JP2001347656A - Three-dimensional coloring apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional coloring apparatus which can appropriately color three-dimensional objects. SOLUTION: This three-dimensional coloring apparatus 1 is provided with a stepping motor 26 for rotating the three-dimensional object 9 via a timing belt 24, an ink nozzle 31 for sequentially discharging a coloring ink and a control part 10 for controlling these stepping motor and ink nozzle. In controlling coloring to the three-dimensional object 9, with the ink discharged from the ink nozzle 31 at a constant timing, a rotational speed of the three-dimensional object 9 is adjusted in accordance with a distance from a rotational axis Kc to a surface of the three-dimensional object 9. Ink dot intervals Ga and Gb are made uniform, so that a density of images to be colored can be unified. In consequence, the three-dimensional object can be colored appropriately.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional coloring apparatus for coloring a three-dimensional object with a colored carrier.

[0002]

2. Description of the Related Art A conventional three-dimensional coloring apparatus for coloring a three-dimensional object is disclosed in, for example, JP-A-10-58668.
It is disclosed in JP-A-9-193368. In these apparatuses, when the positional relationship between the ink nozzle and the colored surface of the three-dimensional object changes, the ink ejection timing, the ink ejection amount, and the ink ejection interval are corrected according to the distance from the ink nozzle to the three-dimensional object surface. This solves the problem that coloring cannot be performed accurately.

[0003]

However, in the above three-dimensional coloring apparatus, when coloring a rotating three-dimensional object, correction based only on the distance from the ink nozzle to the surface of the three-dimensional object is not sufficient. In addition, the dot density of the colored ink becomes non-uniform, and appropriate coloring cannot be performed.

[0004] The present invention has been made in view of the above problems, and has as its object to provide a three-dimensional coloring apparatus capable of appropriately coloring a three-dimensional object.

[0005]

In order to solve the above-mentioned problems, the invention according to claim 1 is a three-dimensional coloring apparatus for coloring a three-dimensional object with a colored carrier, wherein (a) the colored carrier is A discharge unit for sequentially discharging, (b) timing control means for controlling the discharge timing of the colored carrier, and (c) a rotation for rotating the three-dimensional object relative to the discharge unit about a predetermined axis. Means, (d) rotation speed control means for controlling the relative rotation speed of the rotation means, (e)
Coloring control means for controlling the ejection timing and / or the relative rotation speed in accordance with a distance from the target position on the surface of the three-dimensional object to which the colored carrier is to be attached at that time to the predetermined axis. Prepare.

According to a second aspect of the present invention, there is provided a three-dimensional coloring apparatus for coloring a three-dimensional object with a colored carrier, comprising: (a) a discharge unit for sequentially discharging the colored carrier;
(b) a rotation means for rotating the three-dimensional object relative to the discharge section around a predetermined axis, (c) a rotation angle control means for controlling a relative rotation angle of the rotation means, (d) At that time, every time the relative rotation angle changes by an amount corresponding to the distance from the attachment target position of the three-dimensional object surface to which the colored carrier is to be attached to the predetermined axis, the colored carrier is discharged from the discharge unit. Coloring control means for sequentially discharging.

According to a third aspect of the present invention, in the three-dimensional coloring apparatus according to the first or second aspect of the present invention, the three-dimensional coloring apparatus further comprises an interval measuring means for measuring an interval to the surface of the three-dimensional object. The distance is calculated based on the distance.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS <First Embodiment><Main Configuration of Three-Dimensional Coloring Apparatus> FIG. 1 is a diagram showing a main configuration of a three-dimensional coloring apparatus 1 according to a first embodiment of the present invention. .

The three-dimensional coloring device 1 includes a rotating unit 2 and a coloring unit 3.
And a control unit 10 for controlling the rotating unit 2 and the coloring unit 3.

The rotating part 2 includes two holders 21a and 21b for holding the three-dimensional object 9 having a truncated cone shape, and bearings 23a and 23.
b. This holder 21a has a disk portion 22a.
And a round bar portion 22b connected to the center of the disk, and the holder 21b also includes a disk 22c and a round bar portion 22d. And the round bar portions 22b and 22d are
By fitting into the bearings 23a and 23b, the three-dimensional object 9 can rotate around the rotation axis Kc.

The rotating section 2 includes a gear 23 fixed to the round bar section 22d, and a timing belt 2 with respect to the gear 23.
A gear 25 connected so as to be able to transmit rotation through the gear 4 and a gear 2
And a motor 26 for driving the rotation of the motor 5.

The motor 26 utilizes a stepping motor and can adjust the rotation speed according to the cycle of the input pulse.

The coloring section 3 has an ink nozzle 31 and two guide sections 32 for guiding the movement of the ink nozzle 31.

The ink nozzles 31 can sequentially eject ink dots (droplets) by an ink-jet method, and an amount of ink corresponding to one dot flies by one pulse voltage input. Then, coloring is performed by attaching this ink to the surface of the three-dimensional object 9. The ink nozzles 31 can discharge inks of the three primary colors.

The ink nozzle 31 can move up and down along a guide 32. The ink nozzle 31
The ink ejected from the ink is affected by gravity and descends in the Z direction according to the flying distance. Therefore, the ink ejection port of the ink nozzle 31 can be moved in the Y direction so as to keep the flying distance constant. It is preferable to control the distance to the surface of the object 9 to be constant.

The control unit 10 has a CPU and a memory for storing a control program and the like, and organically controls the rotating unit 2 and the coloring unit 3. That is, the control unit 10 functions as a rotation speed control unit and a timing control unit that control the rotation speed of the three-dimensional object 9 by the rotation unit 2 and the timing at which ink is ejected from the ink nozzles 31.

The memory of the control unit 10 stores three-dimensional shape data Dz of the three-dimensional object 9 that can be input by a user operation and coloring data Dc for the three-dimensional object 9. This coloring data Dc is preferably data of three primary colors using the area gradation method. Further, the control unit 10 calculates a distance from a rotation axis Kc to be described later to the surface of the three-dimensional object 9 based on the shape data Dz.

<Regarding Coloring Control> FIG. 2 is a diagram showing the surface shapes of the three-dimensional object 9 at positions AA and BB in FIG. Here, the surface shape 9a corresponds to the position AA, and the surface shape 9b corresponds to the position BB.

The surface shape 9a is a perfect circle with a radius X1 about the rotation axis Kc. At the position AA, ink from the nozzle head 31 adheres along this shape. The surface shape 9b is a perfect circle with a radius X2 about the rotation axis Kc, and the ink adheres along this shape at the position BB.

Here, when the three-dimensional object 9 rotates at a constant angular speed (rotation speed) ω, the surface moving speed (peripheral speed) becomes ω · X1 in the surface shape 9a, and the moving speed becomes ω in the surface shape 9b. X2, the surface shape 9b has a higher surface moving speed than the surface shape 9a.

Therefore, when the three-dimensional object 9 rotates at a constant angular velocity ω and ink is sequentially ejected from the nozzle head 31 at a constant ejection timing, the dot interval Gb (FIG. 1) of the ink on the surface shape 9b becomes Since the dot interval Ga (FIG. 1) of the ink in the surface shape 9a is larger than that in the surface shape 9b, the image density becomes coarser than the surface shape 9a.

In the three-dimensional coloring apparatus 1, the distance from the rotation axis Kc to the adhesion target position of the surface of the three-dimensional object 9 at that time is calculated based on the shape data Dz of the three-dimensional object 9, and the surface is calculated. The angular velocity is changed so as to keep the moving speed constant. That is, the angular velocity in the surface shape 9a is ω
1. Assuming that the angular velocity in the surface shape 9b is ω2, the angular velocity of the three-dimensional object 9 is controlled so that the relational expression of ω1 · X1 = ω2 · X2 holds.

FIG. 3 is a diagram for explaining the concept of coloring control of the three-dimensional coloring apparatus 1. The horizontal axis t in FIG. 3 indicates time, and FIG. 3A corresponds to coloring on the surface shape 9a,
FIG. 3B corresponds to coloring with the surface shape 9b.

In the coloring control of the three-dimensional coloring apparatus 1, the rotation speed at the time of coloring the surface shape 9b, that is, the motor 26 per unit time, while keeping the ink ejection timing constant.
Is smaller than the rotation speed at the time of coloring the surface shape 9a, coloring with a constant image density is possible.

<Operation of Three-Dimensional Coloring Apparatus 1> FIG. 4 is a flowchart for explaining the basic operation of the three-dimensional modeling apparatus 1. This operation is automatically executed by the control unit 10.

In step S1, the ink nozzle 31 is moved to the initial position. Here, the rotational position of the three-dimensional object 9 is synchronized with the shape data Dz and the coloring data Dc so that the shape of the three-dimensional object 9 and the colored pattern do not shift.

In step S2, the distance from the target ink adhesion position on the surface of the three-dimensional object 9 to be colored to the rotation axis Kc is calculated using the shape data Dz of the three-dimensional object 9. This means that the distance X1 and the distance X2 shown in FIG. 2 are obtained as described above.

In step S3, the three-dimensional object 9 is rotated at a rotation speed corresponding to the distance calculated in step S2 by driving the motor 26. Here, the rotational speed is adjusted in each section, such as at the angular velocity ω1 for coloring at the position AA shown in FIG. 1 and at the angular velocity ω2 for coloring at the position BB.

In general, when the distance from the adhesion target position to the rotation axis Kc is X, the time interval Δt of ink ejection from the ink nozzle 31 is represented by the rotation angular velocity ω of the ink nozzle 31.
Ω · X · Δt = a (Equation 1) (where a is a constant corresponding to the diameter of the ink droplet adhered). Change.

In step S4, ink is sequentially ejected from the nozzle head 31 at a constant timing. here,
The dot interval of the ink shown in FIG. 1 is preferably about the size of the ink dot so that the ground color of the three-dimensional object 9 does not appear.

In step S5, the rotating unit 2 determines whether the three-dimensional object 9 has made one rotation, that is, whether or not coloring of the three-dimensional object 9 for one round of the ring has been completed. Here, when the three-dimensional object 9 makes one rotation, the process proceeds to step S6, and when it does not make one rotation, the process proceeds to step S3.

In step S6, the ink nozzle 31 is moved to Z
Move a predetermined amount in the direction. That is, in order to color an uncolored portion, the portion is moved in the Z direction by an amount corresponding to the size of the ink dot.

In step S7, it is determined whether or not the entire coloring has been completed. If the entire coloring has not been completed, the process returns to step S2.

When the three-dimensional coloring is performed while rotating the three-dimensional object by the operation of the three-dimensional coloring apparatus 1, the coloring is performed while controlling the rotation speed, so that the coloring can be appropriately performed.

<Second Embodiment><Main Configuration of Three-Dimensional Coloring Apparatus> FIG. 5 is a diagram showing a main configuration of a three-dimensional coloring apparatus 4 according to a second embodiment of the present invention.

The three-dimensional coloring apparatus 4 includes a rotating unit 5, an ink nozzle 6, and a control unit 40 for controlling the rotating unit 5 and the ink nozzle 6.

The rotating part 5 includes a motor 51, a round bar member 52 connected along the rotation axis Kp of the motor 51, and an L-shaped connecting member 53 connecting the round bar member 52 and the ink nozzle 6.
And

The motor 51 uses a stepping motor and can adjust the rotation speed according to the cycle of the input pulse.
The motor 51 has a mechanism that can move up and down in the Z-axis direction. Preferably, the motor 51 and the round bar member 52 are connected via a reduction gear.

The ink nozzle 6 can sequentially discharge dots (droplets) of ink by an ink jet method. Further, since the ink nozzle 6 is provided at the tip of the connecting member 53, the ink nozzle 6 can rotate around the three-dimensional object 9 by driving the motor 51. In other words, the three-dimensional object 9 is rotatable relative to the ink nozzle 6.

The ink nozzle 6 flies an amount of ink corresponding to one dot by a voltage input of one pulse. Also,
The ink nozzle 6 can discharge ink of each of the three primary colors.

The control section 40 has a CPU and a memory, and controls the rotating section 5 and the coloring section 6 organically. That is, the control unit 40 functions as a rotation speed control unit and a timing control unit that control the rotation speed of the ink nozzle 6 and the ejection timing of the ink from the ink nozzle 6.

The memory of the control unit 40 stores three-dimensional shape data Dz of the three-dimensional object 9 that can be input by a user operation and coloring data Dc for the three-dimensional object 9. This coloring data Dc is preferably data of three primary colors using the area gradation method. Further, the control unit 40 calculates the distance from the rotation axis Kp to the adhesion target position at that time on the surface of the three-dimensional object 9 based on the shape data Dz.

<Regarding Coloring Control> FIG. 6 is a diagram for explaining the concept of coloring control of the three-dimensional coloring apparatus 4. The horizontal axis t in FIG. 6 indicates time, FIG. 6 (a) corresponds to the coloring on the surface at the position CC shown in FIG. 5, and FIG. 6 (b) corresponds to the coloring on the surface at the position DD shown in FIG. Yes, it is. here,
As can be seen from FIG. 5, the distance between the surface of the three-dimensional object 9 at the position CC and the rotation axis Kp is smaller than the distance between the surface of the three-dimensional object 9 and the rotation axis Kp at the position DD shown in FIG. Has become.

In the coloring control of the three-dimensional coloring device 4, while keeping the rotation speed of the ink nozzle 6 constant, the ejection cycle of the ink at the time of coloring at the position D-D is changed to the ink discharging cycle at the time of coloring at the position CC. By making the time shorter than the ejection cycle, that is, by changing the time interval of ink ejection in accordance with the distance between the adhesion target position and the rotation axis at that time, coloring with a constant image density is possible. Specifically, in the above-described (Equation 1), the rotation angular velocity ω is fixed, and the time interval Δt is changed according to the distance X.

<Operation of Three-Dimensional Coloring Apparatus 4> FIG. 7 is a flowchart for explaining the basic operation of the three-dimensional modeling apparatus 4. This operation is automatically executed by the control unit 40.

In step S11, the ink nozzle 6 is moved to the initial position. Here, the rotational position of the ink nozzle 6 is synchronized with the shape data Dz and the coloring data Dc so that the shape of the three-dimensional object 9 does not deviate from the coloring pattern.

In step S12, as in the first embodiment, the distance from the target ink adhesion position on the surface of the three-dimensional object 9 to the rotation axis Kp is calculated using the shape data Dz of the three-dimensional object 9.

In step S13, the motor 51 is driven to rotate the ink nozzle 6 at a constant rotation speed about the rotation axis Kp.

In step S14, ink is ejected from the ink nozzle 6 at a timing corresponding to the distance calculated in step S12.

In step S15, the rotating unit 5 determines whether the ink nozzle 6 has made one rotation around the three-dimensional object 9, that is, whether or not coloring of the three-dimensional object 9 for one ring has been completed. Here, if the ink nozzle 6 has made one rotation, the process proceeds to step S16, and if it has not made one rotation, the process proceeds to step S13.

In step S16, the ink nozzle 31 is moved by a predetermined amount in the Z direction. That is, in order to color the uncolored portion, Z is added by an amount corresponding to the size of the ink dot.
Move in the direction.

In step S17, it is determined whether or not the entire coloring has been completed. If the entire coloring has not been completed, the process returns to step S12.

When the three-dimensional object is colored by rotating the ink nozzle by the operation of the three-dimensional coloring apparatus 1 described above, the three-dimensional object is colored while controlling the ink ejection timing.
Can be colored appropriately.

<Third Embodiment> The configuration of a three-dimensional coloring apparatus 7 according to a third embodiment of the present invention is similar to the three-dimensional coloring apparatus 1 of the first embodiment shown in FIG. Are different.

That is, the control unit 70 of the three-dimensional coloring device 7
Here, a control program for performing the coloring control described below is stored.

<Regarding Coloring Control> FIG. 8 is a diagram for explaining the concept of coloring control of the three-dimensional coloring device 7. The horizontal axis t in FIG. 8 indicates time, FIG. 8A corresponds to coloring on the surface at the position AA shown in FIG. 1, and FIG. 8B corresponds to coloring on the surface at the position BB shown in FIG. Yes, it is.

In the coloring control of the three-dimensional coloring device 7, it is not necessary to make the three-dimensional object 9 constant in rotation speed, that is, the number of input pulses to the motor 26 per unit time is constant. Every time the ink is ejected, the ink is ejected.

That is, in the coloring operation shown in FIG.
While the ink ejection from the nozzle head 31 is performed for each rotation angle corresponding to two motor input pulses, the coloring operation shown in FIG. This is performed for each rotation angle corresponding to the pulse. This enables coloring to achieve a constant image density.

<Operation of Three-Dimensional Coloring Apparatus 4> FIG. 9 is a flowchart for explaining the basic operation of the three-dimensional modeling apparatus 7. This operation is automatically executed by the control unit 70.

In steps S21 and S22, operations similar to those in steps S1 and S2 in the flowchart shown in FIG. 4 are performed.

In step S23, the three-dimensional object 9 is rotated by the rotation angle corresponding to the distance calculated in step S22 by driving the motor 26.

In step S24, one dot of ink is ejected from the nozzle head 31 to the three-dimensional object 9 rotated by a predetermined angle in step S23.

In steps S25 to S27, operations similar to those in steps S5 to S7 of the flowchart shown in FIG. 4 are performed.

By the operation of the three-dimensional coloring device 7 described above, when performing coloring while rotating a three-dimensional object, the coloring can be appropriately performed as in the first embodiment.

The coloring control of the three-dimensional coloring device 7 can be applied to the three-dimensional coloring device 4 of the second embodiment.
Also in this case, when coloring the three-dimensional object while rotating the ink nozzle, the coloring can be appropriately performed.

<Modifications> The distance from the central axis to the surface of the three-dimensional object in each of the above embodiments may be measured by a distance measuring sensor.

FIG. 10 is a diagram showing a main configuration of a three-dimensional coloring apparatus 8 according to a modification of the present invention. Also, FIG.
FIG. 3 is a plan view illustrating a main part of the three-dimensional coloring device 8.

The three-dimensional coloring device 8 includes a motor 81 for rotating the three-dimensional object 9, an ink nozzle 82, a control unit 80, and further includes a distance measuring sensor 85.

The distance measuring sensor 85 can actually measure the distance Lr to the surface of the three-dimensional object 9 using, for example, infrared rays. As shown in FIG. 11, the distance measuring sensor 85 is installed near the ink nozzle 82 and upstream of the three-dimensional object 9 in the rotation direction Rq. Then, the distance from the rotation axis Kq to the surface of the three-dimensional object 9 can be calculated by subtracting the actual measurement interval Lr from the distance Ls from the rotation axis Kq to the distance measurement sensor 85. The distance data actually measured by the distance measuring sensor 85 is temporarily stored in a memory in the control unit 80, and is read and used when the three-dimensional object 9 rotates and the actually measured surface is colored.

The operation of the three-dimensional coloring device 8 is described in the first section.
The operation is similar to that of the embodiment, but the distance calculated using the result measured by the distance measuring sensor 85 in step S2 of the flowchart shown in FIG. 4 can be used.

By the operation of the three-dimensional coloring device 8 described above, coloring can be appropriately performed when coloring while rotating a three-dimensional object. Further, the need for the shape data Dz of the three-dimensional object 9 used for calculating the distance in the three-dimensional coloring apparatus 1 of the first embodiment is eliminated.

In each of the above embodiments, when the surface shape 9c of the three-dimensional object 9 is not a perfect circle as shown in FIG.
That is, when the distance from the rotation axis to the surface of the three-dimensional object is not constant, the distance may be obtained by the following two methods.
That is, based on the distances L1 to Ln calculated at equal angles from the rotation axis as shown in FIG. 12, (1) the average of the distances L1 to Ln, that is, (L1 + L2 +
.. + Ln) / n: (2) The method of using the maximum value of the distances L1 to Ln: The distance used for coloring control can be obtained.

◎ Regarding the motor of each of the above embodiments,
It is not essential to use a stepping motor, and a servo motor may be used. In this case, a tachogenerator or a potentiometer is attached to the rotation shaft of the servomotor, and the detected value can be used for controlling the rotation speed and the rotation angle.

Regarding the coloring control in each of the above embodiments, both the ink ejection timing and the rotation speed may be controlled in accordance with the distance from the target attachment position on the three-dimensional object surface to the rotation axis. .

With respect to the ink nozzles of the above embodiments, it is not essential to discharge each of the three primary colors.
Color or four or more colors may be ejected. In the case of performing monochrome (single color) coloring, a configuration that can discharge only one color may be used.

The term “colored carrier” in the present invention is a concept that includes not only ink but also toner and the like.

[0077]

As described above, according to the first aspect of the present invention, the discharge timing and / or relative timing of the colored carrier is determined according to the distance from the current attachment target position to the rotation axis of the three-dimensional object surface. In order to change the rotation speed, it is possible to appropriately color the three-dimensional object.

According to the second aspect of the present invention, each time the relative rotation angle of the three-dimensional object surface changes by an amount corresponding to the distance from the current target attachment position to the rotation axis, the colored carrier is sequentially changed. Appropriate coloring can be performed on the three-dimensional object due to ejection.

In particular, with regard to the third aspect of the present invention, the above control can be performed without using the shape data of the three-dimensional object.

[Brief description of the drawings]

FIG. 1 shows a three-dimensional coloring apparatus 1 according to a first embodiment of the present invention.
FIG. 3 is a diagram showing a configuration of a main part of FIG.

FIG. 2 is a diagram showing the surface shapes of the three-dimensional object 9 at positions AA and BB in FIG.

FIG. 3 is a diagram for explaining the concept of coloring control of the three-dimensional coloring device 1;

FIG. 4 is a flowchart illustrating a basic operation of the three-dimensional printing apparatus 1.

FIG. 5 shows a three-dimensional coloring apparatus 4 according to a second embodiment of the present invention.
FIG. 3 is a diagram showing a configuration of a main part of FIG.

FIG. 6 is a diagram illustrating the concept of coloring control of the three-dimensional coloring device 4.

FIG. 7 is a flowchart illustrating a basic operation of the three-dimensional printing apparatus 4.

FIG. 8 is a diagram for explaining the concept of coloring control of the three-dimensional coloring device 7;

FIG. 9 is a flowchart illustrating a basic operation of the three-dimensional printing apparatus 7.

FIG. 10 is a diagram showing a main configuration of a three-dimensional coloring device 8 according to a modification of the present invention.

FIG. 11 is a plan view of the three-dimensional coloring device 8;

FIG. 12 is a diagram illustrating an example of a surface shape of a three-dimensional object 9.

[Explanation of symbols]

 1, 4, 7, 8 Three-dimensional coloring device 6, 31, 85 Ink nozzle 9 Solid object 10, 40, 70, 80 Control unit 26, 51, 81 Motor Kc, Kp, Kq Rotation axis

Claims (3)

[Claims] 1. A three-dimensional coloring apparatus for coloring a three-dimensional object with a colored carrier, comprising: (a) a discharge unit for sequentially discharging the colored carriers; and (b) controlling a discharge timing of the colored carriers. (C) rotating means for rotating the three-dimensional object relative to the discharge section about a predetermined axis, and (d) rotation speed control for controlling the relative rotation speed of the rotating means. And (e) controlling the ejection timing and / or the relative rotation speed according to a distance from a target attachment position on the surface of the three-dimensional object to which the colored carrier is to be attached at that time to the predetermined axis. A three-dimensional coloring apparatus, comprising: a coloring control unit. 2. A three-dimensional coloring apparatus for coloring a three-dimensional object with a colored carrier, comprising: (a) a discharge unit for sequentially discharging the colored carrier; Rotating means for relatively rotating the three-dimensional object with respect to a discharge unit, (c) rotation angle control means for controlling a relative rotation angle of the rotating means, and (d) at that time the color carrier is to be attached Coloring control means for sequentially discharging the colored carrier from the discharge unit each time the relative rotation angle changes by an amount corresponding to the distance from the adhesion target position of the three-dimensional object surface to the predetermined axis. A three-dimensional coloring apparatus, characterized in that: 3. The three-dimensional coloring apparatus according to claim 1, further comprising: an interval measuring unit that measures an interval to the surface of the three-dimensional object, wherein the distance is calculated based on the interval. A three-dimensional coloring apparatus characterized by the above-mentioned.