JP2019147296A - Control system, molding apparatus, molding system, and program - Google Patents

Abstract

To provide a system or the like that can suppress deformation generated in a molded object in a process of cooling and solidifying a molding material.SOLUTION: This control system for controlling molding means for molding a three-dimensional object includes generation means for generating a plurality of pieces of cross-section information representing a cross-sectional shape obtained by cutting a three-dimensional object at a predetermined interval based on three-dimensional shape information representing the three-dimensional shape of the three-dimensional object, and trajectory determination means for determining a plurality of trajectories for supplying a molding material based on a plurality of pieces of cross-section information. The trajectory determining means determines a trajectory so as to supply the molding material from a central part of a cross-sectional area toward an outer edge part.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a control system for controlling a modeling means for modeling a three-dimensional object, a modeling apparatus, a modeling system, and a program for causing a computer to execute the control.

  There are a plurality of modeling methods in a modeling apparatus for modeling a three-dimensional object. As one of the modeling methods, there is a modeling method for extruding and laminating molten materials called a hot melt lamination method (FFF). .

  In FFF, residual stress is generated in all parts of the three-dimensional object that has been layered, and when the product is cooled to room temperature after completion, the residual object will be distorted or deformed by the residual stress. A technique for reducing stress has been proposed (see, for example, Patent Document 1).

  In the above technique, the residual stress generated in the three-dimensional object can be reduced and deformation can be suppressed, but in the process in which the modeling material after the three-dimensional object is completed is cooled and solidified, the three-dimensional object is warped or contracted. There was a problem that deformation occurred.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a system, a program, and the like that can suppress deformation that occurs in a three-dimensional object in the process of cooling and solidifying a modeling material.

In order to solve the above-described problems and achieve the object, the present invention is a control system for controlling a modeling means for modeling a three-dimensional object,
Generating means for generating a plurality of cross-sectional information representing a cross-sectional shape obtained by cutting the three-dimensional object at a predetermined interval based on the three-dimensional shape information representing the three-dimensional shape of the three-dimensional object;
A trajectory determining means for determining a plurality of trajectories indicating a route for supplying the modeling material based on a plurality of cross-section information;
The trajectory determining means provides a control system that determines the trajectory so as to supply the modeling material from the central portion to the outer edge portion of the cross-sectional area.

  ADVANTAGE OF THE INVENTION According to this invention, the deformation | transformation which generate | occur | produces in a molded article in the process in which a modeling material solidifies by cooling can be suppressed.

The figure which showed the structural example of the modeling system. The figure which showed an example of the hardware constitutions of a modeling apparatus. The figure which showed the structural example of the head module. The figure which showed an example of the hardware constitutions of information processing apparatus. The block diagram which showed an example of the function structure of a modeling apparatus and information processing apparatus. The flowchart which showed the flow of the modeling process which a modeling system performs. The figure explaining slice data. The figure explaining the modeling data as control information for controlling a modeling apparatus. The figure which showed an example of the locus | trajectory which supplies a modeling material with the conventional system. The figure which showed the 1st example of the locus | trajectory which supplies modeling material with this system. The figure which showed the 2nd example of the locus | trajectory which supplies modeling material with this system. The figure which showed the 3rd example of the locus | trajectory which supplies modeling material with this system. The flowchart which showed the flow of the process which determines the locus | trajectory which supplies modeling material. The figure explaining a target layer and a reference | standard layer. The figure explaining the 1st method of calculating the center of the slice data of a reference | standard layer. The figure explaining the 2nd method of calculating the center of the slice data of a reference | standard layer. The figure explaining the method of calculating the center of the slice data of the reference layer when the center of the slice data of the reference layer does not fit inside the slice data of the target layer. The figure explaining the method to adjust the start point of a locus | trajectory.

  FIG. 1 is a diagram illustrating a configuration example of a modeling system that models a three-dimensional object. The modeling system illustrated in FIG. 1 includes an information processing apparatus 10 configured as a control system and a modeling apparatus 20 that models a three-dimensional object. The information processing apparatus 10 and the modeling apparatus 20 are connected by cable using a cable or the like, or wirelessly using a wireless LAN or the like. The information processing apparatus 10 and the modeling apparatus 20 may be connected via a network. In addition, the modeling system may be one in which a control system and a modeling unit that models a three-dimensional object are housed in one housing, that is, a control system mounted in the modeling apparatus 20.

  The information processing apparatus 10 transmits modeling data as control information for controlling the modeling apparatus 20 to the modeling means, in this example, the modeling apparatus 20. The modeling apparatus 20 receives modeling data from the information processing apparatus 10 and models a three-dimensional object based on the modeling data.

  The information processing apparatus 10 uses the three-dimensional shape information (3D data) representing the three-dimensional shape of a three-dimensional object, such as CAD data, created using a program such as CAD (Computer Aided Design). Generate and transmit to the modeling apparatus 20. At this time, the information processing apparatus 10 generates a plurality of pieces of cross-sectional information (slice data) representing a cross-sectional shape obtained by cutting (slicing) a three-dimensional object at predetermined intervals from the 3D data. And the information processing apparatus 10 determines the some locus | trajectory which shows the path | route which supplies modeling material based on several slice data, and produces | generates modeling data based on the determined some locus | trajectory.

  In the modeling data, in addition to information on where to supply the resin as a modeling material (material), the temperature of the heating block provided in the modeling apparatus 20 for melting the resin and the moving speed of the modeling head as a discharge means The parameters necessary for modeling such as are included. In addition, if a material can be supplied, a discharge means will not be limited to a modeling head.

  The modeling apparatus 20 moves the modeling head based on the modeling data received from the information processing apparatus 10, supplies the material from the modeling head, forms the layers one by one, and models the target three-dimensional object.

  The hardware configuration of the modeling apparatus 20 will be described with reference to FIG. In FIG. 2, the modeling apparatus 20 that employs FFF as a modeling method will be described as an example, but the modeling method is not limited to FFF. Therefore, if a solid object is to be formed on the mounting surface by supplying material from the discharge means disposed at a position facing the mounting surface of the mounting table, a laser method using a laser light source, a high-temperature hot air source should be used. The modeling apparatus may employ any method such as a high-temperature hot air method used, a heating plate method using a heating plate, a tap method using a tap nozzle, or an ultrasonic method using ultrasonic waves.

  The modeling apparatus 20 includes a filament reel 22 around which a long filament-like filament 21 made of a resin composition having a thermoplastic resin as a base material is wound. The filament reel 22 is rotatably attached to a predetermined position outside the housing 23 of the modeling apparatus 20. The filament 21 is drawn from the tip by the modeling head 24 inside the housing 23. At that time, the filament reel 22 rotates without exerting a great resistance.

  Two types of filaments 21 are provided. One is a filament of model material constituting the three-dimensional structure, and the other is a mold for holding the shape of the three-dimensional structure. The filament is a support material that is removed after the completion of modeling. Different types of materials are used for the model material and the support material.

  As shown in FIG. 3, the modeling head 24 includes an extruder 40 that is adjacent to both sides of the filament 21 and rotates in a certain direction to draw the filament 21. The modeling head 24 includes a heating block 41 that melts or semi-melts the filament 21. The heating block 41 has a heating source 42 inside, and includes a thermocouple 43 as temperature measuring means for measuring the temperature of the heating block 41.

  The modeling head 24 has a discharge nozzle 44 that discharges the filament 21 that is melted or semi-molten and becomes liquid under the heating block 41. The modeling head 24 is provided with two nozzles for discharging the model material and nozzles for discharging the support material as the discharge nozzles 44. Note that the number of discharge nozzles is not limited to two, and three or more may be provided.

  Between the extruder 40 and the heating block 41, a filament guide 45 constituting a transfer path and a cooling block 46 are provided. In the cooling block 46, the filament 21 melted or semi-molten by the heating block 41 flows back to the upper part of the modeling head 24, and the resistance force when the filament 21 is pushed out by the extruder 40 is increased, or the solidified filament is moved in the transfer path. Provided to avoid clogging. The cooling block 46 has a cooling source 47 inside, and returns the filament 21 that has been melted or semi-melted into a liquid state to the original solid filament.

  Referring to FIG. 2 again, the modeling apparatus 20 includes a mounting table 25 on the lower side of the modeling head 24 inside the housing 23. The inside of the housing 23 is a processing space for modeling a three-dimensional object. The modeling head 24 cools and solidifies the molten or semi-molten product of the filament 21 in a linear manner on the mounting table 25, and forms a three-dimensional object. In FFF, injection molding complicates the mold and makes it possible to form a three-dimensional object that cannot be molded.

  The modeling head 24 discharges the filament of the model material and the filament of the support material made of a material different from the model material from the discharge nozzle 44, and sequentially stacks them in layers. The portion formed by the filament of the support material is removed using a solution or the like that dissolves the support material after modeling.

  As illustrated in FIG. 2, the modeling apparatus 20 extends in the X-axis direction when the width direction of the modeling apparatus 20 is the X-axis direction, and holds the modeling head 24 movably in the X-axis direction via a connecting member. An X-axis drive shaft 26 is provided. The modeling apparatus 20 includes an X-axis drive motor 27 and moves the modeling head 24 in the X-axis direction by the driving force of the X-axis drive motor 27. Since the modeling head 24 has a heating block 41 and becomes high temperature, a transfer path such as a filament guide for guiding the filament 21 has a low thermal conductivity so that the heat is not easily transmitted to the X-axis drive motor 27. Is desirable.

  The modeling apparatus 20 has a Y-axis drive shaft that extends in the Y-axis direction when the depth direction of the modeling apparatus 20 is the Y-axis direction and holds the modeling head 24 movably in the Y-axis direction. The modeling apparatus 20 includes a Y-axis drive motor 28 and moves the modeling head 24 in the Y-axis direction by the driving force of the Y-axis drive motor 28.

  The modeling apparatus 20 includes a Z-axis drive shaft 29 and a guide shaft 30 that extend in the Z-axis direction when the height direction of the modeling apparatus 20 is the Z-axis direction and hold the mounting table 25 movably in the Z-axis direction. . The modeling apparatus 20 includes a Z-axis drive motor 31 and moves the modeling head 24 in the Z-axis direction by the driving force of the Z-axis drive motor 31.

  The modeling apparatus 20 includes an X-axis coordinate detection mechanism that detects the position of the modeling head 24 in the X-axis direction. The X-axis coordinate detection mechanism outputs the detection result to the drive control unit, and the drive control unit controls the X-axis drive motor 27 based on the detection result and moves the modeling head 24 to the target position in the X-axis direction. Let

  The modeling apparatus 20 includes a Y-axis coordinate detection mechanism that detects the position of the modeling head 24 in the Y-axis direction. The Y-axis coordinate detection mechanism outputs the detection result to the drive control means, and the drive control means controls the Y-axis drive motor 28 based on the detection result and moves the modeling head 24 to the target position in the Y-axis direction. Let

  The modeling apparatus 20 includes a Z-axis coordinate detection mechanism that detects the position of the modeling head 24 in the Z-axis direction. The Z-axis coordinate detection mechanism outputs the detection result to the drive control means, and the drive control means controls the Z-axis drive motor 31 based on the detection result and moves the mounting table 25 to the target position in the Z-axis direction. Let

  The drive control means controls the X-axis drive motor 27, the Y-axis drive motor 28, and the Z-axis drive motor 31 to control the movement of the modeling head 24 and the mounting table 25, so that the modeling head 24 and the mounting table 25 can move. The relative three-dimensional position can be moved to the target three-dimensional position.

  If the filament 21 is continuously melted and discharged, there is a problem that the periphery of the discharge nozzle 44 is stained with the molten resin. Regarding this problem, the modeling apparatus 20 includes a cleaning brush 32 and periodically performs a cleaning operation with the cleaning brush 32 to prevent the resin from sticking to the tip of the discharge nozzle 44. The cleaning operation is desirably performed before the temperature of the resin is lowered from the viewpoint of fixing. The cleaning brush 32 is desirably made of a heat resistant resin as a material thereof. Polishing powder or the like generated during the cleaning operation can be stored in a dust box 33 provided in the housing 23. The abrasive powder and the like stored in the dust box 33 can be discarded periodically. The polishing powder or the like may be sucked and discharged to the outside by providing a suction path.

  Next, the hardware configuration of the information processing apparatus 10 will be described with reference to FIG. The information processing apparatus 10 has the same configuration as a general PC. Therefore, the information processing apparatus 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an HDD (Hard Disk Drive) 14, an I / F 15, An LCD (Liquid Crystal Display) 16 and an operation unit 17 are included. Note that the CPU 11, ROM 12, RAM 13, HDD 14, and I / F 15 are connected to each other via a bus 18.

  The CPU 11 is a calculation means and controls the operation of the entire information processing apparatus 10. The ROM 12 is a read-only nonvolatile storage medium, and stores programs such as a boot program and firmware for controlling hardware. The RAM 13 is a volatile storage medium capable of reading and writing information at high speed, and is used as a work area when the CPU 11 processes information. The HDD 14 is a nonvolatile storage medium that can read and write information, and stores an OS (Operating System), various control programs, application programs, and the like.

  The I / F 15 connects the bus 18 to various hardware and networks, and controls information input / output, transmission / reception, and the like. The I / F 15 can include a network I / F for the information processing apparatus 10 to communicate with other devices via the network. As the network I / F, an Ethernet (registered trademark), a USB (Universal Serial Bus) interface, or the like can be used. The LCD 16 is a visual user interface for a user to check the state of the information processing apparatus 10, and the operation unit 17 is a user interface for a user such as a keyboard and a mouse to input information to the information processing apparatus 10.

  The information processing apparatus 10 includes functional units that realize various functions by the CPU 11 performing calculations according to programs stored in the ROM 12 and programs read from the storage medium such as the HDD 14 and an optical disk (not shown) to the RAM 13. Composed.

  FIG. 5 is a block diagram illustrating an example of functional configurations of the information processing apparatus 10 and the modeling apparatus 20. The information processing apparatus 10 includes a storage unit 50, an input reception unit 51, a reading unit 52, a slice data generation unit 53, a trajectory determination unit 54, and a modeling data generation unit 55 as functional units.

  The storage unit 50 stores 3D data of the target three-dimensional object. In this example, it is assumed that 3D data is stored in the storage unit 50. However, the 3D data is a server device connected to the information processing apparatus 10 via another device or network that can communicate with the information processing device 10 in a wired or wireless manner. Etc. may be stored. The 3D data may be stored in a recording medium that can be attached to and detached from the information processing apparatus 10, for example, an SD card.

  The input receiving unit 51 receives a modeling instruction from the user as an input. The modeling instruction includes identification information for identifying 3D data to be modeled, such as a data name. The reading unit 52 reads 3D data to be modeled in accordance with the modeling instruction received by the input receiving unit 51.

  Based on the 3D data read by the reading unit 52, the slice data generating unit 53 generates a plurality of slice data when the slice data is cut at predetermined intervals in the Z-axis direction.

  The trajectory determination unit 54 determines a plurality of trajectories indicating a route for supplying the material based on the plurality of slice data. That is, the trajectory determination unit 54 determines what trajectory should be used for supplying the material (model material and support material) in order to form one layer of the slice data region. At that time, the trajectory determination unit 54 determines the trajectory so as to supply the material from the central portion to the outer edge portion of the slice data region.

  The modeling data generation unit 55 generates modeling data indicating how to control the modeling apparatus 20 in order to model with the modeling apparatus 20 based on the plurality of trajectories determined by the trajectory determination unit 54. The modeling data generation unit 55 transmits the generated modeling data to the modeling apparatus 20.

  The modeling apparatus 20 includes a modeling unit 60 as a functional unit. The modeling unit 60 receives the modeling data from the modeling data generation unit 55, supplies materials according to the modeling data, forms the layers one by one, and models a three-dimensional object. That is, the modeling unit is driven from the central portion of the slice data area determined by the trajectory determining unit 54 to the outer edge portion.

  In this example, the information processing apparatus 10 is described as including a storage unit 50, an input reception unit 51, a reading unit 52, a slice data generation unit 53, a trajectory determination unit 54, and a modeling data generation unit 55. However, some or all of these functional units may be in the modeling apparatus 20.

  FIG. 6 summarizes the flow of modeling processing executed by the modeling system. The modeling process starts from step 600 when the user selects 3D data to be modeled on the information processing apparatus 10 and instructs modeling. In step 601, the reading unit 52 reads 3D data to be processed in accordance with the modeling instruction received by the input receiving unit 51.

  In step 602, the slice data generation unit 53 generates a plurality of slice data by cutting the 3D model of the read 3D data. In step 603, the trajectory determining unit 54 determines a plurality of trajectories indicating paths for supplying the material based on the generated plurality of slice data.

  In step 604, the modeling data generation unit 55 generates modeling data indicating in which path the material is supplied for each layer based on the determined plurality of paths. At that time, parameters necessary for the modeling process such as the temperature of the heating block 41 for melting the material and the moving speed of the modeling head 24 can be included in the modeling data. These parameters may be held by the modeling data generation unit 55 or may be input by a user separately. Then, the modeling data generation unit 55 transmits the modeling data to the modeling apparatus 20.

  In step 605, the modeling unit 60 of the modeling apparatus 20 receives the modeling data, and models a three-dimensional object according to the modeling data. When the modeling of the three-dimensional object is completed, the process proceeds to step 606 and the modeling process is terminated.

  Although the entire process executed by the modeling system is as described above, each process and handled data will be described in detail below. First, slice data will be described as data to be handled with reference to FIG.

  When there is 3D data representing the 3D model as shown in FIG. 7A, the slice data is shown in FIG. 7B while changing the position in the Z-axis direction on a plane parallel to the XY plane. It is the data showing the cross-sectional image when it cuts out thinly like this. That is, the slice data is the data for one layer shown in FIG.

  Next, modeling data will be described as data to be handled with reference to FIG. The modeling data may be any type of data as long as the temperature of the heating block 41, the trajectory of the modeling head 24, the moving speed, the feed amount of the extruder 40, and the like can be expressed. In the modeling apparatus 20 that employs FFF, a format called GCode is common, and FIG. 8 is a diagram illustrating an example of data expressed in the GCode format.

  The description of each line of the modeling data represents a command and is executed in order from the first line. “M109” in the first line indicates a command for the temperature of the heating block 41, “S200” indicates that the temperature is set to 200 ° C., and “T0” indicates that the discharge nozzle number is 0. It shows that. For this reason, the command in the first line means “for the discharge nozzle of discharge nozzle number 0, set the temperature of the heating block 41 to 200 ° C.”.

  “T0” in the second line indicates a command for the discharge nozzle of discharge nozzle number 0, and the third and subsequent lines are descriptions for the discharge nozzle of discharge nozzle number 0. “G1” in the third row indicates a command for moving the modeling head 24, and “Z0.2” indicates that the movement destination is a position of z = 0.2. Therefore, the command on the third line means “move the modeling head to the position of z = 0.2”.

  “X10” and “Y10” in the fourth row indicate that the movement destination is a position of x = 10 and y = 10, and “F600” indicates that the movement speed is 600 mm / min. Therefore, the command on the fourth line means “move the modeling head to the position (x, y) = (10, 10) at a speed of 600 mm / min”.

  “E5” on the fifth line indicates that the modeling material is extruded 5 mm from the discharge nozzle. For this reason, the command in the fifth line means “extrude the material 5 mm while moving the modeling head to the position (x, y) = (20, 10) at a speed of 600 mm / min”.

  “E-1” on the sixth line indicates that the modeling material is extruded by −1 mm from the discharge nozzle. In other words, it indicates that the modeling material is retracted by 1 mm. By the way, when retracting the modeling material, the rotation direction of the extruder 40 is reversed. Since the commands in the seventh and subsequent lines are commands in which the movement destination and the extrusion amount of the modeling material are changed, the description thereof is omitted.

  The trajectory determined in step 603 in FIG. 6 will be described below. First, a conventional method for determining a trajectory will be described with reference to FIG. When slice data representing a region having a rectangular cross section as shown in FIG. 9 is obtained as viewed in the Z-axis direction, the modeling head 24 is moved to fill the rectangular region 70 with a material to form one layer. Then, a trajectory indicating a path for supplying the material is determined.

  In the conventional method, as in the case of the coloring page, the locus is determined so as to be trimmed and filled so as not to protrude outside the slice data area. That is, the outer edge portion of the region 70 is rounded along each side of the rectangular region 70, and then the inner central portion thereof is divided into a two-dimensional Y-axis negative direction and an X-axis positive direction. The trajectory is determined by moving in the positive direction of the Y axis and the positive direction of the X axis in order.

  In order to fill the region 70 with a constant thickness, the outer edge portion and the central portion are separated from each other so that the material is not supplied twice. For this reason, there are two starting points indicating the positions where the material supply starts. In the example shown in FIG. The moving direction of the modeling head 24 is a direction indicated by an arrow. Note that the positions of the trajectories and the start points shown in FIG. 9 are examples, and other positions may be used as the start points, and the moving direction of the modeling head 24 may be reversed.

  When modeling according to the modeling data generated based on the locus determined in this way, the ejection nozzle of the modeling head 24 is moved to the start point 71 of the outer edge portion of the region 70, and the ejection nozzle of the modeling head 24 is moved in the direction of the arrow. The outer edge portion of the region 70 is moved around the region 70 while feeding the material to fill the outer edge portion of the region 70 with the material.

  After one turn, the supply of the material from the discharge nozzle is temporarily stopped, the discharge nozzle is moved to the start point 72 in the central portion of the region 70, and the discharge nozzle is moved in the above direction while supplying the material in the direction of the arrow. Thus, the inner central portion of the outer edge portion of the region 70 is filled with the material.

  Therefore, in the conventional method, a trajectory that first fills the outside of the region 70 and then fills the inside is determined. Incidentally, the trajectory indicated by the solid line in FIG. 9 is a trajectory in which the center of the discharge nozzle moves, and since the material actually supplied has a certain width, the material is supplied while moving the discharge nozzle according to this trajectory. Thus, the entire region 70 can be filled.

  Contrary to the conventional method, I set a trajectory that fills the inside first and then fills the outside, and when I tried the modeling process, surprisingly, a solid object that was shaped in the process of cooling and solidifying the material It has been found that the deformation that occurs can be suppressed. Therefore, in the present embodiment, the trajectory determination unit 54 determines the trajectory so as to supply the modeling material from the central portion of the region 70 toward the outer edge portion, that is, fill the inner side first and then fill the outer side. .

  10 to 12 are diagrams showing examples of trajectories for supplying the material determined by the trajectory determining unit 54. In FIG. 10, the center of the rectangular area 70 is set as the start point 73, and moves from the start point 73 toward the negative direction of the X axis, rotates 90 °, and moves toward the negative direction of the Y axis. The trajectory is filled in order from the inside by repeating the rotation of 90 °, moving in the positive direction of the X axis, rotating 90 °, and moving in the positive direction of the Y axis.

  From this, the trajectory determination unit 54 can determine the center of the region 70, set the center as the start point 73, and determine a trajectory that rotates 90 ° from the start point 73 outward.

  A method for determining where to rotate 90 ° will be described with reference to an example shown in FIG. From the slice data, the length of the region 70 in the X-axis direction and the Y-axis direction is known, and one width when the material is supplied based on the amount of extrusion from the discharge nozzle 44 and the moving speed of the modeling head 24 (material supply Width) is determined. From these facts, in the example shown in FIG. 10, it is calculated that the region 70 is filled if seven materials are supplied in the X-axis direction and the Y-axis direction of the region 70, respectively. For this reason, when seven straight lines are drawn in each of the X-axis direction and the Y-axis direction, the intersection point between the start point 73 at the center and the nearest orthogonal straight line that does not pass on the already supplied material is reached on the straight line. Determined to rotate 90 °.

  In the example shown in FIG. 10, the trajectory is rotated by 90 °. However, as shown in FIG. 11, the center of the rectangular area 70 is set as the start point 74, and is filled in order from the inside so as to vortex from the start point 74. It may be a trajectory. In the case of only a trajectory that vortexes, the four corners of the outer edge portion of the rectangular region 70 cannot be filled with the material. For this reason, as shown in FIG. 11, start points 75 to 78 are also provided in each of the four corners, and after filling with a vortex outward from the start point 74, the start points 75 to 78 are The trajectory fills the corner.

  From this, the trajectory determination unit 54 obtains the center of the region 70, sets the center as the start point 74, fills the vortex outward from the start point 74, and fills the four corners in the region 70 that are not yet filled. The start points 75 to 78 can be set to, and the locus for filling the four corners from each start point 75 to 78 can be determined.

  In the example shown in FIGS. 10 and 11, the center of the rectangular area 70 is set as the start points 73 and 74, but the center of the area 70 is not limited to the start points 73 and 74. For example, as shown in the example shown in FIG. 12, the locus may be filled with straight lines from the center in the X-axis direction of the region 70 toward both ends thereof.

  In this case, if the start point 79 of the central straight line locus is a point adjacent to one side, the end point is a position adjacent to the other opposite side, so the start point 80 of the next straight line locus is the other side. It can be a point close to the edge of. This is to move the modeling head 24 efficiently with the shortest distance. Since the end point at that time is a position adjacent to one side, the start point 81 of the locus of the next straight line can be a point adjacent to one side. Therefore, as shown in FIG. 12, the start points 79, 81, 83, 85 are positions near one side, and the start points 80, 82, 84 are positions near the other side.

  As shown in FIG. 12, when modeling is performed according to the modeling data generated based on the trajectory arranged in parallel from the center in the X-axis direction to the both sides, the straight line extends in the y-axis direction. Although the tensile strength becomes weak, it can be expected that the tensile strength in the y-axis direction becomes strong.

  Here, only the trajectory in which the straight line is arranged in parallel from the center in the X-axis direction to both sides has been described, but the straight line may be a trajectory in which the straight line is arranged in parallel from the center in the Y-axis direction to both sides. In this case, it can be expected that the tensile strength in the y-axis direction becomes weak, but the tensile strength in the x-axis direction becomes strong.

  In the example shown in FIGS. 10 to 12, the locus is determined without dividing the region 70 into the outer edge portion and the central portion. However, as in the example shown in FIG. It is also possible to determine a trajectory that fills from the center portion and then fills the outer edge portion.

  Based on the above, the process performed by the trajectory determination unit 54 in step 603 of FIG. 6 will be described in detail with reference to FIG. In response to the fact that the slice data generation unit 53 has generated slice data, the trajectory determination unit 54 starts processing from step 1300. In step 1301, slice data of the reference layer is acquired.

  Here, the reference layer will be described with reference to FIG. The slice data is data for one layer obtained by cutting the 3D model 90 shown in FIG. 14A, and the trajectory determination unit 54 determines the trajectory for supplying the material to fill the area 70 of the slice data. The target of processing for determining the locus is one layer, and the first layer to be processed is the target layer.

  When determining the trajectory of the target layer, the start point of the trajectory is determined, and the reference layer for determining the start point is the reference layer. The reference layer 91 may be the same layer as the target layer 92 as shown in FIG. 14B, or may be a different layer as shown in FIG. 14C. In the case of different layers, the reference layer 91 can be a layer below the target layer 92. In this case, if the target layer 92 is the Nth (N is a natural number) layer, the reference layer 91 is the (N−1) th layer.

  When the reference layer 91 is the same layer as the target layer 92, the starting point of the trajectory becomes the center of the target layer and the like, and it is expected that the deformation of the target layer 92 alone is suppressed. The center of the target layer or the like is because the starting point may be adjusted. The adjustment of the starting point will be described later.

  When the reference layer 91 is a layer different from the target layer 92, the starting point of the locus becomes the center of the reference layer 91, etc., and the reference layer 91 below the target layer 92 can efficiently support the target layer 92, The reference layer 91 can be expected to suppress deformation of the target layer 92. Whether or not the reference layer 91 is the same layer as the target layer 92 can be determined by the user and set by user input.

  Referring to FIG. 13 again, in step 1302, the center of the slice data area of the reference layer is calculated. Here, a method of calculating the center of the slice data area of the reference layer will be described with reference to FIGS. 15 and 16. Note that these calculation methods are examples, and other methods may be adopted as long as the center can be calculated.

  In the example shown in FIG. 15A, the slice data area 70 is a square, and in the example shown in FIG. 15B, the area 70 is a hexagon having a depressed central portion. One method for calculating the center of the region 70 is a method using an inscribed circle as indicated by a broken line. That is, an inscribed circle adjacent to at least three sides of a square and a hexagon is drawn, and the centers of the inscribed circles are defined as the centers 86, 87, and 88 of the region 70.

  When the area 70 is a square as shown in FIG. 15A, there is one inscribed circle, so the center of the inscribed circle is set as the center 86 of the area 70.

  On the other hand, when the region 70 is a hexagonal shape as shown in FIG. 15B, there are two inscribed circles, so one of the centers 87 and 88 of the two inscribed circles is designated as the region 70. The center of When there are a plurality of inscribed circles, the center of which inscribed circle is the center of the region 70 can be determined by the user and set by user input.

  As a method of calculating the center of the region 70, a circumscribed circle may be used instead of the inscribed circle. In this method, the center of the circumscribed circle can be the center of the region 70. By adopting a method using an inscribed circle or a circumscribed circle, an accurate center can be calculated.

  Also, a method using a bounding box can be adopted. The bounding box is indicated by a broken line in FIG. 16, and (the minimum value of the x coordinate, the minimum value of the y coordinate), (the minimum value of the x coordinate, the maximum value of the y coordinate), (the maximum value of the x coordinate, It is a square or rectangle whose apex is (minimum value of y coordinate) and (maximum value of x coordinate, maximum value of y coordinate). That is, the portion of the region 70 that protrudes most in the two-dimensional direction is a square or a rectangle adjacent to each side. In the method using the bounding box, the center of the bounding box can be the center 89 of the region 70.

  The x coordinate of the center of the bounding box is calculated as a value obtained by adding the minimum value of the x coordinate of the region 70 and the maximum value of the x coordinate and dividing by two. The y coordinate is the minimum value of the y coordinate of the region 70. It is calculated as a value obtained by adding the maximum value of the y coordinate and dividing by 2.

  The method using the bounding box can calculate the center with a small amount of calculation compared to the method using the inscribed circle or circumscribed circle.

  Referring to FIG. 13 again, in step 1303, it is determined whether there are a plurality of centers. As shown in FIG. 15B, if there are a plurality, the process proceeds to step 1304, and the center to be adopted is determined according to the contents set by the user. Then, the process proceeds to Step 1305. On the other hand, if there is only one center at step 1303 as shown in FIG. 15A or FIG.

  In step 1305, it is determined whether the center of the slice data area of the reference layer is within the slice data area of the target layer. When the reference layer and the target layer are the same layer, the center of the slice data area of the reference layer always falls within the slice data area of the target layer. On the other hand, when it is a different layer, the case where it does not fit occurs. As an example of the case where it does not fit, the center 93 of the slice data area of the reference layer 91 is outside the slice data area of the target layer 92 as shown in FIG.

  The center 93 of the slice data area of the reference layer 91 can be calculated by the above method, and the slice data area of the target layer 92 can also be expressed by coordinates. The determination can be made based on whether or not the slice data area is within the target layer 92.

  Referring again to FIG. 13, if it falls within step 1305, the process proceeds to step 1306, and the start point of the trajectory of the target layer 92 is set as the center of the slice data area of the reference layer 91. On the other hand, if not, the process proceeds to step 1307, and the point closest to the center 93 of the slice data area of the reference layer 91 in the slice data area of the target layer 92 is set as the start point of the trajectory of the target layer 92. To do.

  The closest point will be described with an example shown in FIG. A perpendicular line is drawn from the center 93 of the slice data area of the reference layer 91 to the nearest side of the four sides that define the rectangular area of the target layer 92, and the intersection of the side and the perpendicular is obtained. Then, a point moved from the intersection along the perpendicular to the inside by half of the material supply width is obtained. That point is the closest point.

  After determining the starting point in this way, the process proceeds to step 1308 to correct the starting point. The starting point can be corrected as necessary. Therefore, if the center of the region 70 is used as a start point and the entire region 70 can be filled without a gap, the start point may not be corrected.

  The correction of the starting point will be described with reference to FIG. In the example illustrated in FIG. 18, the slice data area 70 is rectangular, and the trajectory for modeling the area 70 is a trajectory rotated by 90 ° as in the example illustrated in FIG. 11. FIG. 18 shows the actual material supply width along the trajectory.

  In order to fill the entire region 70 without a gap, it may be desirable to use a locus starting from a point slightly shifted from the center 93 of the region 70 as shown in FIG. In such a case, it is possible to calculate how much to shift based on the size, trajectory, and material supply width of the area 70 of slice data.

  In the example shown in FIG. 18, eight materials are supplied with a constant width in the x-axis direction, and eight materials are supplied in the y-axis direction to fill the region 70. Therefore, the length in the x-axis direction and the length in the y-axis direction of the region 70 are each divided by 8, and the coordinates of the center of the width of the fourth material from the top (the fifth from the bottom) in the y-axis direction Is the y coordinate, and the center coordinate of the width of the fifth material from the left (fourth from the right) in the x-axis direction can be calculated as the x coordinate. The calculated x-coordinate and y-coordinate are the starting point 94 after adjustment.

  By correcting the start point in this way, the entire region 70 can be filled without gaps by supplying material as shown in FIG.

  Referring again to FIG. 13, after the start point is corrected in step 1308, the process proceeds to step 1309, the locus from the start point is determined, and the process of determining the locus in step 1310 ends. The trajectory is determined as a trajectory from the central portion of the region 70 toward the outer edge portion as shown in FIGS. 10 to 12 and FIG.

  As described above, the deformation that occurs in the modeled object during the process of solidifying the material by cooling is changed by changing the path from the inside to the outside instead of the path from the outside to the inside of the conventional slice data area. Can be suppressed.

  Although the present invention has been described with the above-described embodiments as a modeling control device, a modeling system, and a program, the present invention is not limited to the above-described embodiments. Therefore, other embodiments, additions, changes, deletions, and the like can be changed within a range that can be conceived by those skilled in the art, and as long as the effects and advantages of the present invention are exhibited in any aspect, the present invention It is included in the range. Therefore, the present invention can also provide a method executed by the information processing apparatus, a recording medium on which the program is recorded, a server apparatus that provides the program via a network, and the like.

10 ... Information processing device 11 ... CPU
12 ... ROM
13 ... RAM
14 ... HDD
15 ... I / F
16 ... LCD
DESCRIPTION OF SYMBOLS 17 ... Operation part 18 ... Bus 20 ... Modeling apparatus 21 ... Filament 22 ... Filament reel 23 ... Case 24 ... Modeling head 25 ... Mounting table 26 ... X-axis drive shaft 27 ... X-axis drive motor 28 ... Y-axis drive motor 29 ... Z-axis drive shaft 30 ... guide shaft 31 ... Z-axis drive motor 32 ... cleaning brush 33 ... dust box 40 ... extruder 41 ... heating block 42 ... heating source 43 ... thermocouple 44 ... discharge nozzle 45 ... filament guide 46 ... cooling block 47 ... Cooling source 50 ... Storage part 51 ... Input receiving part 52 ... Reading part 53 ... Slice data generating part 54 ... Trajectory determining part 55 ... Modeling data generating part 60 ... Modeling part 70 ... Areas 71 to 85, 94 ... Starting point 86 to 89, 93 ... center 90 ... 3D model 91 ... reference layer 92 ... target layer

JP 2017-179517 A

Claims (11)

A control system for controlling a modeling means for modeling a three-dimensional object,
Based on the three-dimensional shape information representing the three-dimensional shape of the three-dimensional object, generating means for generating a plurality of cross-sectional information representing the cross-sectional shape obtained by cutting the three-dimensional object at a predetermined interval;
A trajectory determining means for determining a plurality of trajectories indicating a path for supplying the modeling material based on the plurality of cross-section information;
The trajectory determining means determines a trajectory so as to supply the modeling material from a central portion of a cross-sectional area toward an outer edge portion.   The control system according to claim 1, wherein the trajectory determining unit determines a trajectory with a center of the cross-sectional area as a starting point of supply of the modeling material. The generating means generates the cross-sectional information as cross-sectional information of each layer,
The control system according to claim 2, wherein the trajectory determining unit sets a center of the cross-sectional area as a center of a cross-sectional area of a target layer whose trajectory is to be determined. The generating means generates the cross-sectional information as cross-sectional information of each layer,
3. The control system according to claim 2, wherein the trajectory determining unit sets the center of the cross-sectional area as the center of the cross-sectional area of a layer one step below the target layer whose trajectory is to be determined.   5. The control system according to claim 2, wherein the trajectory determining unit sets a center of the cross-sectional area as a center of a circle inscribed or circumscribed to the cross-sectional area.   5. The trajectory determination unit according to claim 2, wherein the center of the cross-sectional area is a center of a square or rectangle in which a portion that protrudes most in the two-dimensional direction of the cross-sectional area is adjacent to each side. The described control system.   The control system according to claim 2, wherein the trajectory determining unit corrects the start point according to a size of the cross-sectional area and the cross-sectional shape. The generating means generates the cross-sectional information as cross-sectional information of each layer,
The trajectory determining means, when the center of the cross-sectional area of the layer one step below the target layer does not fit within the cross-sectional area of the target layer for determining the trajectory, the cross-sectional area of the target layer for determining the trajectory 2. The control system according to claim 1, wherein a point closest to the center of the cross-sectional area of the layer one step below the target layer is set as a starting point for supplying the modeling material.   The control system of any one of Claims 1-8 and the path | route which supplies the modeling material determined based on the several cross-section information showing the cross-sectional shape obtained by cut | disconnecting a solid object at a predetermined space | interval are shown. A modeling system including modeling means for supplying a modeling material from the central portion of the cross-sectional area to the outer edge portion for each layer based on control information generated from a plurality of trajectories. A program for causing a computer to execute control over a modeling means for modeling a three-dimensional object,
Generating a plurality of cross-sectional information representing a cross-sectional shape obtained by cutting the three-dimensional object at a predetermined interval based on three-dimensional shape information representing the three-dimensional shape of the three-dimensional object;
Determining a plurality of trajectories indicating a path for supplying the modeling material based on the plurality of cross-section information;
In the step of determining the trajectory, the program determines a trajectory so as to supply the modeling material from a central portion of the cross-sectional area toward an outer edge portion. A modeling apparatus for modeling a three-dimensional object,
Based on a plurality of cross-sectional information representing a cross-sectional shape obtained by cutting a three-dimensional shape, a modeling means for modeling a three-dimensional object,
A modeling apparatus comprising: a drive control unit configured to control the modeling unit to be driven from a central portion of the cross-sectional area toward an outer edge portion.