JP2017110261A - Control method of three-dimensional molding apparatus, method for manufacturing three-dimensional molded object, program and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional molding method by which molding can be stably carried out an object while avoiding rapid increase of oxygen concentration in a process chamber during molding.SOLUTION: The three-dimensional molding method aims to manufacture a three-dimensional molded object O by use of a three-dimensional molding apparatus 20 having a chassis 21 having inside a process chamber c and a guide chamber gc connected to the process chamber c, and a stage 30 disposed as vertically movable in the guide chamber. The three-dimensional molding method includes: a preparation step of replacing an atmosphere inside the chassis by inert gas; and a molding step of molding a three-dimensional object on the stage. In the preparation step, the stage is descended to a position lower than a position of the stage at the start of the molding step.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a three-dimensional modeling apparatus, and more particularly to a three-dimensional modeling method for manufacturing a three-dimensional model using a stage that can be moved up and down. The present invention also relates to a program and a recording medium used for manufacturing a three-dimensional structure.

  As a means for realizing 3D modeling based on AM (Additive Manufacturing) technology, a 3D modeling apparatus called a 3D printer is attracting attention. By using the three-dimensional modeling apparatus, it is possible to easily and quickly make a part having a relatively complicated structure.

  For example, Patent Document 1 discloses an apparatus for manufacturing a three-dimensional structure by layered solidification of a powdered modeling material. In this apparatus, a powder layer is placed on a modeling platform (stage) that is movable in the vertical direction, and laser light is irradiated onto the powder layer to solidify the powder at the irradiated location. Then, the modeling platform is lowered, a new powder layer is placed on the modeling platform, and laser light is irradiated to the new powder layer. A three-dimensional structure is created by repeating such a series of steps.

  Patent Document 2 discloses a method of manufacturing a metal article by an additive manufacturing technique using an electron beam instead of a laser beam. In general, if a metal material is oxidized during sintering, the shaped object becomes brittle. On the other hand, in the method disclosed in Patent Document 2, sintering is performed in an inert atmosphere such as argon or nitrogen, and metal oxidation during sintering can be prevented.

Special table 2013-526429 gazette Special table 2015-525290 gazette

  It is not preferable that the material is oxidized during modeling as described above from the viewpoint of ensuring a desired strength in the three-dimensional modeled object to be manufactured. On the other hand, it cannot be visually recognized whether oxygen is present in the modeling apparatus. Therefore, an oxygen sensor is installed in the three-dimensional modeling apparatus to monitor the oxygen concentration in the process chamber during modeling. Further, not only during modeling but also before the modeling is started, a purge step is performed, and an inert gas is supplied into the process chamber to replace the atmosphere in the process chamber with the inert gas.

  However, even if the oxygen concentration in the process chamber was sufficiently reduced before modeling, the oxygen concentration increased with the progress of modeling, and modeling could not be continued. Modeling using a three-dimensional modeling apparatus is premised on being automatically performed from the start of modeling to the end of modeling without the involvement of the apparatus operator. Therefore, the apparatus operator may know for the first time that the modeling is stopped due to the increase in oxygen concentration when the modeling is scheduled to end. Accordingly, the fact that the modeling is stopped due to the increase in the oxygen concentration has a serious effect not only on the modeling cost but also on the modeling delivery date.

  The present invention has been made in consideration of such points, and it is possible to stably manufacture a three-dimensional structure by avoiding a rapid increase in the oxygen concentration in the process chamber during modeling. The purpose is to.

  The inventors of the present invention have made extensive studies, estimated the cause of the oxygen concentration in the process chamber rising during modeling, and addressed the estimated cause to solve the above-mentioned problems. More specifically, first, as a main cause of the increase in oxygen concentration during modeling, the present inventors do not completely replace oxygen in the purging step before modeling, and the three-dimensional modeling apparatus. It was noted that it could stay inside. In particular, the present inventors have paid attention to the fact that oxygen tends to locally accumulate in the back side region of the stage in the guide chamber. The inventors of the present invention are that the oxygen in the back side region of the stage is diffused as the stage moves during modeling and flows into the process chamber, which is the main cause of the increase in oxygen concentration during modeling. I found out. The present invention is based on such knowledge of the present inventors.

The control method of the three-dimensional modeling apparatus according to the present invention is as follows:
A method for controlling a three-dimensional modeling apparatus having a stage that can be moved up and down in a guide chamber in a housing,
Comprising a preparatory step of replacing the atmosphere inside the housing with an inert gas;
In the preparation step, the stage is lowered to a position below the stage position at the start of the modeling step, and then the stage is raised.

  In the preparatory step of the control method of the three-dimensional modeling apparatus according to the present invention, the stage may be lowered to a position below the position of the stage at the completion of modeling in the modeling step.

  In the preparation step of the method for controlling a three-dimensional modeling apparatus according to the present invention, the stage may be lowered to a lowermost position within a movable range of the stage.

The preparation step of the three-dimensional modeling method according to the present invention includes:
Lowering the stage;
Supplying an inert gas into the housing with the stage lowered;
Raising the stage, in this order,
The inert gas may be supplied into the housing also during at least one of the step of lowering the stage and the step of raising the stage.

The three-dimensional modeling method according to the present invention is:
A method for producing a three-dimensional structure,
A step of performing any one of the control methods of the three-dimensional modeling apparatus according to the present invention described above;
A modeling step of modeling the three-dimensional modeled object on the stage.

The program according to the present invention is:
A program for controlling a 3D modeling apparatus,
By being executed by the control unit of the three-dimensional modeling apparatus, the three-dimensional modeling apparatus performs the above-described control method of the three-dimensional modeling apparatus according to the present invention.

The recording medium according to the present invention comprises:
A recording medium on which a program executed by the control unit of the three-dimensional modeling apparatus is recorded,
When the program is executed by the control unit, the three-dimensional modeling apparatus performs any one of the above-described methods for controlling the three-dimensional modeling apparatus according to the present invention.

  According to the present invention, it is possible to effectively avoid the rapid increase in oxygen concentration in the process chamber during modeling and stably perform modeling.

FIG. 1 is a view for explaining an embodiment of the present invention, and is a longitudinal sectional view showing a three-dimensional modeling apparatus. FIG. 2 is a flowchart showing a three-dimensional modeling method. FIG. 3 is a view for explaining the three-dimensional modeling method and is a longitudinal sectional view showing the three-dimensional modeling apparatus. FIG. 4 is a view for explaining the three-dimensional modeling method and is a longitudinal sectional view showing the three-dimensional modeling apparatus.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, for the sake of convenience, the scale, the vertical / horizontal dimensional ratio, and the like are exaggerated by changing them from the actual ones. In addition, the terms and values specifying the shapes, geometric conditions, and their levels used in this specification are not limited to strict meanings, and may include a range where similar functions can be expected. Interpret it. Further, in the present specification, the terms “upper” and “lower” are defined based on a vertical direction based on a direction in which gravity acts.

  1 to 4 are diagrams for explaining an embodiment of the present invention. As shown in FIG. 1, the 3D modeling apparatus 10 includes a control unit 15 and a 3D modeling machine 20. The control unit 15 controls the operation of each component of the 3D modeling machine 20. The control unit 15 is configured to input / output a keyboard 17 on which an operator or the like performs a command input operation to manage the 3D modeling apparatus 10, a display 18 that visualizes and displays the operation status of the 3D modeling apparatus 10, and the like. Connected to the device. In addition, the control unit 15 can access a recording medium 16 on which a program for realizing processing executed by the three-dimensional modeling apparatus 10 is recorded. The recording medium 16 can be configured from a known program recording medium such as a semiconductor memory such as a ROM and a RAM, a disk-shaped recording medium such as a hard disk and a DVD-ROM.

  The three-dimensional modeling machine 20 manufactures a three-dimensional structure O by laminating unit layers ul obtained by solidifying a material with a predetermined solidification pattern based on a control signal from the control unit 15. In the example shown in FIG. 1, the three-dimensional modeling machine 20 sequentially forms unit layers ul made of a sintered material by irradiating a layer of the powder material pm with energy in a predetermined pattern, and the three-dimensional modeling machine 20 A model O is manufactured. Here, as the powder material pm, synthetic powder such as polyamide or polystyrene, PEEK, synthetic coated sand or ceramic powder can be used in addition to metal powder including titanium, steel and other alloys.

  As shown in FIG. 1, the three-dimensional modeling machine 20 includes a housing 21, a partition wall 22 installed in the housing 21, a stage 30 provided in a guide chamber gc partitioned by the partition wall 22, a stage Drive device 35 for driving 30. The partition wall 22 divides the space in the housing 21 into a process chamber c, a guide chamber gc, and a drive chamber dc. Three guide chambers gc arranged in the horizontal direction are arranged below the process chamber c. The stage 30 is disposed in each guide gc chamber. The drive chamber dc is provided below the guide chamber gc. The drive device 35 is at least partially disposed in the drive chamber dc.

  Each stage 30 slides up and down on the side wall surface of the partition wall 22 that defines the corresponding guide chamber gc. A sealing member (not shown) is provided between the side wall surface of the partition wall 22 and the corresponding stage 30, and the gap is closed by the sealing member. The sealing member is configured to block the powder material pm so that the powder material pm cannot pass between the guide chamber gc and the stage 30. The sealing member is preferably configured so that a gas such as oxygen cannot pass between the partition wall 22 and the stage 30, but it is not always required to have a strict airtight performance. Each guide chamber gc has an upper region ua which is on the process chamber c side above the stage 30 and a lower region which is below the lift stage 15 and opposite to the process chamber c side by the corresponding stage 30. separated into la.

  Each guide chamber gc and the stage 30 in the guide chamber gc constitute an elevating unit 25. The three elevating units 25 are divided into a dispenser unit 30a, a collection unit 30b, and a building unit 30c provided between the dispenser unit 30a and the collection unit 30b. The dispenser unit 25a has a dispenser guide chamber (first guide chamber) gca and a dispenser stage 30a, and the building unit 25c has a building guide chamber (third guide chamber) gcc and a building stage 30c. 25b has a collection guide chamber (second lifting guide chamber) gcb and a collection stage 30b.

  In the example shown in FIG. 1, the dispenser unit 25a, the building unit 25b, and the collection unit 25c are sequentially arranged from the right side to the left side in FIG. Partitions 22 are provided between the dispenser guide chamber gca and the building guide chamber gcc, and between the collection guide chamber gcb and the building lifting / lowering guide chamber gcc, respectively. The dispenser guide chamber gca, the building guide chamber gcc, and the recovery guide chamber gcb arranged adjacent to each other are provided in a state of being separated from each other via the partition wall 22. In the example shown in FIG. 1, a partition wall 22 is also provided between the guide chamber gc and the drive chamber dc of each lifting unit 25. The guide chamber gc and the drive chamber dc arranged adjacent to each other are provided in a state of being separated from each other via the partition wall 22.

  The stage 30 is driven by a driving device 35. For each stage 30 (dispenser stage 30a, collection stage 30b, and building stage 30c), a separate drive device 35 (dispenser drive device 35a, collection drive device 35b, and building drive device 35c) is provided. Each driving device 35 raises and lowers the corresponding stage 30 under the control of the control unit 15. Further, the dispenser stage 30a, the collection stage 30b, and the building stage 30c can be moved up and down in conjunction with each other.

  The dispenser unit 25a (dispenser guide chamber gca and dispenser stage 30a) forms a space for storing the powder material pm, and the powder material pm used for modeling the three-dimensional structure O is placed on the dispenser stage 30a. . The building unit 25c (building guide chamber gcc and building stage 30c) is a place where the three-dimensional structure O is formed, and the powder material pm placed on the building stage 30c is sintered by being irradiated with energy. Thus, the unit layer (cross-sectional layer) ul of the three-dimensional structure O is repeatedly formed. The recovery unit 25b (recovery guide chamber gcb and recovery stage 30b) forms a space for recovering excess of the powder material pm supplied to the building guide chamber gcc, and the excess powder material pm is recovered in the recovery stage. 30b is deposited.

  The process chamber c is provided with a coating device 40 that can reciprocate in the horizontal direction above the dispenser stage 30a, the building stage 30c, and the recovery stage 30b. By the horizontal movement of the coating device 40, the powder material pm is supplied from the dispenser guide chamber gca to the building guide chamber gcc, and an excess of the powder material pm is pushed out from above the building guide chamber gcc into the collection guide chamber gcb. It is. That is, when a required amount of the powder material pm is supplied to the building guide chamber gcc, first, the dispenser stage 30a is raised, the building stage 30c is lowered, and the recovery stage 30b is lowered. And the coating device 40 arrange | positioned above the dispenser stage 30a moves horizontally toward the upper direction of the building guide chamber gcc and the collection | recovery guide chamber gcb. Thereby, the surface layer part of the powder material pm on the dispenser stage 30a is pushed toward the building guide chamber gcc, and further powder material pm is supplied to the building guide chamber gcc. The surplus of the powder material pm that has not entered the building guide chamber gcc is pushed toward the collection guide chamber gcb and collected.

  In the process chamber c, a gas supply unit 41, a gas discharge unit 42, an irradiation device 44, and an oxygen sensor 45 are further installed.

  The gas supply unit 41 supplies an inert gas such as argon gas or nitrogen gas to the process chamber c. In the example shown in FIG. 1, the gas supply part 41 is provided with a blowing port 41a provided above the building unit 25c (building guide room gcc and building stage 30c). The blowout port 41a blows out an inert gas into the space above the building unit so as not to substantially affect the powder material pm and the three-dimensional structure O arranged on the building stage 30c. In addition, as long as an inert gas can be supplied, the specific structure and installation position of the gas supply part 41 are not specifically limited.

  The gas discharge part 42 communicates with the process chamber c and plays a role of discharging gas from the process chamber c to the outside of the housing 21. The gas discharge part 42 may be a simple pipe or a pipe that allows ventilation only in the discharge direction. Furthermore, the gas discharge part 42 may have a function of exhausting by actively taking in air from the process chamber c. The gas supply unit 41 can replace the atmosphere in the process chamber c with the inert gas by discharging the atmosphere in the process chamber c from the gas discharge unit 42 while supplying the inert gas to the process chamber c. it can.

  The irradiation device 44 is configured as a device that irradiates energy to the powder material pm. In the illustrated example, the irradiation device 44 includes an energy source that emits a laser beam, an electron beam, and the like, and a scanning device that adjusts the path of the emitted energy. A galvanometer mirror or MEMS can be used as a scanning device for adjusting the optical path.

  The oxygen sensor 45 is installed in the process chamber c and detects the oxygen concentration. The installation position of the oxygen sensor 45 is not particularly limited, but the installation position of the oxygen sensor 45 is preferably determined based on the specific gravity relationship between the inert gas supplied from the gas supply unit 41 and oxygen. For example, when the specific gravity of oxygen is lighter than that of the inert gas, the oxygen sensor 45 is preferably installed at a relatively high position in the process chamber c. When the specific gravity of oxygen is heavier than that of the inert gas, The oxygen sensor 45 is preferably installed at a relatively low position in the process chamber c.

  The operation of each part of the three-dimensional modeling machine 20 is controlled by the control unit 15. For example, the control unit 15 controls the lifting and lowering of the stage 30 using the lifting device 35, controls the horizontal movement of the coating device 40, controls the irradiation of energy by the irradiation device 44, and deactivates from the gas supply unit 41. Control gas supply. Moreover, the control part 15 receives the detection result by the oxygen sensor 45, and when the oxygen sensor 45 detects the oxygen concentration exceeding a predetermined threshold value, it performs the modeling work of the three-dimensional structure O by the three-dimensional modeling machine 20. Interrupt and issue an error to the operator via display or voice.

  Next, a method for controlling the three-dimensional modeling apparatus 10 and a method for manufacturing the three-dimensional modeled object O using the three-dimensional modeling apparatus 10 will be described. The control method of the three-dimensional modeling apparatus and the manufacturing method of the three-dimensional structure described below are implemented by the control unit 15 reading a program recorded in advance on the recording medium 16.

  The control method of the three-dimensional modeling apparatus and the manufacturing method of the three-dimensional model have a preparation step of replacing the atmosphere in the housing 21 with an inert gas. Furthermore, the manufacturing method of a three-dimensional structure also has a modeling process of modeling the three-dimensional structure O that is performed after the preparation process.

  In the preparation step of replacing the atmosphere in the casing 21 with an inert gas, the inert gas is supplied from the gas supply unit 41 into the process chamber c. The gas in the process chamber c is discharged from the gas discharge unit 42 to the outside of the three-dimensional modeling machine 20 with the supply of the inert gas. In the illustrated example, the outlet 41a of the gas supply unit 41 is disposed in the vicinity of the building unit 30c. Accordingly, in the illustrated example, the inert gas is replaced from the atmosphere in the region where the processing to the powder material pm is performed in the process chamber c. When the oxygen concentration detected by the oxygen sensor 45 satisfies a preset standard, the step of replacing with the inert gas ends.

  Next, after the process of substituting with an inert gas is completed, a process of modeling the three-dimensional structure O is performed. In this process, the unit layer (cross-sectional layer) ul formed by dividing the three-dimensional structure O into a large number along one direction is sequentially manufactured, so that the three-dimensional structure as an aggregate of the unit layers ul. O is produced.

  The specific operation of each component of the three-dimensional modeling machine 20 in the process of modeling the three-dimensional structure O is as follows. First, it is driven by the dispenser driving device 35a, the dispenser stage 30a is raised, and it is driven by the building unit driving device 35c, and the building stage 30c is lowered. Note that the powder material pm before use is held on the dispenser stage 30a. Next, the coating device 40 moves in the horizontal direction and scrapes a certain amount of the powder material pm from the dispenser stage 30a. The powder material pm scraped off by the coating device 40 is supplied onto the building stage 30c, and the excess powder material pm is recovered onto the recovery stage 30b in the recovery guide chamber gcb. In this way, a layer of the powder material pm is formed on the building stage 30c.

  Next, the irradiation device 44 irradiates the layer of the powder material pm on the building stage 30c with energy (for example, laser light or electron beam) in a predetermined pattern according to the control signal from the control unit 15. In the layer of the powder material pm on the building stage 30c, the powder material pm is melted and bonded in the region irradiated with energy. In this way, a unit layer ul is formed in which the powder material pm is hardened in a predetermined pattern (two-dimensional shape). Thereafter, the collection stage 30b and the building stage 30c are lowered by a predetermined amount, and the dispenser stage 30a is raised by a predetermined amount. From this state, the operation of the coating apparatus 40 starts again, and the next unit layer ul is formed as described above. The unit layers ul that are sequentially formed are melt-bonded to each other, whereby the three-dimensional structure O can be integrally formed.

  Note that the amount of rise of the dispenser stage 30a, the amount of descent of the building stage 30c, and the amount of descent of the collection stage 30b are such that the slightly larger amount of powder material pm than the required amount to be supplied onto the building stage 30c is dispenser guide chamber gca. Is preferably determined so that the excess of the powder material pm supplied to the building stage 30c and not entering the building guide chamber gcc is accommodated in the collection guide chamber gcb. Moreover, it is preferable that the amount of descending of the building stage 30c is determined based on the layer thickness of the powder material pm sintered by the irradiation of the laser beam. As an example, the dispenser stage 30a can be raised by 0.2 millimeter while the collection stage 30b and the building stage 30c are lowered by 0.1 millimeter at a time.

  The process of modeling the three-dimensional structure O as described above is performed over several hours to several tens of hours, for example. During this time, the oxygen sensor 45 measures the oxygen concentration in the process chamber c. However, when the present inventors actually performed three-dimensional modeling, the oxygen concentration in the process chamber c exceeded the reference value during the three-dimensional modeling process. Modeling in an oxygen concentration atmosphere exceeding the reference value promotes oxidation of the three-dimensional modeled object O during modeling. When the oxidation of the three-dimensional structure O proceeds during modeling, the bonding between the unit layers ul may be insufficient. Therefore, when the oxygen concentration detection value by the oxygen sensor 45 exceeds the reference value, the 3D modeling machine 20 normally stops the 3D modeling. An increase in oxygen concentration during the modeling process hinders stable modeling, leading to an increase in modeling cost and a delay in model delivery.

  On the other hand, as a result of intensive studies, the inventors of the present invention have confirmed that the oxygen in the housing 21 remains in the three-dimensional modeling machine 20 without being replaced in the replacement step with the inert gas. However, it was confirmed that this is one of the main causes of the increase in oxygen concentration during modeling. In particular, oxygen easily stays in the back side region (lower region in the guide chamber gc) la of the stage 30 in the guide chamber gc without being replaced. Oxygen staying in the lower region la (stage rear side region) in the guide chamber gc is pushed out of the lower region la and diffuses into the process chamber c as the stage 30 moves during modeling. The flow of residual oxygen into the process chamber c in this way has been one of the main causes of an increase in oxygen concentration during modeling.

  On the other hand, in the present embodiment, in the preparatory process for replacing the atmosphere inside the casing 21 with an inert gas, the stage 30 is moved to a position below the position of each stage 30 at the start of the modeling process. Then, the stage is raised. By performing the replacement by lowering the stage 30 in this way, the volume of the region (lower region) la on the back side of the stage 30 is reduced, so that the amount of oxygen that can stay in the region la can be reduced. . As a result, the oxygen concentration in the process chamber c rises during modeling, and it is possible to effectively prevent the modeling from being stopped by a signal from the oxygen sensor 45, and the modeling can be performed stably. it can.

  In addition, from the viewpoint of reducing the amount of oxygen that can be retained in the region (lower region) la on the back side of the stage 30, in the preparation step, a position below the position of each stage 30 at the time of completion of modeling in the modeling step It is more preferable that the stage 30 is lowered, and it is further preferable that the stage 30 is lowered to the lowest position in the movable range of each stage 30.

  As shown in FIG. 2, the preparatory process for replacing the atmosphere inside the casing 21 with an inert gas includes a step S1 for lowering the stage 30, and an inert gas in the casing 21 while the stage 30 is lowered. You may make it have process S2 to supply and process S3 which raises the stage 30. FIG.

  FIG. 3 shows a state where the step S1 for lowering the stage 30 is completed. You may make it supply an inert gas in the housing | casing 21 from the gas supply part 41 during process S1 which lowers the stage 30. FIG. In this case, the replacement with the inert gas can be performed more quickly. In FIG. 3, the stage 30 is lowered to the lowest position in the movable range of the stage 30.

  FIG. 4 shows a state where the step S3 for raising the stage 30 is completed. From this state, the modeling process is started. You may make it supply an inert gas in the housing | casing 21 from the gas supply part 41 during process S3 which raises the stage 30. FIG. In this case, the inert gas is drawn into a region (lower region) la on the back side of the stage 30 in the guide chamber gc, and oxygen retention can be effectively prevented.

  As mentioned above, although this invention was demonstrated based on one illustrated embodiment, this invention is not limited to this embodiment, In addition, it can implement with a various form. For example, the above-described three-dimensional modeling method is, for example, a method in which unit layers made of a sintered material are sequentially laminated by irradiating light in a predetermined pattern on a powder material layer (powder bed fusion bonding method) However, as another example, a modeling method (material extrusion method) in which a resin that is in a molten state by heating is laminated from a nozzle (material extrusion method), and a layered modeling method in which a liquid binder is injected from a nozzle to bond a powder material ( Bonding material injection method), additive manufacturing method in which liquid material is ejected from nozzles and selectively deposited (material injection), and modeling method in which heat energy is applied by laser etc. while supplying metal material (melting and deposition) The present invention can also be applied to a directional energy deposition system).

O 3D modeling object gc Guide room 10 3D modeling apparatus 15 Control unit 21 Housing 30 Stage

Claims (7)

A method for controlling a three-dimensional modeling apparatus having a stage that can be moved up and down in a guide chamber in a housing,
Comprising a preparatory step of replacing the atmosphere inside the housing with an inert gas;
A control method for a three-dimensional modeling apparatus, wherein, in the preparation step, the stage is lowered to a position below the position of the stage at the start of the modeling step, and then the stage is raised.   The control method of the three-dimensional modeling apparatus according to claim 1, wherein in the preparation step, the stage is lowered to a position below the position of the stage at the completion of modeling in the modeling step.   The method for controlling a three-dimensional modeling apparatus according to claim 1, wherein, in the preparation step, the stage is lowered to a lowermost position within a movable range of the stage. The preparation step includes
Lowering the stage;
Supplying an inert gas into the housing with the stage lowered;
Raising the stage, in this order,
The three-dimensional modeling according to any one of claims 1 to 3, wherein an inert gas is supplied into the housing also during at least one of the step of lowering the stage and the step of raising the stage. Control method of the device. A method for producing a three-dimensional structure,
A step of executing the control method of the three-dimensional modeling apparatus according to claim 1;
And a modeling step of modeling the three-dimensional structure on the stage. A program for controlling a 3D modeling apparatus,
The program which makes a three-dimensional modeling apparatus implement the control method of the three-dimensional modeling apparatus described in any one of Claims 1-4 by being performed by the control part of the said three-dimensional modeling apparatus. A recording medium on which a program executed by the control unit of the three-dimensional modeling apparatus is recorded,
The recording medium which makes a 3D modeling apparatus implement the control method of the 3D modeling apparatus described in any one of Claims 1-4 by the said program being performed by the said control part.

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