JP2018083372A - Three-dimensional printer system, information processing method, information processor, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional printer system with high molding precision.SOLUTION: A three-dimensional printer system includes: a three-dimensional printer configured to laminate a material to manufacture a molded article; a suction apparatus configured to suck the molded article; and one or more information processors connected to the three-dimensional printer. The three-dimensional printer system further includes: a suction part configured to suck a suction target placed under the molded article; an acquisition part configured to acquire a force generated at the material while molding the molded article; and a determination part configured to determine a suction force to suck the suction target according to the force.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a 3D printer system, an information processing method, an information processing apparatus, and a program.

  2. Description of the Related Art Conventionally, a method for three-dimensional modeling using slice data generated based on data such as three-dimensional CAD (Computer Aided Design) is known.

  And in order to model in three dimensions, the material used for modeling is heated. Specifically, in modeling, first, the material is heated, and the heated material is applied. And once applied, the material cools. Therefore, in modeling, thermal contraction due to temperature change often occurs in the material. Due to this heat shrinkage, a force that causes warping or the like is applied to the material. Thus, a method is known in which a sheet is laid under the material and the sheet is sucked to prevent warping or the like (see, for example, Patent Document 1).

  However, in the conventional method, if the suction force is insufficient, there is a problem that the material is warped and the modeling accuracy is lowered.

  An object of this invention is to provide the 3D printer system which can make modeling precision high in view of the said subject.

In one aspect, a 3D printer system including a 3D printer that laminates materials to produce a modeled object, a suction device that sucks the modeled object, and one or more information processing devices connected to the 3D printer,
A suction unit for sucking an object to be sucked placed under the shaped object;
An acquisition unit that acquires the force generated in the material when modeling the modeled object,
And a determining unit that determines a suction force for sucking the object to be sucked based on the force.

  A 3D printer system with high modeling accuracy can be provided.

It is the schematic which shows an example of the 3D printer system which concerns on one Embodiment of this invention. It is the schematic which shows the example of the slice data which the 3D printer system which concerns on one Embodiment of this invention uses. It is the schematic which shows the example of manufacture of the molded article by the 3D printer system which concerns on one Embodiment of this invention. It is the schematic which shows an example of the hardware block diagram of the information processing apparatus which concerns on one Embodiment of this invention. It is the schematic which shows an example of the hardware block diagram of the 3D printer which concerns on one Embodiment of this invention. It is a block diagram explaining an example of the control apparatus which concerns on one Embodiment of this invention. It is a mimetic diagram showing an example of "warp" generated by thermal expansion concerning one embodiment of the present invention. It is a schematic diagram which shows the usage example of the to-be-sucked object which concerns on one Embodiment of this invention. It is a sequence diagram which shows an example of the whole process by the 3D printer system which concerns on one Embodiment of this invention. It is a functional block diagram which shows an example of a function structure of the 3D printer system which concerns on one Embodiment of this invention. It is a schematic diagram which shows the suction example which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows an example of the coordinate of the location which performs the suction which concerns on 2nd Embodiment of this invention.

(First embodiment)
Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  The 3D printer system has the following overall configuration, for example.

  FIG. 1 is a schematic diagram illustrating an example of a 3D printer system according to an embodiment of the present invention. For example, the 3D printer system 1 has an overall configuration including a PC (Personal Computer) 10 that is an example of an information processing apparatus and a 3D printer 20.

  The 3D printer 20 ejects materials to form each layer based on so-called slice data input from the PC 10 or the like. For example, a model is manufactured as follows.

  FIG. 2 is a schematic diagram illustrating an example of slice data used by the 3D printer system according to the embodiment of the present invention. For example, it demonstrates below by the example which manufactures the molded article PD as shown to FIG. 2 (A). The shape or the like of the shaped object PD is indicated by 3D data D3, so-called solid data or the like. That is, when the 3D data D3 is input, the PC 10 grasps the shape or the like of the molded object PD.

  The PC 10 generates slice data SD by cutting the shaped object indicated by the 3D data D3 into circles at predetermined intervals on the Z axis (in the drawing, the vertical direction). Therefore, the slice data SD is data indicating each cross section of the shaped object PD. Hereinafter, as shown in FIG. 2A, an example in which the shaped object PD is cut into N layers will be described. In this example, the slice data SD is data as shown in FIG. Specifically, in the illustrated example, the slice data SD is data indicating each of the first layer L1 to the Nth layer LN as shown in FIG. 2B.

  When the slice data SD as shown in FIG. 2B is input, the 3D printer forms each layer indicated by the slice data SD, and stacks the formed layers to manufacture the model PD. In the illustrated example, first, the 3D printer forms the first layer L1 based on the slice data SD as shown in FIG. Subsequently, as illustrated in FIG. 2D, the 3D printer forms the second layer L2 on the first layer L1 formed in advance based on the slice data SD. As described above, the 3D printer stacks the Z-axis upward in the Z-axis in the drawing (hereinafter referred to as “stacking direction LD”) to manufacture the model PD.

  In addition, it is assumed that the interval for stacking in the stacking direction LD, so-called stacking pitch, can be set in the 3D printer in advance. The smaller the interval between the layers, the more smoothly the 3D printer can manufacture the shaped object PD.

  In addition, the 3D printer ejects material to form each layer. The material is a filament or the like. The filament is, for example, ABS (acrylonitrile butadiene styrene) resin or PLA (polylactic acid) resin. The filament is thermoplastic. Thus, the material is heated and hot when ejected from the 3D printer. After discharge, the material solidifies when cooled by air cooling or the like. Utilizing such properties, the 3D printer, for example, laminates and manufactures a modeled object as follows.

  FIG. 3 is a schematic view illustrating an example of manufacturing a modeled object by the 3D printer system according to the embodiment of the present invention. That is, the manufacturing method is a so-called FDM (registered trademark) (Fused Deposition Modeling) method. The manufacturing method may be a method such as material jetting.

  As illustrated, the 3D printer discharges and forms the material MT that is heated and melted based on the slice data. Then, the 3D printer forms the next layer on the cooled and solidified layer to manufacture a shaped object. As described above, the 3D printer manufactures a model by stacking the layers on the stage 104.

  The 3D printer 20 (FIG. 1) is an apparatus that manufactures a modeled object as described above, for example. Returning to FIG. 1, the 3D printer 20 and the PC 10 are devices having the following hardware configuration, for example.

(Example of hardware configuration of information processing device)
FIG. 4 is a schematic diagram illustrating an example of a hardware configuration diagram of an information processing apparatus according to an embodiment of the present invention. The PC 10 includes a CPU 501, ROM 502, RAM 503, HDD (Hard Disk Drive) 505, display 508, network I / F (interface) 509, keyboard 511, mouse 512, media drive 507, optical drive 514, USB (Universal Serial Bus) I. / F515, and a bus line 510 such as an address bus or a data bus for electrically connecting them.

  The CPU 501 controls the overall operation of the PC 10. The ROM 502 stores a program used to drive the CPU 501 such as an IPL (Initial Program Loader). The RAM 503 is used as a work area for the CPU 501. The HD 504 stores a program, an OS (Operating System), and various data. The HDD 505 controls reading or writing of various data with respect to the HD 504 according to the control of the CPU 501. A network I / F 509 is an interface for data communication using a network. The keyboard 511 is a device provided with a plurality of keys for a user to input characters, numerical values, various instructions, and the like. The mouse 512 is a device for the user to input and execute selection of various instructions, selection of a processing target, movement of a cursor, and the like. The media drive 507 controls reading or writing (storage) of data with respect to a recording medium 506 such as a flash memory. The optical drive 514 controls reading or writing of various data with respect to an optical disc (CD-Read-Only Memory, DVD, Blu-ray, etc.) 513 as an example of a removable recording medium. The display 508 displays various types of information such as a cursor, menu, window, character, or image. The display 508 may be a projector or the like. The USB I / F 515 is an interface for connecting a USB cable, a USB memory, or the like.

(Example of hardware configuration of 3D printer)
FIG. 5 is a schematic diagram illustrating an example of a hardware configuration diagram of a 3D printer according to an embodiment of the present invention. For example, the 3D printer 20 includes a chamber 103 inside the main body frame 120. The inside of the chamber 103 is a processing space for modeling a three-dimensional object, and a stage 104 as a mounting table is provided in the processing space, that is, inside the chamber 103. A model is manufactured on the stage 104.

  A modeling head 110 as a modeling means is provided above the stage 104 inside the chamber 103. In addition, the modeling head 110 has a discharge nozzle 115 for discharging the filament below the modeling head 110. In the present embodiment, four discharge nozzles 115 are provided on the modeling head 110, but the number of discharge nozzles 115 is arbitrary. Further, the modeling head 110 is provided with a head heating device 114 that is a modeling material heating unit as a heating unit that heats the filament supplied to each discharge nozzle 115.

  The filament has, for example, an elongated wire shape, and is set in the 3D printer 20 in a wound state. Then, the filament is supplied to each discharge nozzle 115 on the modeling head 110 by the filament supply device 106. The filament may be of a different type for each discharge nozzle 115 or the same type. In this embodiment, the 3D printer 20 heats and melts the filament supplied by the filament supply device 106 by the head heating device 114. Next, the 3D printer 20 discharges the melted filament by extruding it from a predetermined discharge nozzle 115. Then, the 3D printer 20 sequentially stacks layers on the stage 104 by discharging, and manufactures a modeled object.

  Note that a support material may be supplied to the discharge nozzle 115 on the modeling head 110. This support material is often formed of a material different from the filament of the modeling material. Moreover, a support material is removed from the molded article formed with the filament after manufacture. This support material is also heated and melted by the head heating device 114 in the same manner as the filament. Next, the molten support material is discharged so as to be pushed out from a predetermined discharge nozzle 115, and sequentially laminated in layers.

  The modeling head 110 is held movably along the longitudinal direction (X-axis direction) of the X-axis drive mechanism 101 with respect to the X-axis drive mechanism 101 extending in the left-right direction of the apparatus. Further, the modeling head 110 can move in the left-right direction (X-axis direction) of the apparatus by the driving force of the X-axis driving mechanism 101. On the other hand, both ends of the X-axis drive mechanism 101 are slidably held along the longitudinal direction (Y-axis direction) of the Y-axis drive mechanism 102 with respect to the Y-axis drive mechanism 102 extending in the front-rear direction of the apparatus. Is done. Further, the X-axis driving mechanism 101 moves along the Y-axis direction by the driving force of the Y-axis driving mechanism 102, so that the modeling head 110 can move along the Y-axis direction.

  In the present embodiment, a chamber heater 107 is provided inside the chamber 103 (processing space) as a heating means for heating the inside of the chamber 103. In the present embodiment, since the manufacturing is performed by the FDM method or the like, it is desirable that the manufacturing is performed in a state where the temperature in the chamber 103 is maintained at the target temperature. For this reason, in the present embodiment, pre-heat treatment is performed to raise the temperature in the chamber 103 to the target temperature in advance before starting the manufacture. For example, the chamber heater 107 heats the inside of the chamber 103 in order to raise the temperature in the chamber 103 to near the target temperature during the pre-heat treatment. On the other hand, during manufacture, the chamber heater 107 heats the chamber 103 in order to maintain the temperature in the chamber 103 near the target temperature. The operation of the chamber heater 107 is controlled by the control device 100.

  FIG. 6 is a block diagram illustrating an example of a control device according to an embodiment of the present invention. For example, each device is connected to the control device 100 as illustrated. The X-axis position detection mechanism 111 is a device that detects the position of the modeling head 110 (FIG. 5) in the X-axis direction. Then, the detection result by the X-axis position detection mechanism 111 is sent to the control device 100. Next, the control device 100 controls the X-axis drive mechanism 101 based on the sent detection result to move the modeling head 110 to a target position in the X-axis direction.

  Similarly, in the present embodiment, the Y-axis position detection mechanism 112 is a device that detects the Y-axis direction position of the X-axis drive mechanism 101 (the Y-axis direction position of the modeling head 110). Then, the detection result by the Y-axis position detection mechanism 112 is sent to the control device 100. Next, the control device 100 controls the Y-axis drive mechanism 102 based on the sent detection result, and moves the modeling head 110 (FIG. 5) on the X-axis drive mechanism 101 to a target Y-axis direction position. Let

  Furthermore, in this embodiment, the Z-axis position detection mechanism 113 is a device that detects the position of the stage 104 (FIG. 5) in the Z-axis direction. Then, the detection result by the Z-axis position detection mechanism 113 is sent to the control device 100. Next, the control device 100 controls the Z-axis drive mechanism 123 based on the sent detection result to move the stage 104 to a target position in the Z-axis direction.

  As described above, the control device 100 controls the movement of the modeling head 110 and the stage 104, thereby determining the relative three-dimensional position between the modeling head 110 and the stage 104 in the chamber 103 (FIG. 5). It can be moved to the target three-dimensional position.

  Further, the control device 100 controls the stage heating device 105 or the chamber heater 107 so as to increase the temperature at a predetermined location. On the other hand, the control device 100 controls the in-device cooling device 108 so as to lower the temperature at a predetermined location. The control device 100 controls the temperature in manufacturing as described above.

  In addition, as illustrated in FIG. 5, the 3D printer 20 is provided with a nozzle cleaning device 109. The nozzle cleaning device 109 cleans the discharge port of the discharge nozzle 115. In this way, the nozzle cleaning device 109 removes the remainder of the discharged material adhering to the discharge nozzle 115.

  As shown in FIG. 5, the 3D printer 20 includes a suction device 30. The suction device 30 may be a device connected to the outside of the 3D printer 20. The suction device 30 is, for example, a compressor. The suction device 30 is connected to the stage 104 via a device that connects the suction device 30 such as a tube TU. The stage 104 has a cavity for connecting a tube TU or the like. In this way, the suction device 30 sucks a suction target such as the sheet SH placed on the stage 104. The control device 100 controls the force with which the suction device 30 sucks an object to be sucked, that is, the suction force.

  Further, the sheet SH is an example of an object to be sucked laid on the stage 104 as illustrated. As each layer constituting the modeled object is laminated, the lower layer is pulled upward by a force due to thermal contraction generated in the upper layer. That is, so-called “warping” may occur due to heat shrinkage.

  As described above, when the “warp” occurs and the force due to the “warp” exceeds the adsorbing force that adsorbs the material and the stage 104, a phenomenon occurs in which the shaped object warps. For example, the phenomenon is as follows.

  FIG. 7 is a schematic diagram illustrating an example of “warping” generated by thermal expansion according to an embodiment of the present invention. First, the 3D printer discharges a material to form the first layer L1 as shown in FIG. 7A, for example. And since the 1st layer L1 is cooled after formation, thermal contraction HC often occurs by a temperature difference. Therefore, after the formation of the first layer L1, a force due to the heat shrinkage HC is generated in the direction shown in the drawing. Next, as shown in FIG. 7A, the 3D printer forms the second layer L2 on the first layer L1 after the thermal contraction HC.

  Similarly, as shown in FIG. 7B, since the second layer L2 is cooled after being formed, heat shrink HC often occurs. Therefore, after the formation of the second layer L2, a force due to the heat contraction HC is generated in the direction shown in the drawing. Further, as shown in FIG. 7B, a third layer L3 is formed on the second layer L2 after the thermal contraction HC.

  Similarly, as shown in FIG. 7C, the third layer L3 is cooled after being formed, and thus heat shrink HC often occurs. As described above, when heat shrink HC occurs in the upper layer, the force generated by the heat shrink HC often reaches the lower layer. Specifically, as shown in FIG. 7C, when heat contraction HC occurs in the third layer L3, the force generated by the heat contraction HC extends to the first layer L1 and the second layer L2. There are many. The force generated by the heat shrink HC is a force that causes each layer to warp upward.

  Further, when the force generated by the heat shrink HC exceeds the adsorption force that adsorbs the material and the stage 104 (FIG. 5), the “warp” causes each layer to become, for example, as shown in FIG. It will be in a state of warping upward. Therefore, for example, the sheet SH (FIG. 5) is used as follows.

  FIG. 8 is a schematic diagram showing an example of use of a suction object according to an embodiment of the present invention. For example, during manufacture, the sheet SH is placed on the stage 104 and laid under the modeled object, as illustrated.

  In this way, when the suction force SUP is generated by the suction device, the space between the stage 104 and the sheet SH is evacuated, so that the sheet SH is fixed to the stage 104. Therefore, the “warp” generated in the sheet SH and the modeled object can be suppressed by the suction force SUP.

  Note that the suction target is preferably a filament or the like, that is, the same material as the material of the modeled object. If the object to be sucked and the material are the same substance, the same thermal shrinkage often occurs if the temperature is the same. Therefore, the “warp” generated in the sheet SH and the material often tends to have the same tendency. Therefore, if the object to be sucked and the material are the same substance, “warping” can be further suppressed.

  Returning to FIG. 5, the 3D printer 20 preferably has a sensor SEN as illustrated. The sensor SEN is, for example, an atmospheric pressure sensor, a photo interrupter, a distortion sensor, or the like. That is, the sensor SEN is a device that can detect a state such as whether or not the sheet SH is fixed to the stage 104.

  For example, when the sensor SEN is an atmospheric pressure sensor, the sensor SEN detects whether the sheet SH is fixed to the stage 104 by measuring the pressure between the sheet SH and the stage 104. it can. Further, when the sensor SEN is a photo interrupter, the sensor SEN is fixed to the stage 104 by detecting whether or not there is a gap through which light passes between the sheet SH and the stage 104. It is possible to detect whether or not The sensor SEN may be of a type other than the above as long as it can detect the state of the sheet SH.

  As described above, when the sensor SEN is present, the 3D printer 20 determines whether or not the sheet SH is fixed to the stage 104, that is, whether or not the sheet SH is lifted from the stage 104 due to “warping”. It can be detected. Hereinafter, a configuration in which the 3D printer 20 includes the sensor SEN will be described as an example.

(Example of overall processing)
FIG. 9 is a sequence diagram showing an example of overall processing by the 3D printer system according to the embodiment of the present invention. First, the 3D printer system 1 performs steps S01 to S04 before manufacturing.

(Example of 3D data input) (step S01)
In step S01, the PC 10 inputs 3D data. When the 3D data is input, the PC 10 can grasp the shape or the like of the modeled object PD as shown in FIG. Note that the 3D data may be in any format as long as the data indicates the shape or the like of the shaped object PD. Specifically, the 3D data is, for example, CAD data generated by CAD or STL data.

(Example of generating slice data) (Step S02)
In step S02, the PC 10 generates slice data. The slice data is generated based on the 3D data input in step S01. Specifically, as illustrated in FIGS. 2A and 2B, the PC 10 generates slice data SD by slicing the shaped object PD indicated by the 3D data at a predetermined interval. Note that the predetermined interval is set in the PC 10 in advance.

  The slice data SD is sent to the 3D printer 20. The timing at which the slice data SD is sent is not limited to the timing shown in the figure. For example, the slice data SD may be sent together with other data.

(Example of acquisition of force generated in material) (Step S03)
In step S03, the PC 10 acquires a force generated in the material. Specifically, in step S03, the PC 10 calculates a force generated in the material, that is, a force that generates, for example, “warp” as shown in FIG.

  For example, the PC 10 manufactures the model object PD set in the 3D printer 20 and the characteristics of the material such as the linear expansion coefficient specified based on the type of the material, the 3D data indicating the shape of the model object PD, and the 3D printer 20. Based on the above, the force generated in the material is calculated.

  The force generated in the material is generated by thermal contraction due to the temperature difference between the temperature at which the material is discharged, that is, the temperature of the material being heated, and the temperature of the material after discharging, that is, the temperature of the material after cooling. It is power to do. Therefore, when the temperature difference is large, the force generated in the material often increases. Therefore, the temperature of the material being heated and the temperature of the material after cooling are used for the calculation.

  For each temperature, a temperature set in the 3D printer or a temperature measured by a temperature sensor or the like is used. The temperature at which the material is discharged is a value set in the 3D printer depending on the type of material. The temperature after cooling is determined by the set value of the chamber heater.

  Further, the force generated in the material may be affected by the shape of the modeled object. For example, the aspect ratio of a modeled object often affects the force generated in the material. Specifically, when the aspect ratio is large, that is, when the vertical and horizontal lengths (X-axis and Y-axis directions) of the model are greatly different, the force generated in the material often increases. In addition, when it is a rectangular parallelepiped shaped article with a large aspect ratio, the shaped article tends to start warping from the longitudinal direction. For example, the aspect ratio is specified based on the respective lengths of the 3D data in the X-axis and Y-axis directions.

  Furthermore, the force generated in the material may be affected by the thickness of each layer of the shaped object. Specifically, the force generated in the material per layer often increases as the volume of the layer increases, that is, as the layer is thicker. For example, the thickness is specified based on the length in the Z-axis direction of 3D data.

  The method for acquiring the force generated in the material is not limited to the calculation method. For example, the force generated in the material may be acquired by measurement using a strain sensor or the like.

(Example of determination of suction force) (Step S04)
In step S04, the PC 10 determines the suction force. For example, the suction force is determined for each layer. Specifically, the PC 10 has data (hereinafter “schedule”) indicating a schedule such as the following (Table 1) based on the force generated in the material acquired in step S03 by the suction force by the suction device 30 (FIG. 5). Data ").

上記（表１）において、「層」は、図２（Ｂ）に示す各層を特定する層番号等である。なお、上記（表１）では、「Ｌ０」は、材料を吐出する前、すなわち、シートＳＨ（図８）のみがステージ１０４（図８）上にある状態という。

In the above (Table 1), “layer” is a layer number or the like that identifies each layer shown in FIG. In the above (Table 1), “L0” refers to a state before the material is discharged, that is, only the sheet SH (FIG. 8) is on the stage 104 (FIG. 8).

  In the above (Table 1), “force generated in the material” is the calculation result obtained in step S03. For example, a description will be given below using an example in which the force as described above (Table 1) is calculated.

  Furthermore, in the above (Table 1), the “suction force” is the suction force SUP (FIG. 8) by the suction device 30 (FIG. 5). That is, the suction device 30 adjusts the suction force so that the suction is performed with the “suction force” indicated by the schedule data.

  “Suction force” is, for example, a value set by accumulating “force generated in material”. First, the suction force for fixing the sheet SH to the stage is “100”. That is, the “suction force” of “L0” in (Table 1) is a value set in advance in the 3D printer as a value for sucking the sheet SH.

  In the above (Table 1), “suction force” is calculated by adding “force generated in material” to “suction force” of the lower layer. Specifically, the “suction force” of “L1” is “100 + 40 = 140”. Similarly, the “suction force” of “L2” is “140 + 30 = 170”. Furthermore, the “suction force” of “L3” is “170 + 50 = 220”. For example, in this way, each “suction force” is set.

  As shown in the above (Table 1), the “suction force” is preferably set for the “layer” to be laminated.

  For example, the PC 10 generates schedule data as described above. Next, the PC 10 sends the generated schedule data to the 3D printer 20.

  The above processing is performed before manufacturing. Subsequently, the 3D printer system 1 manufactures a modeled object as follows. In the following description, an example in which the 3D printer system 1 manufactures three layers from the 0th layer to the second layer will be described. Further, the manufacturing is performed based on the schedule data and the slice data sent in the “before manufacturing” process. Hereinafter, an example using schedule data as described above (Table 1) will be described.

(Example of setting the suction force for the 0th layer) (Step S05)
In step S05, the 3D printer 20 sets the suction force for the 0th layer L0. Specifically, the 3D printer 20 sets “suction force” of “L0” in the above (Table 1), that is, “100” based on the schedule data.

  Next, the 3D printer 20 compares the currently set “suction force” set value with the set value based on the newly set schedule data. In the case of the 0th layer L0, the currently set value of “suction force” is an initial value. The initial value is a value set in advance, for example, “0”.

  As a result of the comparison, the 3D printer 20 sets the larger value. Specifically, since the currently set value of “suction force” is “0” and the set value of “suction force” of “L0” indicated by the schedule data is “100”, this In the example, the 3D printer 20 is set to have a “suction force” of “100”.

  Further, the 3D printer 20 may perform processing for converting the value indicated by the schedule data into driving force by the suction device. The conversion is performed based on a conversion table or a conversion formula that is input in advance.

(Example of suction based on set value) (Step S06)
In step S06, the 3D printer 20 performs suction based on the set value. Specifically, in this example, since the “suction force” of “100” is set in step S05, the 3D printer 20 sucks the sheet SH (FIG. 5) with the “suction force” of “100”. .

  Since the 0th layer L0 is a layer that does not eject material, the 3D printer 20 performs the setting for sucking the sheet SH, and ends the 0th layer L0. Next, the 3D printer 20 forms the first layer L1 as follows, for example.

(Setting example of suction force for first layer) (Step S07)
In step S07, the 3D printer 20 sets the suction force for the first layer L1. Specifically, the 3D printer 20 sets the “suction force” of “L1” in the above (Table 1), that is, “140” based on the schedule data.

  The setting for the first layer L1 is performed, for example, similarly to the 0th layer L0. Specifically, first, the 3D printer 20 compares the currently set “suction force” set value with a set value based on newly set schedule data. In this example, since “100” is set in step S05, the currently set value of “suction force” is “100”. On the other hand, the set value based on the newly set schedule data is “140” that is input to the “suction force” of “L1” in the above (Table 1). Accordingly, since “140” is a larger value as a result of comparison, in step S06, the 3D printer 20 sets the “suction force” of “140”.

(Example of suction based on set value) (Step S08)
In step S08, the 3D printer 20 performs suction based on the set value. Specifically, in this example, since “suction force” of “140” is set in step S07, the 3D printer 20 performs suction with “suction force” of “140”.

(Example of forming the first layer) (Step S09)
In step S09, the 3D printer 20 forms the first layer L1 based on the slice data. Further, as illustrated, step S09 is performed in parallel with step S08. That is, in this example, the 3D printer 20 performs the suction with the “suction force” of “140” and forms the first layer L1.

(Adjustment example of suction force based on state detection result) (Step S10)
As shown in FIG. 5, when the 3D printer 20 includes the sensor SEN, the “suction force” is preferably adjusted based on the detection result of the sheet state by the sensor SEN. The adjustment is performed as follows, for example.

  In step S10, the 3D printer 20 adjusts the “suction force” based on the detection result of the state. That is, it is assumed that the sensor SEN detects that the sheet has been peeled off from the stage due to “warping”. In such a case, the 3D printer 20 adjusts the “suction force” of “140” set in step S08.

  How to change the “suction force” at the time of adjustment can be set in the 3D printer 20 in advance. For example, the adjustment method is to double the set value. Specifically, in this example, the set value of “suction force” is adjusted to “140 × 2 = 280”. Note that the adjustment method is not limited to the double value, and other methods may be used.

  As described above, when the “suction force” is adjusted based on the detection result of the state, the 3D printer 20 can change the “suction force” during manufacturing and further suppress the occurrence of “warping”. .

  Hereinafter, an example will be described in which the sensor SEN detects that the sheet has been peeled off from the stage during the formation of the first layer, and the set value of “suction force” is adjusted to “280”.

  As described above, the 3D printer 20 forms the first layer L1 and ends the process of forming the first layer L1. Next, the 3D printer 20 forms the second layer L2 as follows, for example.

(Setting example of suction force for second layer) (Step S11)
In step S11, the 3D printer 20 sets the suction force for the second layer L2. Specifically, the 3D printer 20 sets “suction force” of “L2” in the above (Table 1), that is, “170” based on the schedule data.

  The setting for the second layer L2 is performed in the same manner as the 0th layer L0 and the first layer L1, for example. Specifically, first, the 3D printer 20 compares the currently set “suction force” set value with a set value based on newly set schedule data. In this example, since “280” is set in step S10, the currently set value of “suction force” is “280”. On the other hand, the set value based on the newly set schedule data is “170” that is input to the “suction force” of “L2” in the above (Table 1).

  Therefore, in this example, since “280” is a larger value as a result of comparison, in step S11, the 3D printer 20 is set to have “suction force” of “280”, that is, in step S10. Maintain the set value.

(Example of suction based on set value) (Step S12)
In step S12, the 3D printer 20 performs suction based on the set value. Specifically, in this example, because “280” “suction force” is set in step S11, the 3D printer 20 performs suction with “280” as “suction force”.

(Example of forming the second layer) (Step S13)
In step S13, the 3D printer 20 forms the second layer L2 based on the slice data. Further, as illustrated, step S13 is performed in parallel with step S12. That is, in this example, the 3D printer 20 performs the suction with the “suction force” of “280” and forms the second layer L2.

  In addition, after that, that is, the third or higher layer may be further formed in the same manner.

  Further, in the second layer L2 and after, adjustment based on the detection by the sensor and the detection result may be performed as in step S10.

  In addition, the value set by the schedule data may be corrected. For example, when the lower layer, that is, in this example, the first layer L1, in the formation of the second layer L2, the set value of the “suction force” is adjusted as in step S10. There is. In such a case, the value input to the subsequent schedule data may be corrected and changed to a larger value. Specifically, as illustrated, when the “suction force” for the first layer L1 is adjusted to “280”, the value of “170” may be corrected by the 3D printer 20. As described above, when the correction is performed, the 3D printer 20 can perform a more suitable setting even if the “suction force” is adjusted.

  Further, the value of “suction force” input to the schedule data may be a value added to the currently set value of “suction force”. That is, the value of “suction force” input to the schedule data may be a so-called relative value. Specifically, for example, a set value of “+30” may be input to the schedule data as the “suction force” for the second layer L2. As described above, when the relative value is input to the schedule data, the 3D printer 20 determines in step S11 that “suction force” is “+30” from the currently set “suction force” based on the schedule data. Set to increase. Thus, the value of “suction force” may be set by a relative value.

  Note that the “suction force” does not always have to be constant in each layer. For example, the 3D printer 20 may change the “suction force” according to the coordinates of the X axis and the Y axis.

(Function configuration example)
FIG. 10 is a functional block diagram illustrating an example of a functional configuration of a 3D printer system according to an embodiment of the present invention. For example, the 3D printer system 1 includes an input unit 1F1, a slice data generation unit 1F2, an acquisition unit 1F3, a determination unit 1F4, a manufacturing unit 1F5, and a suction unit 1F6 as illustrated. Further, as illustrated, the 3D printer system 1 preferably further includes a detection unit 1F7.

  The input unit 1F1 inputs data such as 3D data D3. For example, the input unit 1F1 is realized by a USB I / F 515 (FIG. 4), a network I / F 509 (FIG. 4), or the like.

  The slice data generation unit 1F2 generates slice data SD based on the 3D data D3 and the like. For example, the slice data generation unit 1F2 is realized by the CPU 501 (FIG. 4) or the like.

  Note that the slice data generation unit 1F2 may calculate data or parameters used for manufacturing. For example, the slice data generation unit 1F2 may calculate a trajectory for moving the modeling head 110 (FIG. 5), a moving speed, a material discharge amount, and the like based on the slice data SD. That is, the slice data generation unit 1F2 may generate so-called modeling data and the like. The modeling data may be referred to as “tool path” or the like in the FDM method. As described above, the slice data generation unit 1F2 may generate data or the like for controlling the 3D printer based on the slice data SD.

  The acquisition unit 1F3 acquires the force generated in the material when modeling a modeled object. For example, the acquisition unit 1F3 is realized by the CPU 501 (FIG. 4) or the like.

  The determination unit 1F4 determines the suction force for sucking the suction target such as the sheet SH (FIG. 5) based on the force acquired by the acquisition unit 1F3. For example, the acquisition unit 1F3 is realized by the CPU 501 (FIG. 4) or the like. The determination result determined by the determination unit 1F4 is, for example, “suction force” in the above (Table 1). That is, for example, schedule data SHD as shown in (Table 1) above is generated by the determination unit 1F4.

  The manufacturing unit 1F5 manufactures a material by ejecting a material based on the slice data SD generated by the slice data generating unit 1F2. For example, the manufacturing unit 1F5 is realized by each device shown in FIG.

  The suction unit 1F6 sucks an object to be sucked placed under a modeled object manufactured by the manufacturing unit 1F5. For example, the suction unit 1F6 is realized by the suction device 30 and the tube TU shown in FIG.

  First, when the 3D printer system 1 inputs the 3D data D3 and the like through the input unit 1F1, as shown in FIG. Next, in the 3D printer system 1, the slice data generation unit 1F2 generates data such as slice data SD based on the 3D data D3 input by the input unit 1F1. As described above, when data such as the slice data SD is generated, the 3D printer system 1 can manufacture a model PD by stacking materials as illustrated in FIG. 3, for example.

  Next, the 3D printer system 1 acquires the force generated in the material based on, for example, “warping” as illustrated in FIG. 7 by the acquisition unit 1F3. Further, the acquisition procedure performed by the acquisition unit 1F3 is, for example, calculation as shown in step S03 (FIG. 9). Thus, when the force generated in the material is acquired, the acquisition result is, for example, “force generated in the material” in the schedule data SHD shown in (Table 1) above.

  In the 3D printer system 1, the determination unit 1F4 determines the suction force by the suction unit 1F6 based on the force generated on the material acquired by the acquisition unit 1F3. For example, the determination procedure performed by the determination unit 1F4 is, for example, a process as shown in step S04 (FIG. 9). That is, the determination unit 1F4 determines the “suction force” in the schedule data SHD shown in the above (Table 1) based on the force generated in the material.

  Subsequently, when the 3D printer system 1 manufactures the modeled object PD by the manufacturing unit 1F5, the suction unit 1F6 sucks an object to be sucked such as a sheet based on the schedule data SHD. For example, as shown in FIG. 7, in the manufacture, thermal contraction HC often occurs due to thermal expansion of the material. Therefore, a phenomenon such as “warping” often occurs due to the heat shrink HC. As described above, when “warping” occurs, the modeled object PD is deformed, and thus the modeled object PD is not manufactured in a shape intended by the user, that is, it is likely to cause a decrease in modeling accuracy.

  Accordingly, in order to suppress “warping”, the 3D printer system 1 can suppress the phenomenon of “warping” as illustrated in FIG. 7 when suction is performed by the suction unit 1F6. However, since suction uses a suction device such as a compressor, if the suction force is strong, vibration may occur during suction. If there is such vibration, the modeling accuracy may be lowered. In addition, when the suction force is strong, noise or power consumption by the suction device may increase.

  On the other hand, when the suction force is low, the force caused by “warping” easily exceeds the suction force. Therefore, if the suction force is low, “warping” is likely to occur, which tends to cause a reduction in modeling accuracy. Further, the force due to “warp” often increases as the manufacturing progresses.

  Therefore, it is desirable that the suction force is set as in the schedule data SHD, for example, for each layer, that is, in accordance with the progress of manufacturing, based on the conditions of each layer. In this way, the 3D printer system 1 can perform suction with a suitable suction force. Therefore, the 3D printer system 1 can suppress “warping” and increase the modeling accuracy.

(Second Embodiment)
In the second embodiment, the 3D printer system is realized by, for example, the same overall configuration as that of the first embodiment, that is, the configuration shown in FIG. Therefore, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted below. Hereinafter, a description will be given focusing on differences from the first embodiment.

  In the second embodiment, the 3D printer system is different from the first embodiment in that suction is performed at a plurality of locations. For example, suction is performed as follows.

  FIG. 11 is a schematic diagram showing an example of suction according to the second embodiment of the present invention. For example, as shown in the drawing, an example in which the sheet SH is sucked at four locations will be described. Note that the number of locations to be sucked may not be four.

  Hereinafter, as illustrated, it is assumed that suction is performed at the first place P1, the second place P2, the third place P3, and the fourth place P4. That is, the suction device performs suction at each of the first place P1, the second place P2, the third place P3, and the fourth place P4 via the tube TU (FIG. 8) or the like.

  As shown in the figure, a region centered on the first location P1 is referred to as a “first area ER1”. Similarly, a region centered on the second location P2 is referred to as a “second area ER2”. Further, an area centered on the third place P3 is referred to as a “third area ER3”. Furthermore, a region centered on the fourth location P4 is referred to as a “fourth area ER4”. It is desirable that each suction force sucked in each area can be set separately. In other words, in the second embodiment, it is desirable that the schedule data is generated as shown below (Table 2), for example.

上記（表２）は、上記（表１）と比較すると、「材料に発生する力」が、エリアごとに取得されている点が異なる。そして、上記（表２）は、それぞれの「材料に発生する力」に基づいて、それぞれの「吸引力」が、層ごと、かつ、エリアごとに別個に設定される。

The above (Table 2) is different from the above (Table 1) in that “force generated in the material” is acquired for each area. In the above (Table 2), each “suction force” is set separately for each layer and each area based on each “force generated in the material”.

  As described above (Table 2), in order to acquire the “suction force” separately for each area, the PC performs the suction locations, that is, the first location P1, the second location P2, the third location P3, and the first location. It is desirable to recognize the positions of the four places P4. For example, the position is specified by coordinates as follows.

  FIG. 12 is a schematic diagram illustrating an example of coordinates of a portion where suction is performed according to the second embodiment of the present invention. For example, let the lower left in the figure be the origin and the origin coordinates (0, 0). In such a coordinate system, for example, the position of the first location P1 is set to the coordinates (25, 20).

  Further, the suction range SUPE can be specified based on the specifications of the suction device and the like. For example, the suction range SUPE in the third area ER3 has a range of (X ± 25) and (Y ± 20) with the third location P3 as the center, as illustrated. As described above, when the positions of the first place P1, the second place P2, the third place P3, and the fourth place P4 and the ranges covered by the respective suction forces can be specified, for example, as shown below (Table 3), 3D The printer system can specify each suction range in each area.

上記（表３）のようなデータがあると、ＰＣは、吸引を行う各箇所のそれぞれの位置及び各エリアにおけるそれぞれの吸引範囲を特定することができる。

When there is data as described above (Table 3), the PC can specify the respective positions of the respective places where suction is performed and the respective suction ranges in the respective areas.

  Thus, the 3D printer system can set the suction force differently for each area. That is, the 3D printer system sucks a portion where the force generated in the material is strong with a strong suction force based on the shape of the modeled object. On the other hand, in the 3D printer system, a portion where the force generated in the material is weak is sucked with a weak suction force. In this way, the 3D printer system can reduce energy consumption compared to the case where the whole is sucked together.

  The 3D printer system preferably has a sensor for each area. That is, the 3D printer system includes a first sensor that detects the state of the modeled object in the first area ER1. Similarly, the 3D printer system includes a second sensor that detects the state of the modeled object in the second area ER2. In addition, the 3D printer system includes a third sensor that detects the state of the modeled object in the third area ER3. The 3D printer system includes a fourth sensor that detects the state of the modeled object in the fourth area ER4. That is, as shown in FIG. 11, when divided into four areas, it is desirable that each area has a separate sensor, and there are a total of four sensors.

  Thus, if there is a sensor for each area, the 3D printer system can detect the state of the shaped object for each area. That is, the 3D printer system can perform step S10 (FIG. 9) for each area. Specifically, in each area, when it is detected that the modeled object has been peeled off from the stage, the 3D printer system can adjust each suction force for each area based on the state.

  In addition, as for the location which attracts | sucks, it is desirable that it is a position which can attract | suck the corner of a to-be-sucked object like the 1st location P1, the 2nd location P2, the 3rd location P3, and the 4th location P4, for example. Manufacture is often performed at a location near the center of the sheet SH. Then, “warping” is likely to occur at a position away from the center of the sheet SH, that is, at a corner. Further, the suction force is likely to be generated concentrically. Therefore, as shown in the drawing, the 3D printer system can further suppress “warping” when the portion where the suction is performed is a position where the corner of the suction target can be sucked.

(Other embodiments)
The schedule data is not limited to being generated as in (Table 1) and (Table 2). For example, the schedule data shown in (Table 1) may be generated as shown in (Table 4) below, for example.

上記（表１）と比較すると、上記（表４）に示すスケジュールデータは、１０層ごとに、「吸引力」が入力されている点が異なる。すなわち、スケジュールデータは、上記（表４）のように、所定の層間隔ごとに、「吸引力」を設定するように、生成されてもよい。なお、所定の層間隔は、あらかじめ設定できるとする。以下、所定の層間隔が「１０層」である例で説明する。

Compared with the above (Table 1), the schedule data shown in the above (Table 4) is different in that “suction force” is input every 10 layers. That is, the schedule data may be generated so as to set “suction force” for each predetermined layer interval as described above (Table 4). Note that the predetermined layer spacing can be set in advance. Hereinafter, an example in which the predetermined layer interval is “10 layers” will be described.

  When the schedule data as described above (Table 4) is sent, the 3D printer system sucks the first layer L1 to the tenth layer L10 with a suction force of “350”, and manufactures a modeled object. “350” is an example calculated as “100 + 25 × 10 = 350”.

  Next, the 3D printer system sucks the eleventh layer L11 to the twentieth layer L20 with a suction force of “650” to manufacture a modeled object. “650” is an example calculated as “350 + 35 × 10 = 650”.

  Subsequently, the 3D printer system sucks the 21st layer L21 to the 30th layer L30 with a suction force of “1150” to manufacture a modeled object. “1150” is an example calculated as “650 + 50 × 10 = 1150”.

  Thus, the 3D printer system may use schedule data that sets the suction force for each predetermined layer interval. In this way, when the suction force is set for each predetermined layer interval, the 3D printer system can reduce the calculation cost for calculating the force generated in the material, the suction force, and the like.

  In addition, for example, in the present embodiment, it has been described that the material is mainly a resin or the like, but the 3D printer system can also be formed by discharging cells of a person, animal, plant, or the like. For example, the 3D printer system can manufacture some organs with cells, or manufacture cell sheets and the like.

  For example, the processing examples described above are examples that are divided according to main functions in order to facilitate understanding of processing by the information processing apparatus. Therefore, the division method or name of the processing unit may be different from the processing described. Specifically, the processing by the information processing apparatus can be divided into more processing units according to the processing content. Moreover, it can also divide | segment so that one process unit may contain many processes.

  For example, the 3D printer may have a part of the functions of the information processing apparatus.

  Note that all or part of each processing according to the present invention may be realized by a program for causing a computer described in a low-level language such as an assembler, a high-level language such as C language, etc. to execute an information processing method. Good. That is, the program is a computer program for causing a computer such as an information processing apparatus or an information processing system including one or more information processing apparatuses to execute each process.

  The program can be stored and distributed in a computer-readable recording medium. The recording medium is an EPROM (Erasable Programmable ROM), a flash memory, an optical disk such as a flexible disk, a Blu-ray disk, an SD (registered trademark) card, or an MO. Furthermore, the program can be distributed through a telecommunication line.

  Further, the information processing system has two or more information processing devices connected to each other by a network or the like, and a plurality of information processing devices are virtualized, distributed, parallel, or redundantly configured for all or part of various processes. Each may be processed.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

1 3D printer system 10 PC
20 3D printer 30 Suction device D3 3D data SD Slice data SEN Sensor SH Sheet MT Material

US Pat. No. 5,939,008

Claims (10)

A 3D printer system comprising a 3D printer that laminates materials to produce a modeled object, a suction device that sucks the modeled object, and one or more information processing devices connected to the 3D printer,
A suction unit for sucking an object to be sucked placed under the shaped object;
An acquisition unit that acquires the force generated in the material when modeling the modeled object,
A 3D printer system comprising: a determination unit that determines a suction force for sucking the suction target based on the force. A detection unit for detecting the state of the suction object;
The 3D printer system according to claim 1, wherein the suction force is adjusted based on the state. The suction part is
The 3D printer system according to claim 1, wherein the suction target is sucked at a plurality of locations. The suction unit detects the state of the suction object at each of the plurality of locations,
The 3D printer system according to claim 3, wherein the suction force is set for each of the plurality of locations.   The 3D printer system according to claim 1, wherein the suction force is set for a layer in the stack.   The 3D printer system according to claim 5, wherein the suction force is set for each predetermined layer interval.   The 3D printer according to claim 1, wherein the acquisition unit calculates the force based on data indicating a temperature at which the modeled object is manufactured, characteristics of the material, and a shape of the modeled object. system. An information processing apparatus connected to a 3D printer that manufactures a model by stacking materials and a suction device that sucks the model,
An acquisition unit that acquires the force generated in the material when modeling the modeled object,
An information processing apparatus comprising: a determination unit that determines a suction force that causes the suction device to suck an object to be sucked placed under the modeled object based on the force. An information processing method performed by a 3D printer system including a 3D printer that stacks materials to manufacture a modeled object, a suction device that sucks the modeled object, and one or more information processing devices connected to the 3D printer. There,
A suction procedure in which the suction device sucks an object to be sucked placed under the model;
An acquisition procedure for acquiring a force generated in the material when the information processing apparatus is modeling the modeled object,
An information processing method including: a determination procedure in which the information processing apparatus determines a suction force for sucking the suction target based on the force. In order to cause a computer having a 3D printer that stacks materials to produce a modeled object, a suction device that sucks the modeled object, and one or more information processing apparatuses connected to the 3D printer to execute the information processing method The program of
A suction procedure in which the computer sucks a suction object placed under the model;
An acquisition procedure for acquiring a force generated in the material when the computer is modeling the model,
A program for causing the computer to execute a determination procedure for determining a suction force for sucking the object to be sucked based on the force.

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