operation. Further, the scanning drive unit 16 may move the side of the modeled object 50, for example, by fixing the position of the head unit 12 in the main scanning direction and moving the modeling table 14, for example.

The sub-scanning operation is, for example, an operation of moving relative to the modeling table 14 in the sub-scanning direction orthogonal to the main scanning direction. More specifically, the sub-scanning operation is, for example, an operation of moving relative to the modeling table 14 in the sub-scanning direction by a preset feed amount. In this example, the scanning drive unit 16 fixes the position of the head unit 12 in the sub-scanning direction between the main scanning operations and moves the modeling table 14 to cause the head unit 12 to perform the sub-scanning operation. .. Further, the scanning drive unit 16 may cause the head unit 12 to perform the sub-scanning operation by fixing the position of the modeling table 14 in the sub-scanning direction and moving the head unit 12.

The stacking direction scanning is, for example, an operation of moving the head portion 12 in the stacking direction relative to the modeled object 50 by moving at least one of the head portion 12 or the modeling table 14 in the stacking direction. In addition, the scanning drive unit 16 adjusts the relative position of the inkjet head with respect to the modeled object 50 being modeled in the stacking direction by causing the head unit 12 to scan in the stacking direction in accordance with the progress of the modeling operation. More specifically, in this example, the scanning drive unit 16 fixes the position of the head unit 12 in the stacking direction and moves the modeling table 14. The scanning drive unit 16 may move the head unit 12 by fixing the position of the modeling table 14 in the stacking direction.

The control unit 20 is, for example, the CPU of the modeling device 10, and controls the modeling operation of the modeling object 50 by controlling each unit of the modeling device 10. More specifically, the control unit 20 controls each part of the modeling device 10 based on, for example, shape information of the modeled object 50 to be modeled, color information, and the like. According to this example, the modeled object 50 can be appropriately modeled.

Subsequently, a more specific configuration of the head portion 12 will be described. In this example, the head portion 12 has a plurality of inkjet heads, a plurality of ultraviolet light sources 104, and a flattening roller 106. Further, as a plurality of inkjet heads, as shown in FIG. 1B, there are an inkjet head 102s, an inkjet head 102w, an inkjet head 102a, and an inkjet head 102b. These plurality of inkjet heads are arranged side by side in the main scanning direction, for example, by aligning the positions in the sub scanning direction. Further, each inkjet head has a nozzle row in which a plurality of nozzles are arranged in a predetermined nozzle row direction on a surface facing the modeling table 14. Further, in this example, the nozzle row direction is a direction parallel to the sub-scanning direction.

Further, among these inkjet heads, the inkjet head 102s is an inkjet head that ejects the material of the support layer. As the material of the support layer, for example, a known material for the support layer can be preferably used. Further, the inkjet head 102w is an inkjet head that ejects white (W color) ink. The white ink is an example of a light-reflecting ink, and is used, for example, when forming a region having a property of reflecting light (light-reflecting region) in the modeled object 50. Further, in this example, the white ink also serves as an ink for internal modeling used for modeling the inside (internal region) of the modeled object 50. In this case, the inkjet head 102w forms an internal region that also functions as a light reflection region by forming the inside of the modeled object 50 with white ink.

The inkjet head 102a and the inkjet head 102b are coloring inkjet heads (coloring heads), and eject inks for coloring of different colors at the time of modeling the colored model 50. The coloring ink is, for example, a colored ink (for example, a chromatic ink) used when forming a colored region in the modeled object 50. In this case, the colored region is formed, for example, at a position where the color can be visually recognized from the surface of the modeled object 50. Further, in this example, as the coloring ink, an ink having a color that has been toned in advance according to the color to be colored on the modeled object 50 is used.

The plurality of ultraviolet light sources 104 are light sources (UV light sources) for curing the ink, and generate ultraviolet rays for curing the ultraviolet curable ink. Further, in this example, each of the plurality of ultraviolet light sources 104 is arranged on one end side and the other end side of the head portion 12 in the main scanning direction so as to sandwich an array of inkjet heads between them. As the ultraviolet light source 104, for example, a UV LED (ultraviolet LED) or the like can be preferably used. It is also conceivable to use a metal halide lamp, a mercury lamp, or the like as the ultraviolet light source 104.

The flattening roller 106 is a flattening means for flattening a layer of ink formed during the molding of the modeled object 50. The flattening roller 106 flattens the ink layer by contacting the surface of the ink layer and removing a part of the ink before curing, for example, during at least a part of the main scanning operation.

By using the head portion 12 having the above configuration, the ink layer constituting the modeled object 50 can be appropriately formed. Further, by forming a plurality of layers of ink in layers, the modeled object 50 can be appropriately modeled.

The specific configuration of the head portion 12 is not limited to the configuration described above, and can be variously modified. For example, when coloring the modeled object 50 with more colors, the head portion 12 may further have an inkjet head other than the inkjet head 102a and the inkjet head 102b as an inkjet head for coloring. In this case, for example, it has an inkjet head for coloring as many as the number of colors for coloring the modeled object 50. Further, the head portion 12 may further include an inkjet head or the like that ejects modeling material ink (Mo ink). In this case, the modeling material ink is, for example, an ink dedicated to modeling used for forming an internal region. Further, in this case, the modeling apparatus 10 forms, for example, a light reflection region with white ink around the internal region formed with the modeling material ink separately from the internal region. Further, the head portion 12 may further include, for example, an inkjet head for clear ink. In this case, the clear ink is, for example, a clear color ink which is a colorless transparent color (T). Further, the arrangement of the plurality of inkjet heads in the head portion 12 can be variously modified. For example, some inkjet heads may be displaced from other inkjet heads in the sub-scanning direction.

Subsequently, the operation of modeling the modeled object 50 in this example will be described in more detail. First, for convenience of explanation, a case where the modeled object 50 is modeled by an operation different from that of the modeling device 10 of this example (hereinafter, referred to as a conventional modeling method) will be described. FIG. 2 is a diagram illustrating a conventional modeling method. FIG. 2A schematically shows an operation of forming ink dots 204 by ejecting ink droplets 202.

When modeling is performed by an inkjet method using an inkjet head, ink droplets 202 (ink droplets), which are the material of the modeled object 50, are ejected from the nozzles of the inkjet head to generate ink on the surface to be modeled of the modeled object 50. Dot 204 is formed. Further, in this case, the control unit in the modeling apparatus ejects ink to the inkjet head with reference to the voxel position, which is a position set according to the resolution of modeling. In this case, the voxel position is, for example, a position arranged at dot intervals corresponding to the resolution of modeling. Further, in the case shown in the figure, the voxel position is a position indicated by a plurality of arrows 302. Further, ejecting ink based on the voxel position means ejecting ink to the inkjet head so that the ink dots 204 are formed at the voxel position on the surface to be modeled. Further, in this case, forming the ink dot 204 at the voxel position means, for example, designing that the dot 204 is formed at the voxel position.

Further, in the conventional modeling method, the inkjet head ejects ink droplets 202 one by one at each voxel position. Further, after ejection, the ink droplet 202 lands on the modeled surface parallel to the XY plane parallel to the Y direction (main scanning direction) and the X direction (sub scanning direction) and spreads. Therefore, as shown in the figure, the ink dots 204 formed after the ink droplet 202 has landed have a shape in which the Z direction is crushed as compared with the XY directions.

Further, when modeling is performed by the additive manufacturing method, the ink dots 204 formed immediately after landing are usually further flattened by using a flattening roller. FIG. 2B schematically shows how the ink layer is flattened. By flattening with the flattening roller, for example, the surface shape of the ink dots 204 is made uniform. Further, in this case, as shown in the figure, the height of the ink dot 204, which is the size in the Z direction, is compared with the width Lx in the X direction and the width Ly in the Y direction, which are the sizes in the X direction and the Y direction. H becomes smaller.

Here, as described above, the voxel positions where the ink dots 204 are formed are the positions arranged at dot intervals corresponding to the resolution of modeling. Therefore, on the modeled surface of the modeled object 50, the voxel positions are arranged adjacent to each other at narrow intervals in the X direction and the Y direction. Then, in this case, the shape of the flattened dot 204 in the XY plane (spreading of the dot in the XY plane) can be considered by performing a square approximation. The square approximation of the shape of the dot 204 is, for example, considering a square having the same area as the area where the ink dot 204 spreads in the XY plane, and regards the shape of the ink dot 204 in the XY plane as the shape of this square. Is. More specifically, when shown in the figure, the widths Lx and Ly of the ink dots 204 in the X and Y directions can be considered as the length of one side of this square.

Further, as described above, the height H of the ink dots 204 shown in the figure is the height of the dots 204 after flattening. Then, when the modeled object 50 is modeled using the inkjet head, the height H is, for example, about 1/5 to 1/2 with respect to the widths Lx and Ly of the dots 204 on the XY plane. More specifically, for example, when forming ink dots 204 with a known inkjet head used in recent years, the diameter of one dot is, for example, about 90 to 120 μm. Further, the height of the dot 204 in the Z direction is, for example, about 40 μm. Therefore, in this case, the ratio of the diameter and the height of the dot 204 is about 2 to 3 times. In this case, the ratio of the widths Lx and Ly of the dots 204 on the XY plane to the height H is also about the same. However, if the ink dots 204 constituting the colored region of the modeled object 50 have such a shape, for example, the difference between the width Lx, Ly and the height H of the dots 204 on the XY plane is large, so that the color is changed. The appearance may be affected.

2 (c) and 2 (d) show an example of the configuration of the modeled object 50 when the modeled object 50 colored by the conventional modeling method is modeled. FIG. 2C is a perspective view showing an example of the appearance of the modeled object 50. FIG. 2D is a diagram showing an example of the cross-sectional shape of the modeled object 50, and is an example of the cross-sectional state (stacked image) of the modeled object 50 on the XZ plane including the position shown by the broken line in FIG. 2C. Is schematically shown.

Even when modeling is performed by the conventional modeling method, for example, an internal region 62 is formed with white ink, and a colored region 64 is formed around the internal region 62 with coloring ink. In this case, by forming the inner region 62 with white ink inside the colored region 64, it is possible to appropriately reflect the light incident from the outside of the modeled object 50 through the colored region 64. Further, this makes it possible for the observer to visually recognize the color of the colored region 64.

Further, in this case, as shown in FIG. 2D, the internal region 62 and the colored region 64 are formed by dots 204 of a plurality of inks. More specifically, the internal region 62 is formed by dots 204 of white ink. Further, the colored region 64 is formed by dots 204 of ink for coloring. Further, for example, when using inks for coloring a plurality of colors, each dot 204 in the coloring region 64 is formed with one of the inks for coloring.

However, in the case of simply forming the internal region 62 and the colored region 64 in the conventional method, as is clear from the configuration and the like shown in FIG. 2D, the thickness of the colored region 64 is increased depending on the position of the modeled object 50. There will be a difference in color thickness). More specifically, when shown in the figure, the thickness t1 of the colored region 64 when viewed from above in the stacking direction (Z direction) is equal to the thickness H of the ink dots 204. Further, when viewed from one side (horizontal side) in the X direction, the thickness t2 of the colored region 64 is equal to the width Lx of the ink dots 204 in the X direction. In this case, the thickness of the colored region 64 will differ greatly depending on the viewing angle of the modeled object 50. Further, as a result, the appearance of colors may differ depending on the position on the modeled object 50 and the angle at which the modeled object 50 is observed. However, if such a difference in the appearance of colors occurs, for example, the impression of uneven coloring may occur, and the quality of the modeled object 50 may deteriorate.

On the other hand, in this example, the occurrence of such a problem is appropriately suppressed by making the method of forming the ink dots 204 at each voxel position different from the case shown in FIG. Therefore, the modeling operation performed by the modeling device 10 (see FIG. 1) of this example will be described in detail below. Except for the points described below, the modeling operation performed in this example may be the same as or similar to the modeling operation described with reference to FIG.

FIG. 3 shows an example of the modeling operation performed in this example. FIG. 3A schematically shows an example of the cross-sectional shape of the modeled object 50 (see FIG. 1) to be modeled in this example. The appearance of the modeled object 50 is, for example, the same as or similar to that of the modeled object 50 shown in FIG. 2 (c). Further, the cross-sectional view shown in FIG. 3A is a diagram schematically showing an example of a cross-sectional view (stacked image) of the modeled object 50 on the XZ plane including the position shown by the broken line in FIG. 2C. ..

As shown in the figure, in this example, the colored regions 64 on the upper surface side and the lower surface side of the modeled object 50 are formed thicker than those shown in FIG. 2 by overlapping the dots 204 of a plurality of inks. There is. More specifically, the thickness t3 of the colored region 64 when viewed from the upper side in the stacking direction is made thicker than the thickness t1 in the configuration shown in FIG.

Further, also in this example, the control unit 20 (see FIG. 1) in the modeling apparatus 10 ejects ink to the inkjet head with reference to the voxel position. Then, in this case, by making the total number of ink droplets to be ejected to each voxel position a plurality of droplets, dots 204 of a plurality of inks are superimposed on each voxel position. Further, as a result, the colored regions 64 on the upper surface side and the lower surface side of the modeled object 50 are thickly formed.

FIG. 3B is a diagram showing dots 204 of a plurality of inks formed at one voxel position in this example, and a plurality of dots overlapping at the positions indicated by arrows 304 in the colored region 64 in FIG. 3A. 204 is schematically shown. In the case shown in the figure, the number of droplets of ink ejected to one voxel position is three. Further, in this case, the number of ink droplets of ink ejected to one voxel position is the number of droplets of ink of the same color. Further, in this case, as shown in FIG. 3B, three dots 204 are formed in an overlapping manner at one voxel position. Then, in this case, for example, it can be considered that the voxel 70, which is the smallest unit of modeling formed by ink of the same color at one voxel position, is composed of three dots 204 overlapping at the same voxel position. ..

Here, when compared with the configuration of this example, it can be considered that the voxel is composed of only one dot 204 at each voxel position in the configuration shown in FIG. Further, the configuration of this example can be considered, for example, a configuration in which the height of the voxels in the Z direction is larger than the configuration shown in FIG.

More specifically, in this example, the size of the voxel 70 in the XY plane is the same as that of one dot 204. Therefore, the sizes of the voxels 70 in the X direction and the Y direction can be considered to be Lx and Ly, similar to the configuration shown in FIG. In this case, Lx and Ly are the lengths of one side of the square when the spread of dots in the XY plane is approximated by a square. That is, when the length of one side of this square is L, Lx and Ly are equal to L. Further, in this case, the height Hb of the voxel 70 is the height at which the three dots 204 are overlapped. Therefore, the height Hb of the voxel 70 in this example is larger than the height H of the voxel in the case shown in FIG.

Further, also in this example, the height Hb of the voxel 70 is the height after being flattened by the flattening roller 106 (see FIG. 1). Therefore, the height Hb can be adjusted to a desired height by adjusting the amount of ink removed by the flattening roller 106 at the time of flattening (the amount of flattening scraping). Then, in this example, the height Hb of the voxel 70 is set to be equal to the length L of one side of the square. Therefore, in this example, it can be considered that the voxels 70 have a cubic shape in which Lx, Ly, and Hb are equal to each other. In this case, the voxel 70 is a cube, for example, it is composed of the length L of one side of a square when the spread of dots 204 in the XY plane is approximated by a square, and the ink of the same color overlapping at the same voxel position. The height of the voxels 70 (height in the Z direction) is substantially equal to that of the voxels 70. Further, substantially equal means that they can be regarded as equal depending on, for example, the accuracy of modeling. Further, the length of one side of the square and the height of the voxel 70 in the above are, for example, the design length and height.

With this configuration, for example, the widths of the voxels 70 in the X, Y, and Z directions at each voxel position in the colored region 64 can be approximately equal. Further, this makes it possible to appropriately prevent a difference in the appearance of colors depending on, for example, the position on the modeled object 50 and the angle at which the modeled object 50 is observed.

Further, in the above, the case of 3 drops of ink to be ejected to each voxel position has been described. However, the number of droplets is not limited to three, and it is preferable to set the voxel 70 so as to be closer to the cube. Therefore, when considering the features of this example in a more generalized manner, at least in the operation of ejecting ink to the voxel position at the time of forming the colored region 64, the control unit 20 with respect to the inkjet head is controlled. It can be considered that the inkjet head 102 for coloring is ejected with preset N drops (N is an integer of 2 or more) with respect to one voxel position. Further, in this case, the number of ink droplets (N droplets) to be ejected to one voxel position on the coloring inkjet head is, for example, 2 or more, preferably 3 or more. More specifically, the number of droplets (N droplets) is, for example, about 2 to 5 droplets, preferably about 3 to 4 droplets.

Regarding the feature of this example, for example, a voxel formed of the same color ink at one voxel position in the coloring region 64 by ejecting N drops of ink to one voxel position on a coloring inkjet head. It can also be considered that 70 is formed in a state closer to a cube. In this case, the state closer to the cube means that the state of the voxel 70 is closer to the cube than, for example, a case where only one drop of ink is ejected to one voxel position. More specifically, the state closer to the cube means that, for example, the difference between the length L of one side of the square and the height Hb of the voxel 70 when the spread of the dots 204 in the XY plane is approximated by a square is It is a smaller state.

Further, as described above, in this example, the height Hb of the voxel 70 is the height after flattening by the flattening roller 106. Therefore, regarding the state of the modeled object 50 after landing on the surface to be modeled, the height of the dots 204 of one ink in the non-flattened state is h, and the size of the dots 204 in the XY plane is a square. Considering the relationship between the length L of one side and h in the case of approximation, the relationship of N × h> L with respect to the number of ink droplets (N droplets) to be ejected to one voxel position on the coloring inkjet head. It can also be considered to satisfy.

Further, in this case, it is conceivable that the amount of flattening scraped by the flattening roller 106 is set in units of 70 voxels composed of N dots 204. With this configuration, for example, the amount of scraping can be reduced as compared with the case where a certain amount of scraping is set for each dot 204 and flattening is performed for each dot 204. In addition, this makes it possible to appropriately save ink used for modeling, for example. Further, by reducing the amount of scraping, for example, it is possible to increase the stacking speed in the stacking direction and perform modeling at a higher speed. Further, in this case, it is conceivable that the irradiation of ultraviolet rays by the ultraviolet light source 104 (see FIG. 1) is also performed in units of 70 voxels.

More specifically, in this case, flattening by the flattening roller 106 is not performed until all N dots 204 constituting one voxel 70 are formed, and N drops are formed at one voxel position. After all of the inks of No. 2 have landed, it is conceivable to flatten the N dots 204 formed by the N drops of ink together. With this configuration, for example, flattening in voxel units can be appropriately performed.

Further, the flattening by the flattening roller 106 is not necessarily limited to only after all of the N drops of ink have landed on one voxel position, and further flattening may be performed in the middle of the flattening. In this case, the flattening roller 106 may, for example, perform the ink dot 204 at any timing before all of the N drops of ink land on one voxel position and after all of the N drops of ink have landed. Flatten. Further, in this case, for example, it is conceivable to perform flattening every time a predetermined number (for example, 1 or 2) of dots 204 out of N are formed. Even in this configuration, by setting the height of flattening performed after all of the N drops of ink have landed according to the length L of one side, the flattening in voxel units is appropriately performed. be able to.

Subsequently, the operation of modeling the modeled object 50 in this example will be described in more detail. Further, in the following, an example of the operation of the modeling apparatus 10 will be described in the case where the number of ink droplets to be ejected to one voxel position in order to form a voxel having a shape close to that of a cube is N droplets.

As described above, in this example, the modeling apparatus 10 performs modeling by the additive manufacturing method. In this case, the modeling device 10 performs modeling using cross-section data (slice data) showing the cross-section of the modeled object 50 to be modeled. Further, as the cross-section data, a plurality of cross-section data showing the cross-sections of the modeled objects 50 at different positions are used. More specifically, in this case, the control unit 20 in the modeling apparatus 10 ejects ink to the inkjet head in the head unit 12 (see FIG. 1) at a position designated by the respective cross-sectional data. The inkjet head is formed with a layer of ink corresponding to the cross-section data.

Further, in this example, instead of simply modeling the modeled object 50 by the laminated modeling method, a plurality of droplets of ink of the same color are ejected to one voxel position to bring it closer to a cube. The shape forms a voxel. In this case, the control unit 20 causes the inkjet head 1 to eject preset N drops of ink to one voxel position, for example, when forming an ink layer corresponding to one cross-sectional data. Further, in this case, paying attention to the coloring region 64 in the ink layer, the control unit 20 ejects N drops of ink to any of the coloring inkjet heads at each voxel position. More specifically, in this case, the control unit 20 repeats the operation of ejecting ink to the inkjet head to the position specified by one cross-sectional data N times, for example, so that N can be obtained with respect to one voxel position. Drops of ink are ejected.

FIG. 4 is a flowchart showing an example of an operation of modeling the modeled object 50. In this example, when modeling the colored modeled object 50, the control unit 20 in the modeling device 10 first acquires the size of the cubic voxel (S102). In this case, the size of a cube voxel is the size of a voxel formed in a shape close to that of a cube by ejecting N drops of ink to one voxel position. More specifically, the size of the cubic voxel acquired in step S102 is a design size. In this case, the control unit 20 acquires the size of the cubic voxel from, for example, the resolution of modeling in the XY direction orthogonal to the stacking direction (Z direction). Further, the size of the cube voxels is, for example, the size of the cube voxels formed at least in the colored region 64.

In this example, the resolution of modeling in the X direction and the resolution of modeling in the Y direction are set to be equal. Further, as described above, in this example, as the coloring ink, an ink having a color that has been toned in advance according to the color to be colored on the modeled object 50 is used. Then, in this case, only one color of ink is ejected to each voxel position in the colored region 64. Therefore, in this case, in the X and Y directions, the voxels are lined up in contact with the adjacent voxels at intervals equal to the dot spacing corresponding to the resolution of modeling. Then, in this case, the length of one side of the voxel regarded as a cube is equal to the dot spacing corresponding to the resolution of modeling in the X direction and the Y direction.

Further, after acquiring the size of the cubic voxel, the control unit 20 calculates the number of Z layers and the amount of scraping (S104). In this case, the number of Z layers is the number (N) of ink droplets ejected to one voxel position in the colored region 64. The amount of scraping is the amount (height) of ink removed during flattening by the flattening roller 106 (see FIG. 1). The number of Z layers and the amount of scraping can be determined, for example, based on various design conditions. Further, the number of Z layers and the amount of scraping may be determined based on the measured values of various conditions.

More specifically, in this step, the control unit 20 determines the number of Z layers required to form a voxel regarded as a cube, based on, for example, the ink ejection volume. In this case, the number of Z layers is determined so that the height in the stacking direction (height before flattening) reached by overlapping N drops of ink is at least larger than the length of one side of the voxel regarded as a cube. .. In addition, the difference between the height before flattening and the length of one side of the voxel regarded as a cube is set as the amount of scraping. With this configuration, for example, the conditions for forming a voxel that can be regarded as a cube can be appropriately set. Further, as a result, for example, the shape of the voxels formed at each voxel position can be appropriately brought close to the cube.

In this configuration, the dot spacing corresponding to the modeling resolution in the Z direction can be considered to be equal to the height of the voxels in the Z direction. Therefore, in this example, it can be said that the modeling resolutions are the same in each direction of XYZ.

In addition, after calculating the number of Z layers and the amount of scraping, cross-section data is generated and modeling is performed. Further, in this example, the cross-sectional data is generated by slicing the modeling data indicating the modeled object 50 at regular intervals in the Z direction. Then, in this operation, first, it is determined whether or not the slicing of the modeling data is completed (S106), and if it is not completed (S106: No), the slicing of the modeling data is executed (S108). In this case, one cross-section data is generated in one step S108. For example, when the first step S108 is executed, the cross-sectional data at the initial position in the Z direction is generated. Further, at the time of executing the first step S108 after the second time, the cross-sectional data at the position where the position is sequentially shifted in the Z direction is generated. Further, in this example, by making the amount of shift in the Z direction equal to the length of one side of the voxel regarded as a cube, the modeling data is sliced at intervals of the length of one side of the cube voxel, and the cross-sectional data is obtained. To generate.

Further, in this example, after the generation of each cross-section data, the modeling operation corresponding to the cross-section data is executed. Further, in this modeling operation, the operation of ejecting ink to one voxel position based on one cross-sectional data is repeated for the number of Z layers. More specifically, in this case, first, it is determined whether or not the ink ejection to one voxel position is repeated for the number of Z layers (S110), and if the repetition is not completed (S110, No), the cross section Ink is ejected based on the data (S112). Further, in this operation, flattening of the ink layer, irradiation of ultraviolet rays (UV irradiation), and the like are appropriately performed. Further, after the execution of step S112, the process returns to step S110, and it is determined again whether or not the repetition for the number of Z layers is completed. Further, as a result, ink for the number of Z layers (N drops) is ejected to one voxel position. When the repetition for the number of Z layers is completed (S110: Yes), the process returns to step S106 to generate the next cross-section data. Then, the subsequent operations are repeated.

Further, when all the cross-section data necessary for modeling the modeled object 50 is generated and the modeling operation corresponding to the cross-section data is completed, it is determined in step S106 that the slicing of the modeling data is completed (S106: Yes). ). Then, in response to this determination, the modeling device 10 ends the operation of modeling the modeled object 50.

In this configuration, for example, the number of Z layers and the amount of scraping are set according to the size of the cubic voxel, and the ink ejection corresponding to the same cross-sectional data is repeated for the number of Z layers. , The voxel spacing in the Z direction can always be equal to the spacing in the XY direction. Therefore, according to this example, for example, a voxel having a shape close to a cube can be used to appropriately form the modeled object 50. Further, this makes it possible to appropriately prevent a difference in the appearance of colors depending on, for example, the position on the modeled object 50 and the angle at which the modeled object 50 is observed. Further, by making the appearance of colors uniform, for example, a high-quality modeled object 50 can be modeled more appropriately.

The specific operation performed by the modeling apparatus 10 is not limited to the above, and can be changed in various ways. For example, in FIG. 4, every time the cross-section data of each position is generated, the ink ejection corresponding to the cross-section data is repeated for the number of Z layers. However, in a modified example of the operation of the modeling apparatus 10, for example, all the cross-section data may be generated first, and then the ink corresponding to each cross-section data may be ejected.

Further, depending on the characteristics of the ink used in the modeling apparatus 10, for example, it is conceivable that a voxel is not necessarily formed by a plurality of drops of ink, but a cubic voxel is formed by only one drop of ink. Even in such a case, by forming a cubic voxel, it is possible to appropriately prevent a difference in color appearance depending on, for example, the position on the modeled object 50 or the angle at which the modeled object 50 is observed.

Further, in the above, the configuration and operation in the case where the ink of the color to be toned in advance according to the color to be colored in the modeled object 50 is mainly used as the coloring ink have been described. In this case, each position of the colored region of the modeling apparatus 10 is colored without mixing inks of different colors. However, it is also conceivable to color the colored region 64 of the modeled object 50 by, for example, mixing a plurality of colors of ink. In this case, for example, full-color coloring is performed by variously changing the ratio of ejecting ink of each color of the process color at each position of the coloring region.

FIG. 5 shows a modified example of the configuration of the head portion 12 in the modeling device 10. Further, except for the points described below, the configurations having the same reference numerals as those in FIGS. 1 to 4 in FIG. 5 may have the same or similar characteristics as the configurations in FIGS. 1 to 4.

In this modification, the head portion 12 has an inkjet head 102s, an inkjet head 102w, a plurality of ultraviolet light sources 104, and a flattening roller 106, similarly to the head portion 12 shown in FIG. Further, the head portion 12 has an inkjet head 102y, an inkjet head 102m, an inkjet head 102c, and an inkjet head 102k (hereinafter referred to as inkjet heads 102y to k) as an inkjet head for coloring. The inkjet head 102y ejects yellow (Y color) ink. The inkjet head 102m ejects magenta (M color) ink. The inkjet head 102c ejects cyan (C color) ink. Further, the inkjet head 102k ejects black (K color) ink. Further, in this case, each color of YMCK is an example of a process color used for full color expression by the subtractive color mixing method.

Further, in this modification, the head portion 12 further includes an inkjet head 102t in addition to these inkjet heads. The inkjet head 102t is an inkjet head that ejects clear ink.

Further, in this case, the modeling device 10 uses the inkjet heads 102y to k and the inkjet head 102t to form a colored region in the modeling device 10. Further, in this case, various colors are expressed by adjusting the ejection amount of the ink of each color of YMCK to each position of the colored region. In addition, clear ink is used to compensate for a constant 100% change in the amount of coloring ink (discharge amount per unit volume is 0 to 100%) caused by a difference in color. With this configuration, for example, each position of the colored region can be appropriately colored with a desired color.

Further, also in this modification, at least the voxels formed in the colored region with the coloring ink are formed in a shape close to a cube by forming one voxel by ejecting a plurality of drops of ink of the same color. .. Further, in this case, the voxels of the inks of each color of YMCK are formed in the same manner as or in the same manner as when the voxels are formed in the colored region described with reference to FIGS. With this configuration, for example, even when the modeled object 50 is colored in full color, it is possible to appropriately prevent a difference in the appearance of colors depending on the position on the modeled object 50 and the angle at which the modeled object 50 is observed. it can. Further, as a result, for example, a high-quality modeled object 50 can be modeled more appropriately.

When the modeled object 50 is colored by mixing multiple colors of ink as in this modification, for example, voxels of a plurality of colors of ink are formed at one voxel position determined according to the resolution of modeling. It will be. Therefore, in this case, regarding the length of one side when the voxels of ink of one color are regarded as cubes, in addition to the resolution of modeling, the number of colors of ink forming the voxels at one voxel position is further considered. It is preferable to set. With this configuration, for example, voxels of inks of each color can be more appropriately formed in a shape close to a cube. Further, in this case, it is preferable that the clear ink voxels are formed in the same shape as or similar to the coloring ink (YMCK ink, etc.) in a shape close to that of a cube.

The present invention can be suitably used for, for example, a modeling apparatus.

10 ... Modeling device, 12 ... Head unit, 14 ... Modeling table, 16 ... Scanning drive unit, 20 ... Control unit, 50 ... Modeled object, 62 ... Internal area, 64 ... Colored area, 70 ... Voxel, 102 ... Inkjet head, 104 ... Ultraviolet light source, 106 ... Flattening roller, 202 ... Droplet, 204 ... Dot, 302 ...・ ・ Arrow, 304 ・ ・ ・ Arrow

Claims (11)

It is a modeling device that creates a three-dimensional modeled object.
An inkjet head that ejects ink as a material for the modeled object by an inkjet method,
A control unit that ejects ink to the inkjet head based on the voxel position, which is a position set according to the resolution of modeling .
Equipped with a flattening roller that flattens the ink after landing ,
The inkjet head includes, at least, a coloring head that is the inkjet head that ejects coloring ink used when modeling the colored modeled object.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When the ink is ejected to the coloring head to the voxel position at least when the coloring region is formed, the control unit receives N droplets (N is) preset on the coloring head with respect to one voxel position. (2 or more integers) of ink is ejected, and the N droplets of ink ejected to the one voxel position are landed so as to overlap in the stacking direction in which the materials are laminated.
The boxel position is a cube having sides parallel to the Z direction parallel to the stacking direction, the X direction orthogonal to the Z direction, and the Y direction orthogonal to the X direction and the Z direction. The position of the cubic boxel, which is the considered boxel,
The control unit acquires the size of the cubic voxel in design based on the resolution of modeling in the X direction and the Y direction, and discharges the size to the one voxel position based on the acquired size of the cube voxel. The number of Z layers indicating the number of ink droplets and the amount of scraping indicating the amount of ink removed during flattening by the flattening roller are calculated, and based on the number of Z layers, the N is applied to the coloring head. A modeling apparatus characterized in that a drop of ink is ejected and the flattening roller is flattened based on the amount of scraping . The control unit
Based on a plurality of cross-section data showing cross-sections at different positions of the modeled object, the inkjet head is sequentially formed with layers corresponding to the cross-section data.
When the coloring head is ejected ink to the voxel position at least during the formation of the colored region in the operation of forming the layer corresponding to the one cross-sectional data, the said one with respect to the one voxel position. The modeling apparatus according to claim 1, wherein N drops of ink are ejected. The control unit causes the inkjet head to form the layer corresponding to the cross-section data by ejecting ink to the inkjet head to a position designated by the cross-section data.
In addition, at least when the colored region is formed in the operation of forming the layer corresponding to the cross-sectional data, the coloring head is ejected ink to a position specified by the cross-sectional data. The modeling apparatus according to claim 2, wherein the N drops of ink are ejected to the coloring head at the one voxel position by repeating the operation N times. It is a modeling device that creates a three-dimensional modeled object.
An inkjet head that ejects ink as a material for the modeled object by an inkjet method,
A control unit that ejects ink to the inkjet head based on the voxel position, which is a position set according to the resolution of modeling.
And flattening roller for flattening the ink after landing
With
The inkjet head includes, at least, a coloring head that is the inkjet head that ejects coloring ink used when modeling the colored modeled object.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When the ink is ejected to the coloring head to the voxel position at least when the coloring region is formed, the control unit receives N droplets (N is) preset on the coloring head with respect to one voxel position. , 2 or more integers)
1 of a square when the size of the ink dots formed by spreading the ink in the plane on which the ink lands is approximated by a square with respect to the state after the ink ejected from the coloring head has landed. When the length of the side is L and the height of the dots in the direction perpendicular to the plane on which the dots spread is h.
N × h> L
The control unit ejects the N drops of ink to the coloring head at the one voxel position so as to satisfy the above relationship.
A modeling apparatus characterized in that the height of the N drops of ink after flattening is made equal to the length L of one side of the square by flattening the ink with the flattening roller. The modeling apparatus according to claim 4, wherein the flattening roller flattens the ink after all of the N drops of ink have landed on the one voxel position. The flattening roller flattens the ink at any timing before all of the N drops of ink lands on the one voxel position and after all of the N drops of ink lands. The modeling apparatus according to claim 4. The control unit ejects the N drops of ink to the coloring head to the one voxel position, so that the smallest unit of modeling formed with the same color ink at the one voxel position in the coloring region. The modeling apparatus according to any one of claims 1 to 6, wherein the molding device is formed in a state closer to a cube as compared with the case where only one drop of ink is ejected to the one voxel position. It is a modeling method that creates a three-dimensional model.
An inkjet head that ejects ink as a material of the modeled object by an inkjet method is ejected with reference to a voxel position that is a position set according to the resolution of the model.
After landing, the ink is flattened by a flattening roller.
As the inkjet head, at least the coloring head, which is the inkjet head that ejects the coloring ink used when modeling the colored modeled object, is used.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When ink is ejected to the voxel position at least during the formation of the colored region, N droplets (N is an integer of 2 or more) preset on the coloring head with respect to one voxel position. ) Is ejected, and the N drops of ink ejected to the one voxel position are landed so as to overlap in the stacking direction in which the materials are laminated.
The boxel position is a cube having sides parallel to the Z direction parallel to the stacking direction, the X direction orthogonal to the Z direction, and the Y direction orthogonal to the X direction and the Z direction. The position of the cubic boxel, which is the considered boxel,
Based on the resolution of modeling in the X direction and the Y direction, the size of the cubic voxel in design is acquired, and based on the acquired size of the cubic voxel, the ink droplets to be ejected to the one voxel position. The number of Z layers indicating the number and the amount of scraping indicating the amount of ink to be removed during flattening by the flattening roller are calculated, and the N drops of ink are discharged to the coloring head based on the number of Z layers. A molding method, characterized in that the flattening roller is flattened based on the amount of scraping . It is a modeling method that creates a three-dimensional model.
An inkjet head that ejects ink as a material of the modeled object by an inkjet method is ejected with reference to a voxel position that is a position set according to the resolution of the model.
After landing, the ink is flattened by a flattening roller.
As the inkjet head, at least the coloring head, which is the inkjet head that ejects the coloring ink used when modeling the colored modeled object, is used.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When ink is ejected to the voxel position at least during the formation of the colored region, N drops (N is an integer of 2 or more) preset on the coloring head for one voxel position. ) Ink is ejected
1 of a square when the size of the ink dots formed by spreading the ink in the plane on which the ink lands is approximated by a square with respect to the state after the ink ejected from the coloring head has landed. When the length of the side is L and the height of the dot in the direction perpendicular to the plane on which the dot spreads is h.
N × h> L
The N drops of ink are ejected to the coloring head at the one voxel position so as to satisfy the above relationship.
A modeling method characterized in that the height of the N drops of ink after flattening is made equal to the length L of one side of the square by flattening the ink with the flattening roller. It is a modeling device that creates a three-dimensional modeled object.
An inkjet head that ejects ink as a material for the modeled object by an inkjet method,
A control unit that ejects ink to the inkjet head based on the voxel position, which is a position set according to the resolution of modeling .
Equipped with a flattening roller that flattens the ink after landing ,
The inkjet head includes, at least, a coloring head that is the inkjet head that ejects coloring ink used when modeling the colored modeled object.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When ink is ejected to the coloring head to the voxel position at least when the colored region is formed, the control unit has a cubic shape as the smallest unit of modeling formed by the ink of the same color at the one voxel position. As described above, the material for the N drops of ink, which is ejected to the coloring head with N drops of ink (N is an integer of 2 or more) set in advance and discharged to the one voxel position. Landing so that they overlap in the stacking direction
The boxel position is a cube having sides parallel to the Z direction parallel to the stacking direction, the X direction orthogonal to the Z direction, and the Y direction orthogonal to the X direction and the Z direction. The position of the cubic boxel, which is the considered boxel,
The control unit acquires the size of the cubic voxel in design based on the resolution of modeling in the X direction and the Y direction, and discharges the size to the one voxel position based on the acquired size of the cube voxel. The number of Z layers indicating the number of ink droplets and the amount of scraping indicating the amount of ink removed during flattening by the flattening roller are calculated, and based on the number of Z layers, the N is applied to the coloring head. A modeling apparatus characterized in that a drop of ink is ejected and the flattening roller is flattened based on the amount of scraping . It is a modeling method that creates a three-dimensional model.
An inkjet head that ejects ink as a material of the modeled object by an inkjet method is ejected with reference to a voxel position that is a position set according to the resolution of the model.
After landing, the ink is flattened by a flattening roller.
As the inkjet head, at least the coloring head, which is the inkjet head that ejects the coloring ink used when modeling the colored modeled object, is used.
When modeling the colored modeled object, a colored region formed by using the coloring ink is formed at a position where the color can be visually recognized from the surface of the modeled object.
When ink is ejected to the coloring head to the voxel position at least when the coloring region is formed, the minimum unit of modeling formed by the same color ink at the one voxel position is set in advance so as to be cubic. The material is laminated with respect to the N drops of ink (N is an integer of 2 or more) that is ejected to the coloring head and ejected to the one voxel position. Land it so that it overlaps in the direction,
The boxel position is a cube having sides parallel to the Z direction parallel to the stacking direction, the X direction orthogonal to the Z direction, and the Y direction orthogonal to the X direction and the Z direction. The position of the cubic boxel, which is the considered boxel,
Based on the resolution of modeling in the X direction and the Y direction, the size of the cubic voxel in design is acquired, and based on the acquired size of the cubic voxel, the ink droplets to be ejected to the one voxel position. The number of Z layers indicating the number and the amount of scraping indicating the amount of ink to be removed during flattening by the flattening roller are calculated, and the N drops of ink are discharged to the coloring head based on the number of Z layers. A molding method, characterized in that the flattening roller is flattened based on the amount of scraping .

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