JP7386474B2 - 3D modeling system - Google Patents

Description

The present invention relates to a three-dimensional modeling system that forms a modeled object by stacking viscous materials in layers.

2. Description of the Related Art A method of constructing a model using a 3D printer using a cement-based material (paste, mortar, concrete, etc.) that is a viscous material is known. In the construction method using a 3D printer, viscous materials are stacked without compaction, so there is a possibility that sufficient adhesion strength between the layers cannot be obtained and the interface between the layers becomes a discontinuous surface.
Patent Document 1 discloses a method for manufacturing a laminated structure in which a setting retarder is applied or sprayed on the upper surface of a lower layer made of a cement material, and then an upper layer is provided. According to this method for manufacturing a laminated structure, since the setting retarder delays the setting time of the cement material in the lower layer, the adhesion between the lower layer and the upper layer is improved.
However, applying or spraying the setting retarder onto the upper surface of the lower layer is time-consuming. Particularly when constructing a large-scale structure, it is necessary to assemble temporary scaffolding or the like in order to apply or spray a setting retarder on the upper surface of each layer, which is time consuming and costly.

JP2017-119360A

An object of the present invention is to propose a three-dimensional modeling system that makes it possible to easily install an auxiliary agent at the interface between layers when forming a modeled object by stacking viscous materials in layers.

In order to solve these problems, the present invention provides a three-dimensional structure in which a viscous material mainly made of cement is laminated and an auxiliary agent is sprayed on the interface between the layers of the viscous material to form a three-dimensional object. The modeling system includes a main nozzle that discharges the viscous material, and an auxiliary nozzle that sprays an auxiliary agent onto the upper surface of the viscous material.
In the first invention, a plurality of auxiliary nozzles are arranged around the main nozzle, and among the plurality of auxiliary nozzles, the auxiliary nozzle is arranged on the front side or the rear side in the traveling direction of the main nozzle. The auxiliary agent is sprayed from the auxiliary nozzle selected by the control means. In the three-dimensional modeling system of the first invention, the number of auxiliary nozzles arranged around the main nozzle may be appropriately set so as to be able to follow the moving direction of the main nozzle. For example, when the main nozzle moves in all directions in a plane, it is desirable to arrange eight auxiliary nozzles around the main nozzle.
A second invention further includes a bearing having an inner ring and an outer ring, the inner ring of the bearing is fixed to the outer surface of the main nozzle, the auxiliary nozzle is fixed to the outer ring of the bearing, and the It is provided so as to be rotatable around the main nozzle so that as the main nozzle moves, it is placed on the front side or the rear side in the direction of movement of the main nozzle.
In a third invention, the auxiliary nozzle is fixed to the main nozzle on the front side or the rear side in the direction of movement of the main nozzle, and the main nozzle rotates about a vertical axis according to the direction of movement. , the auxiliary nozzle rotates together with the main nozzle.
According to such a three-dimensional modeling system, since the auxiliary agent is sprayed by the auxiliary nozzle provided near the main nozzle, there is no need to perform a separate operation for applying or spraying the auxiliary agent, and the labor and cost of that operation is reduced. can be reduced.
Since the auxiliary nozzle sprays the auxiliary agent from the front or rear side of the main nozzle, the auxiliary agent can be sprayed at the interface between the layers, and as a result, the adhesion between the layers can be improved.

According to the three-dimensional modeling system of the present invention, when forming a modeled object by stacking viscous materials in layers, it is possible to easily place an auxiliary agent on the interface to improve the adhesion between the layers. .

1 is a perspective view showing an overview of a three-dimensional modeling system 1 according to an embodiment of the present invention. It is a perspective view showing a main nozzle and an auxiliary nozzle of a first embodiment. 1 is a schematic diagram showing an overview of a three-dimensional modeling system 1. FIG. It is a flowchart which shows the procedure of auxiliary agent spraying by the auxiliary nozzle of a first embodiment. It is a figure showing an outline of a main nozzle and an auxiliary nozzle of a second embodiment, and (a) is a side view and (b) is a top view. It is a top view showing an outline of a main nozzle and an auxiliary nozzle of a third embodiment.

<First embodiment>
In the first embodiment, a two-dimensional shape is generated while extruding a viscous material C whose main material is a cement-based material from a nozzle, and this is layered in the height direction to create a three-dimensional object (three-dimensional object). The case of forming an object) will be explained. In this embodiment, a three-dimensional modeling system 1 shown in FIG. 1 is used to form a three-dimensional object. The three-dimensional modeling system 1 is a so-called 3D printer that includes a main nozzle 2, a nozzle support means 3, an auxiliary nozzle 4, and a control means 5.
The main nozzle 2 moves in a plane while discharging the viscous material C (see FIG. 3). After the main nozzle 2 forms a predetermined two-dimensional shape by plane movement, it moves upward. That is, the main nozzle 2 is supported by the nozzle support means 3 so as to be movable three-dimensionally. As shown in FIG. 2, the main nozzle 2 has a funnel shape and has a discharge port facing downward. A plurality of auxiliary nozzles 4 are attached around the discharge port of the main nozzle 2. The main nozzle 2 is connected to a control means 5, as shown in FIG. 3, and discharges the viscous material C in response to a signal from the control means 5.

The nozzle support means 3 of this embodiment moves the main nozzle 2 in a plane along the X-axis and the Y-axis, and also moves it up and down along the Z-axis. That is, the three-dimensional modeling system 1 makes it possible to form a three-dimensional object by moving the main nozzle 2 three-dimensionally via the nozzle support means 3. As shown in FIG. 1, the nozzle support means 3 of this embodiment includes an X-axis rail 31 disposed along the X-axis, a pair of Y-axis rails 32 disposed along the Y-axis, and a Z-axis rail 31 disposed along the X-axis. It includes a Z-axis column 33 erected along the axis. The X-axis rail 31 supports the main nozzle 2 in a slidable manner. The main nozzle 2 moves in the X-axis direction by moving along the X-axis rail 31. Further, the X-axis rail 31 is slidably mounted horizontally on a pair of Y-axis rails 32. As the X-axis rail 31 slides along the Y-axis rail 32, the main nozzle 2 moves in the Y-axis direction. In addition, the main nozzle 2 moves diagonally as the X-axis rail 31 moves along the Y-axis rail 32 at the same time as the main nozzle 2 moves along the X-axis rail 31. That is, the main nozzle 2 can be freely moved in a plane by the X-axis rail 31 and the Y-axis rail 32. Further, the Y-axis rail 32 is supported by a Z-axis column 33 so as to be movable up and down. As the Y-axis rail 32 moves along the Z-axis column 33, the main nozzle 2 moves up and down.
As shown in FIG. 3, the nozzle support means 3 is connected to the control means 5 via a control panel 51, and moves the X-axis rail 31 and the Y-axis rail 32 in response to signals sent from the control means 5. By doing so, the main nozzle 2 is moved in a predetermined direction.

The auxiliary nozzle 4 sprays the auxiliary agent R onto the upper surface of the viscous material C discharged from the main nozzle 2. As shown in FIG. 2, eight auxiliary nozzles 4 are arranged around the main nozzle 2 in this embodiment. The auxiliary nozzle 4 is fixed to the main nozzle 2 via a jig. That is, the auxiliary nozzle 4 moves together with the main nozzle 2. The intervals between the auxiliary nozzles 4 are equal. As shown in FIG. 3, the auxiliary nozzle 4 is attached to the tip of a liquid feeding pipe 42 extending from a tank 41 that stores the auxiliary agent R, and the auxiliary agent R supplied through the liquid feeding pipe 42. Spread. In this embodiment, a branch pipe 44 is connected to a liquid sending pipe 42 extending from a tank 41 via a solenoid valve 43, and the auxiliary nozzle 4 is connected to the branch pipe 44. The electromagnetic valve 43 is electrically connected to the control means 5 and opens and closes the valve of the branch pipe 44 in response to a signal transmitted from the control means 5. A compressor 45 is connected to the tank 41 , and by increasing the pressure inside the tank 41 with compressed air supplied from the compressor 45 to the tank 41 , the auxiliary agent R is pumped through the liquid feeding pipe 42 .

The auxiliary nozzle 4 of this embodiment is arranged at a higher position than the discharge port of the main nozzle 2, as shown in FIG. The auxiliary nozzle 4 is arranged so that the spray direction is diagonally downward. Further, the auxiliary nozzle 4 sprays the auxiliary agent R evenly from above the viscous material C to a width comparable to the width of the upper surface of the viscous material C. As the auxiliary nozzle 4, one selected from various types, such as a full cone nozzle and an empty cone nozzle, is used. The type of auxiliary nozzle 4 is selected based on preliminary tests, taking into account the standard spray amount of the selected auxiliary agent R, the range of spray pressure that can be stably sprayed, the spray angle specific to the nozzle, the laminated width of the target viscous material C, etc. You can decide by doing the following. In addition, in order to avoid spraying the auxiliary agent R outside the laminated width of the viscous material C, it is desirable to install an auxiliary nozzle 4 that can spray the auxiliary agent R evenly within the laminated width. Further, the ejection direction of the auxiliary nozzle 4 is not limited, and may be vertical, for example.

Spraying of the auxiliary agent R is performed only from the auxiliary nozzle 4 selected by the control means 5 out of the eight auxiliary nozzles 4. The auxiliary nozzle 4 selected by the control means 5 sprays the auxiliary agent R when the viscous material C is being discharged from the main nozzle 2. Note that when the viscous material C is not discharged from the main nozzle 2, the auxiliary agent R is not sprayed from the auxiliary nozzle 4. Here, as the auxiliary agent R, a material for improving the bondability between the viscous materials C is used. In this embodiment, a setting retarder is used for the purpose of delaying hardening of the surface of the viscous material C after being discharged. In addition, water etc. can be used as the auxiliary agent R in addition to chemical admixtures for concrete such as setting retarders.

The control means 5 controls the main nozzle 2 and the auxiliary nozzle 4. As shown in FIG. 4, the control means 5 first acquires each data of the object to be manufactured (S1). The control means 5 controls the moving direction of the main nozzle 2 and the discharge of the viscous material C from the main nozzle 2 based on the acquired data of the modeled object. Further, the control means 5 has a function of selecting the auxiliary nozzle 4 for spraying the auxiliary agent R, and a function of controlling the amount of the auxiliary agent R supplied to the selected auxiliary nozzle 4. In this embodiment, the auxiliary nozzle 4 disposed on the rear side in the direction of movement of the main nozzle 2 is selected from among the plurality of auxiliary nozzles 4. The auxiliary agent R is sprayed from the auxiliary nozzle 4 selected by the control means 5. The control means 5 calculates the advancing angle of the main nozzle 2 using Equation 1 based on each data of the object (S2). Next, according to Equation 2, π is added to the angle in the moving direction of the main nozzle 2 to calculate the angle in the opposite direction of the main nozzle 2 (S3). After calculating the angle in the opposite direction of the main nozzle 2, the auxiliary nozzle 4 closest to this angle is selected from among the eight auxiliary nozzles 4 (S4). When the viscous material C is being discharged from the main nozzle 2, the valve of the selected auxiliary nozzle 4 is opened and the auxiliary agent R is sprayed from the auxiliary nozzle 4 (S5).

In the method of forming a model using the three-dimensional modeling system 1, the main nozzle 2 is moved along a predetermined route using the nozzle support means 3, and the viscous material C is discharged from the main nozzle 2. At this time, the auxiliary agent R is discharged from the auxiliary nozzle 4 disposed on the rear side in the direction of movement of the main nozzle 2, and the auxiliary agent R is sprayed onto the upper surface of the viscous material C discharged from the main nozzle 2. When the direction of movement of the main nozzle 2 changes, the auxiliary nozzle 4 that sprays the auxiliary agent R is changed.
When a two-dimensional shape with a predetermined shape is generated using the viscous material C, by moving the main nozzle 2 upward and repeating the same operation, a new layer is created on the top surface of the existing two-dimensional shape layer of the viscous material C. A two-dimensionally shaped layer of viscous material C is produced. Similarly, by repeatedly laminating the viscous material C, a three-dimensional shaped object is formed.

As described above, according to the method for forming a model using the three-dimensional modeling system 1 of the present embodiment, since the auxiliary agent R is sprayed by the auxiliary nozzle 4 provided near the main nozzle 2, the auxiliary agent R is sprayed onto the upper surface of the existing layer. There is no need to perform a separate operation for applying or spraying the agent R, and the labor and cost of this operation can be reduced.
Since the auxiliary nozzle 4 sprays the auxiliary agent R from the rear side of the main nozzle 2, it can spray the auxiliary agent R at the interface between the layers, and as a result, it is possible to improve the adhesion between the layers.
Since the auxiliary nozzle 4 that sprays the auxiliary agent R is selected according to the moving direction of the main nozzle 2, the auxiliary agent R is reliably sprayed onto the upper surface of the layer of the existing viscous material C.
Note that the number of auxiliary nozzles 4 may be determined as appropriate depending on the shape of the object. For example, if the shape of the object is a square, the number of auxiliary nozzles 4 may be four, and if the object is a triangle, the number of auxiliary nozzles 4 may be three. At this time, the intervals between the auxiliary nozzles 4 do not necessarily have to be equal, and may be appropriately arranged according to the corners of the object. Furthermore, when the object is wall-shaped (linear), the number of auxiliary nozzles 4 may be one or two.

<Second embodiment>
In the second embodiment, similarly to the first embodiment, a three-dimensional modeling system 1 is used to generate a two-dimensional shape while extruding a viscous material C mainly made of cement material from the main nozzle 2, A case will be described in which a three-dimensional object (three-dimensional object) is formed by stacking these in the height direction. The three-dimensional modeling system 1 of this embodiment differs from the three-dimensional modeling system 1 of the first embodiment in that the auxiliary nozzle 4 rotates around the main nozzle 2.

The auxiliary nozzle 4 sprays the auxiliary agent R onto the upper surface of the viscous material C discharged from the main nozzle 2. The auxiliary nozzle 4 of this embodiment is rotatably provided around the main nozzle 2 so as to be disposed on the rear side in the direction of movement of the main nozzle 2 as the main nozzle 2 moves. The auxiliary nozzle 4 is attached to the outer surface of the main nozzle 2 via a bearing 46, as shown in FIGS. 5(a) and 5(b). The auxiliary nozzle 4 is fixed to the outer ring of a bearing 46, and the inner ring of the bearing 46 is fixed to the outer surface of the main nozzle 2. A rotation transmission belt 48 extending from an auxiliary nozzle rotation motor 47 is provided around the outer ring of the bearing 46 . When the auxiliary nozzle rotation motor 47 is driven, rotational force acts on the bearing 46 via the rotation transmission belt 48, so that the auxiliary nozzle 4 rotates around the main nozzle 2. In this embodiment, three auxiliary nozzles 4 are provided so as to surround the main nozzle 2 at equal intervals. For spraying the auxiliary agent R, the control means 5 selects the auxiliary nozzle 4 located closest to the rear side of the main nozzle 2 in the direction of movement from among the three auxiliary nozzles 4 . This minimizes the time required for the auxiliary nozzle 4 to rotate around the main nozzle 2, and suppresses the deviation that occurs due to time delay between the moving direction of the main nozzle 2 and the spraying position of the auxiliary agent R by the auxiliary nozzle 4. It's for a reason. The auxiliary nozzle 4 selected by the control means 5 rotates around the main nozzle 2 so as to be located on the rear side in the direction of movement of the main nozzle 2, and then sprays the auxiliary agent R.

The control means 5 controls the auxiliary nozzle rotation motor 47 so that the auxiliary nozzle 4 is located on the rear side in the direction of movement of the main nozzle 2, and also controls the auxiliary agent from the auxiliary nozzle 4. Send a signal to scatter R.
In addition, the details of the main nozzle 2, nozzle support means 3, auxiliary nozzle 4, and control means 5 are the same as those shown in the first embodiment, so detailed explanations will be omitted.

As described above, according to the method for forming a model using the three-dimensional modeling system 1 of the present embodiment, since the auxiliary agent R is sprayed by the auxiliary nozzle 4 provided near the main nozzle 2, the auxiliary agent R is sprayed onto the upper surface of the existing layer. There is no need to perform a separate operation for applying or spraying the agent R, and the labor and cost of this operation can be reduced.
Since the auxiliary nozzle 4 sprays the auxiliary agent R from the rear side of the main nozzle 2, it can spray the auxiliary agent R at the interface between the layers, and as a result, it is possible to improve the adhesion between the layers.
Since the auxiliary nozzle 4 that sprays the auxiliary agent R moves in accordance with the moving direction of the main nozzle 2, the auxiliary agent R is reliably sprayed onto the upper surface of the layer of the existing viscous material C.
Note that the number of auxiliary nozzles 4 may be appropriately determined in consideration of the shape of the object to be manufactured. For example, when manufacturing a linear shaped object, the number of auxiliary nozzles 4 may be one. In that case, the auxiliary agent R may be sprayed by rotating the auxiliary nozzle 4 to the rear side in the direction of movement of the main nozzle 2.

<Third embodiment>
In the third embodiment, similarly to the first and second embodiments, the three-dimensional modeling system 1 is used to extrude a two-dimensional shape while extruding a viscous material C mainly made of cement material from the main nozzle 2. A case will be described in which a three-dimensional object (three-dimensional object) is formed by generating and stacking the objects in the height direction. The three-dimensional modeling system 1 of this embodiment differs from the three-dimensional modeling system 1 of the first and second embodiments in that the main nozzle 2 rotates around the vertical axis as the direction of movement changes.
The main nozzle 2 moves in a plane while discharging the viscous material C, as shown in FIG. After the main nozzle 2 forms a predetermined two-dimensional shape by plane movement, it moves upward. That is, the main nozzle 2 is supported by the nozzle support means 3 so as to be movable three-dimensionally. The main nozzle 2 is connected to the control means 5 and discharges the viscous material C in response to a signal from the control means 5. The main nozzle 2 of this embodiment has a rectangular cross-sectional shape and discharges the viscous material C in a constant width. Moreover, the main nozzle 2 always discharges the viscous material C with the same width by rotating around the vertical axis as the direction of movement changes.

The auxiliary nozzle 4 sprays the auxiliary agent R onto the upper surface of the viscous material C discharged from the main nozzle 2. The auxiliary nozzle 4 of this embodiment is fixed to the rear side of the main nozzle 2 in the direction of movement, and rotates as the main nozzle 2 rotates. The auxiliary nozzle 4 is fixed to the rear side of the main nozzle 2 via a jig. The auxiliary nozzle 4 sprays the auxiliary agent R when the main nozzle 2 is discharging the viscous material C.
In addition, the details of the main nozzle 2, nozzle support means 3, auxiliary nozzle 4, and control means 5 are the same as those shown in the first embodiment, so detailed explanations will be omitted.

As described above, according to the method for forming a model using the three-dimensional modeling system 1 of the present embodiment, the auxiliary agent R is sprayed by the auxiliary nozzle 4 provided on the rear side of the main nozzle 2. There is no need to perform a separate operation for applying or spraying the auxiliary agent R, and the labor and cost of that operation can be reduced.
Since the auxiliary nozzle 4 sprays the auxiliary agent R from the rear side of the main nozzle 2, it can spray the auxiliary agent R at the interface between the layers, and as a result, it is possible to improve the adhesion between the layers.
Since the auxiliary nozzle 4 that sprays the auxiliary agent R rotates as the main nozzle 2 rotates, the auxiliary agent R is reliably sprayed onto the upper surface of the layer of the existing viscous material C.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and each component can be modified as appropriate without departing from the spirit of the present invention.
For example, in the embodiment described above, the case where the auxiliary agent R is sprayed on the upper surface of the main material immediately after the viscous material C is discharged is explained for the purpose of delaying the curing of the lower layer and increasing the adhesion strength between the lower layer and the upper layer. However, the order in which the auxiliary agent R is sprayed may be immediately before the main material is discharged. For example, when using a cement material such as a cross-section repair primer or polymer cement mortar that hardens by reaction as the auxiliary agent R, the auxiliary agent R is sprayed from the auxiliary nozzle 4 located in front of the main nozzle 2 in the direction of movement. It is desirable to do so.
The configuration of the nozzle support means 3 is not limited as long as it is possible to move the main nozzle 2 three-dimensionally, and for example, it may be attached to and supported at the tip of a multi-axis robot arm.
Further, in the embodiment, the three-dimensional modeling system 1 that moves the main nozzle 2 three-dimensionally has been described, but the configuration of the three-dimensional modeling system 1 is not limited to this. For example, a three-dimensional object may be formed by moving the main nozzle 2 in a plane and moving the production table on which the object is formed up and down.
The spraying range of the auxiliary nozzle 4 may be conical or fan-shaped. Further, the spraying angle of the auxiliary nozzle 4 may be determined as appropriate.

1 Three-dimensional modeling system 2 Main nozzle 3 Nozzle support means 4 Auxiliary nozzle 5 Control means

Claims (3)

A three-dimensional modeling system that forms a three-dimensional object by laminating a viscous material mainly made of cement and dispersing an auxiliary agent at the interface between the layers of the viscous material, the system comprising:
a main nozzle that discharges the viscous material; a plurality of auxiliary nozzles disposed around the main nozzle that spray the auxiliary agent onto the upper surface of the viscous material; A control means for selecting the auxiliary nozzle arranged on the front side or the rear side in the traveling direction ,
A three- dimensional modeling system, wherein the auxiliary agent is sprayed from the auxiliary nozzle selected by the control means. A three-dimensional modeling system that forms a three-dimensional object by laminating a viscous material mainly made of cement and dispersing an auxiliary agent at the interface between the layers of the viscous material, the system comprising:
A main nozzle that discharges the viscous material, an auxiliary nozzle that sprays the auxiliary agent on the upper surface of the viscous material, and a bearing having an inner ring and an outer ring,
The inner ring of the bearing is fixed to the outer surface of the main nozzle,
The auxiliary nozzle is fixed to the outer ring of the bearing and is rotatable around the main nozzle so that it is disposed on the front side or the rear side in the direction of movement of the main nozzle as the main nozzle moves. A three-dimensional modeling system characterized by the following: A three-dimensional modeling system that forms a three-dimensional object by laminating a viscous material mainly made of cement and dispersing an auxiliary agent at the interface between the layers of the viscous material, the system comprising:
comprising a main nozzle that discharges the viscous material, and an auxiliary nozzle that sprays the auxiliary agent on the upper surface of the viscous material,
The auxiliary nozzle is fixed to the main nozzle on the front side or the rear side in the direction of movement of the main nozzle,
The main nozzle rotates around a vertical axis depending on the traveling direction,
A three-dimensional modeling system, wherein the auxiliary nozzle rotates together with the main nozzle.

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