JP2020011474A - Molding apparatus and method of manufacturing molded object - Google Patents

Abstract

To improve a form accuracy of a molded object.SOLUTION: A molding apparatus 1 includes a material feeding unit 104 for feeding a material to a discharge nozzle 21, a feed amount detection unit 105 that detects a feed amount of the material fed to the discharge nozzle 21, a discharge amount detection unit 115 that detects a discharge amount of the material discharged from the discharge nozzle 21, a transfer function deriving unit 124 that derives a first transfer function indicating a correspondence between the feed amount and the discharge amount by using the detected feed amount as an input and using the detected discharge amount as an output, and a drive control unit 125 that calculates a corrected feed amount that can achieve a desired discharge amount based on the first transfer function, and controls the material feeding unit 104 based on the corrected feed amount.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a molding apparatus and a method of manufacturing a molded article.

  As a method of manufacturing a three-dimensional structure, an FDM (hot melt lamination) method is known. In a molding apparatus that uses the FDM method, a material such as resin is fed into a heated discharge nozzle from the outside and melted, and the molten material is formed while moving a head module equipped with the discharge nozzle three-dimensionally. By discharging the material onto the table and stacking the materials on the modeling table, a three-dimensional model having an arbitrary shape is manufactured. The discharge amount of the material discharged from the discharge nozzle changes according to the transfer amount of the material transferred to the discharge nozzle. Therefore, by accurately controlling the amount of ink to be fed into the nozzle, the amount of discharge from the nozzle can be stabilized, and the shape accuracy of the modeled object can be improved.

  For example, in order to improve the shape accuracy of a formed object, a rotation for detecting a rotation signal indicating a rotation amount of a roller at a position facing a roller for feeding a linear material (filament) from the outside to a discharge nozzle. A technique is disclosed in which an amount detection unit is provided, a drive signal for instructing a drive amount of a motor is compared with a rotation signal, and the drive signal is changed based on the comparison result (Patent Document 1).

  According to the above-described related art, the amount of material to be fed into the discharge nozzle can be optimized to some extent. However, the discharge amount of the material actually discharged from the discharge nozzle is not determined only according to the feed amount, but changes according to the characteristics of each component of the modeling apparatus, operating conditions, and the like. For example, the actual discharge amount is the moving speed of the discharge nozzle, the temperature of the discharge nozzle (material), the temperature of the molding table, the shape of the molding table, the position of the discharge nozzle and the molding table, even if the feeding amount is constant. It changes according to parameters such as relationships. Therefore, in order to improve the shape accuracy of the modeled object, it is necessary to perform control in consideration of the above-described parameter that causes the discharge amount to change. Can not.

  The present invention has been made in view of the above, and has as its object to improve the shape accuracy of a modeled object.

  In order to solve the above-described problems and achieve the object, a modeling apparatus according to an embodiment of the present invention includes a discharge unit that discharges a material, a feeding unit that feeds the material to a discharge unit, and a discharge unit that discharges the material to the discharge unit. A feed amount detection unit that detects a feed amount of the material fed into the unit, a discharge amount detector that detects a discharge amount of the material that is discharged from the discharge unit, and the detected feed amount A deriving unit that derives a first transfer function indicating a correspondence relationship between the feed amount and the discharge amount by using the detected discharge amount as an output, and the first transfer function. And a control unit that calculates a corrected delivery amount capable of realizing a desired discharge amount based on the calculated delivery amount, and controls the delivery unit based on the corrected delivery amount.

  According to the present invention, it is possible to improve the shape accuracy of a modeled object.

FIG. 1 is a diagram illustrating a configuration example of a modeling apparatus according to an embodiment. FIG. 2 is a diagram illustrating a configuration example of the head module according to the embodiment. FIG. 3 is a block diagram illustrating a functional configuration example of the modeling apparatus according to the embodiment. FIG. 4 is a block diagram illustrating a modified example of the functional configuration of the modeling apparatus according to the embodiment. FIG. 5 is a flowchart illustrating an example of a process of calibrating the amount of feed in the modeling apparatus according to the embodiment. FIG. 6 is a diagram conceptually exemplifying a correspondence relationship between an input and an output when deriving a transfer function according to the embodiment. FIG. 7 is a diagram conceptually illustrating a process of deriving a transfer function based on the correspondence between inputs and outputs according to the embodiment. FIG. 8 is a diagram conceptually illustrating a process for realizing a desired ejection amount using the transfer function according to the embodiment. FIG. 9 is a graph exemplifying a correspondence relationship between the feed amount and the discharge amount after calibration according to the embodiment. FIG. 10 is a graph exemplifying a correspondence relationship between the feed amount and the discharge amount before calibration according to the comparative example. FIG. 11 is a diagram exemplifying a correspondence relationship between a feed amount and a discharge amount in the step input response method according to the embodiment. FIG. 12 is a diagram exemplifying a correspondence relationship between a feed amount and a discharge amount in the sine wave input response method according to the embodiment. FIG. 13 is a graph illustrating the correspondence between the parameters and the steady values of the ejection speed according to the embodiment. FIG. 14 is a graph illustrating the correspondence between the parameters and the time constant of the ejection amount according to the embodiment. FIG. 15 is a diagram illustrating a configuration example of a mechanism that detects a discharge amount for deriving a transfer function according to the embodiment.

  Hereinafter, an embodiment of a modeling device and a method of manufacturing a molded article will be described in detail with reference to the accompanying drawings. The present invention is not limited by the following embodiments, and components in the following embodiments include those that can be easily conceived by those skilled in the art, those that are substantially the same, and those that are so-called equivalents. . Various omissions, substitutions, changes, and combinations of the components can be made without departing from the spirit of the following embodiments.

  FIG. 1 is a diagram illustrating a configuration example of a modeling apparatus 1 according to an embodiment. The modeling device 1 is a device for manufacturing a three-dimensional model, and the inside of its housing is a processing space for modeling the model M. A molding table 11 (base portion) as a mounting table for the molding object M is provided inside the housing of the molding apparatus 1, and the molding object M is molded on the molding table 11.

  A reel 13 around which a filament 12 made of a resin material is wound is mounted outside the casing of the modeling device 1. The reel 13 is configured to rotate without exerting a large resistance force when the filament 12 is pulled by the rotation of the extruder 14 which is a driving unit. Above the modeling table 11, a head module 15 for discharging the filament 12 is provided.

  FIG. 2 is a diagram illustrating a configuration example of the head module 15 according to the embodiment. An ejection nozzle 21 (ejection unit) for ejecting the filament 12 toward the molding table 11 is modularized together with components such as a heating block 22, a cooling block 23, and a filament guide 24. The heating block 22 has a heat source 25 for generating heat and a thermocouple 26 for detecting the temperature of the heating block 22, and heats and melts the filament 12 supplied to the discharge nozzle 21. The cooling block 23 is disposed above the heating block 22 and has an appropriate cooling source 27 using an air cooling mechanism, a water cooling mechanism, or the like, and prevents the melted filament 12 from flowing back to the upper part in the head module 15. .

  The filament 12 is pulled out from the state wound on the reel 13, and is sent to the discharge nozzle 21 via a transfer path in the head module 15. The filament 12 is melted by the heating of the heating block 22, and the filament 12 in the molten state is ejected so as to be pushed out from the ejection nozzle 21, whereby layers having a predetermined shape are sequentially laminated on the molding table 11, and the molded object M is formed. To shape.

  The head module 15 is slidably held by an X-axis drive shaft 31 extending in the X-axis direction of the modeling apparatus 1 via a suitable connecting member, and is driven along the X-axis drive shaft 31 by the driving force of the X-axis drive motor 32. Displace. Since the head module 15 is heated by the heating block 22 to be heated to a high temperature, the head module 15 has a filament guide 24 that suppresses heat conduction in the transfer path of the filament 12 to make it difficult for the heat to be transmitted to the X-axis drive motor 32. .

  The X-axis drive motor 32 is slidably held along a Y-axis drive shaft 33 extending in the Y-axis direction of the modeling device 1. When the X-axis drive shaft 31 and the X-axis drive motor 32 are displaced in the Y-axis direction by the driving force of the Y-axis drive motor 34, the head module 15 is displaced in the Y-axis direction.

  The molding table 11 is passed through a Z-axis drive shaft 35 and a guide shaft 36 extending in the Z-axis direction, is slidably held by the Z-axis drive shaft 35, and is displaced in the Z-axis direction by the driving force of the Z-axis drive motor 37. .

  The modeling apparatus 1 has an X-axis coordinate detecting unit that detects the position of the head module 15 in the X-axis direction. The detection result of the X-axis coordinate detection means is sent to a drive control means for controlling the X-axis drive motor 32. The drive control unit drives the X-axis drive motor 32 based on the detection result received from the X-axis coordinate detection unit, and moves the head module 15 to a target X-axis direction position. Further, the modeling apparatus 1 includes a Y-axis coordinate detecting unit that detects a position of the head module 15 in the Y-axis direction. The detection result of the Y-axis coordinate detection unit is sent to a drive control unit that controls the Y-axis drive motor 34. The drive control means drives the Y-axis drive motor 34 based on the detection result received from the Y-axis coordinate detection means, and moves the head module 15 to a target Y-axis direction position.

  Further, the modeling apparatus 1 has a Z-axis coordinate detecting unit that detects a position of the modeling table 11 in the Z-axis direction. The detection result of the Z-axis coordinate detecting means is sent to a drive control means for controlling the Z-axis drive motor 37. The drive control unit drives the Z-axis drive motor 37 based on the detection result received from the Z-axis coordinate detection unit, and moves the modeling table 11 to a target Z-axis direction position.

  By controlling the movement of the head module 15 and the molding table 11 by the drive control means as described above, the relative positional relationship between the head module 15 and the molding table 11 can be adjusted to a desired state.

  If the operation of melting and discharging the filament 12 is continuously executed, the peripheral portion of the discharge nozzle 21 may be stained with the melted filament 12. To address such a problem, the modeling apparatus 1 according to the present embodiment includes a cleaning brush 41 as shown in FIG. The cleaning brush 41 is a brush that can clean the discharge nozzle 21 and its peripheral portion. By periodically performing the cleaning operation by the cleaning brush 41, it is possible to prevent the filament 12 from sticking to the discharge nozzle 21 and its peripheral portion. It is preferable that the cleaning operation is performed before the temperature of the filament 12 has completely decreased. In this case, it is preferable that the cleaning brush 41 is formed from a heat-resistant resin. It is preferable that dust such as abrasive powder generated during the cleaning operation is accumulated in the dust box 42 and is periodically discarded or discharged outside through a suction path.

  FIG. 3 is a block diagram illustrating a functional configuration example of the modeling apparatus 1 according to the embodiment. The modeling apparatus 1 according to the present embodiment includes an X-axis / Y-axis driving unit 101, a Z-axis driving unit 102, an X-axis / Y-axis moving distance detecting unit 103, a material feeding unit 104, a feeding amount detecting unit 105, a material Heating unit 106, material temperature detection unit 107, table heating unit 111, table temperature detection unit 112, discharge amount detection unit 115, detection result processing unit 121, discharge amount detection processing unit 122, storage unit 123, transfer function derivation unit 124, And a drive control unit 125. The modeling apparatus 1 includes a control unit 51 configured by cooperation of a CPU (Central Processing Unit) that performs a predetermined control operation according to a program, a memory that stores the program and various data, an interface that connects to an external device, and the like.

  The X-axis / Y-axis drive unit 101 controls the X-axis drive motor 32 and the Y-axis drive motor 34 according to a control signal from the control unit 51 to displace the head module 15 to a desired position on the XY plane.

  The Z-axis drive unit 102 controls the Z-axis drive motor 37 based on a control signal from the control unit 51 to displace the position of the modeling table 11 in the Z-axis direction to a desired position.

  The X-axis / Y-axis movement distance detection unit 103 detects the respective movement distances of the head module 15 in the X-axis direction and the Y-axis direction, and feeds back the detection results to the control unit 51. The moving speed of the head module 15 can be calculated based on the detection result by the X-axis / Y-axis moving distance detecting unit 103.

  The material feeding unit 104 sends the filament 12 to the discharge nozzle 21 based on a control signal from the control unit 51 and a driving signal obtained from the X-axis / Y-axis driving unit 101.

  The feed amount detection unit 105 detects the feed amount of the filament 12 sent to the discharge nozzle 21 and feeds back the detection result to the control unit 51.

  The material heating unit 106 heats the temperature of the discharge nozzle 21 or the temperature of the filament 12 sent to the discharge nozzle 21 to a desired temperature based on a control signal from the control unit 51.

  The material temperature detection unit 107 detects the temperature of the filament 12 or a material temperature that is a temperature related thereto, and feeds back the detection result to the control unit 51. The material temperature includes the temperature of the discharge nozzle 21, the temperature of the material heating unit 106 (the heating block 22), and the like, in addition to the temperature of the filament 12 itself.

  The table heating unit 111 heats the molding table 11 to a desired temperature based on a control signal of the control unit 51.

  The table temperature detection unit 112 detects the temperature of the modeling table 11 or a table temperature that is a temperature related thereto, and feeds back the detection result to the control unit 51. The table temperature includes the temperature of a mechanism (such as an electric heater) for heating the modeling table 11 in addition to the temperature of the modeling table 11 itself.

  The discharge amount detection unit 115 detects the amount of the filament 12 discharged from the discharge nozzle 21 and feeds back the detection result to the control unit 51.

  The detection result processing unit 121 receives feedback data from the X-axis / Y-axis movement distance detection unit 103, the feeding amount detection unit 105, the material temperature detection unit 107, and the table temperature detection unit 112 (moving speed of the discharge nozzle 21, filament Predetermined processing is performed on the twelve discharge nozzles 21, data indicating the material temperature, the table temperature, and the like. The predetermined process here is, for example, a process of converting the feedback data into a format that can be stored in the storage unit 123.

  The discharge amount detection processing unit 122 performs a predetermined process on feedback data (data indicating the discharge amount of the filament 12 discharged from the discharge nozzle 21) from the discharge amount detection unit 115. The predetermined process here is, for example, a process of converting the feedback data into a format that can be stored in the storage unit 123.

  The storage unit 123 stores data processed by the detection result processing unit 121 or the ejection amount detection processing unit 122. The storage unit 123 is configured from a nonvolatile memory or the like.

  The transfer function calculator 124 derives a transfer function based on the data stored in the storage 123. More specifically, a transfer function indicating the correspondence between the feed amount and the discharge amount, a transfer function indicating the correspondence between the moving speed of the discharge nozzle 21 and the discharge amount, and the transfer function indicating the correspondence between the material temperature and the discharge amount. A function, a transfer function indicating the correspondence between the table temperature and the discharge amount, and the like are derived.

  The drive control unit 125 generates a control signal based on the transfer function.

  In the example of the functional configuration illustrated in FIG. 3, the detection result processing unit 121, the ejection amount detection processing unit 122, the storage unit 123, the transfer function derivation unit 124, and the drive control unit 125 include a control unit 51 built in the molding apparatus 1. However, the example of the functional configuration of the modeling apparatus 1 is not limited to this.

  FIG. 4 is a block diagram illustrating a modified example of the functional configuration of the modeling apparatus 1 according to the embodiment. In the modeling apparatus 1 according to the modified example, the detection result processing section 121, the discharge amount detection processing section 122, and the drive control section 125 are realized by the control unit 51 built in the modeling apparatus 1, and connected to the modeling apparatus 1. The external computer 61 implements the storage unit 123 and the transfer function derivation unit 124. Even with such a configuration, the same functions as those of the functional configuration example shown in FIG. 3 can be realized. By realizing the storage unit 123 for storing various data for deriving the transfer function by the external computer 61, the memory capacity of the modeling apparatus 1 can be reduced. In addition, the transfer function deriving unit 124 that performs arithmetic processing when deriving a transfer function is realized by the external computer 61, so that the processing load on the modeling apparatus 1 can be reduced.

  FIG. 5 is a flowchart illustrating an example of a calibration process of a feeding amount in the modeling apparatus 1 according to the embodiment. First, the material feeding unit 104 feeds the filament 12 to the discharge nozzle 21 at a predetermined feeding amount (input) based on a control signal (control signal before calibration) from the drive control unit 125 (S101). . The input amount is detected by the input amount detection unit 105, and is stored in the storage unit 123 after being processed by the detection result processing unit 121. Thereafter, the discharge amount detection unit 115 detects the discharge amount (output) of the filament 12 discharged from the discharge nozzle 21 (S102). The ejection amount is stored in the storage unit 123 after being processed by the detection result processing unit 121.

  Thereafter, the transfer function deriving unit 124 derives a transfer function from the correspondence between the input amount (input) and the discharge amount (output) stored in the storage unit 123 (S103). The drive control unit 125 uses the derived transfer function to determine a feed amount (a feed amount after calibration) for realizing a desired discharge amount (S104). The material feeding unit 104 feeds the filament 12 to the discharge nozzle 21 with the feeding amount determined by the drive control unit 125 (the feeding amount after calibration) (S105). By such processing, the accuracy of the discharge amount of the filament 12 can be improved.

  6 to 8 conceptually show processing relating to derivation and use of a transfer function. Here, a case where the feed amount is calibrated will be described.

  FIG. 6 is a diagram conceptually exemplifying a correspondence relationship between an input and an output when deriving a transfer function according to the embodiment. When deriving a transfer function, first, it is necessary to obtain inputs and outputs required to derive the transfer function. Here, the input amount of the filament 12 sent to the discharge nozzle 21 is input, and the output amount of the filament 12 discharged from the discharge nozzle 21 is output. The method of acquiring the input (feed amount) and the output (discharge amount) is not particularly limited, but, for example, a predetermined shape (for example, a linear shape) before starting the shaping of the target shaping object M Deriving a transfer function from the amount of inflow detected by the infeed amount detection unit 105 and the amount of discharge detected by the discharge amount detection unit 115 when the object is calibrated Input and output. Further, the input amount and the output amount detected at the start of molding of the target molded object M or during molding may be used as an input and an output for deriving a transfer function.

  FIG. 7 is a diagram conceptually illustrating a process of deriving a transfer function based on the correspondence between inputs and outputs according to the embodiment. When forming a predetermined modeled object (a modeled object for calibration or a target modeled object M), the infeed amount detection unit 105 detects the infeed amount, and the ejection amount detection unit 115 detects the ejection amount. The detected feed amount and discharge amount are stored in the storage unit 123. The transfer function deriving unit 124 uses the detected (stored) input amount as an input and the detected (stored) discharge amount as an output, and derives a transfer function indicating a correspondence between the input and the output. The transfer function in the case where the input amount is used as the input and the discharge amount is used as the output expresses the characteristic of the portion related to the discharge of the filament 12 (the discharge nozzle 21 and the like) as a mathematical model.

  FIG. 8 is a diagram conceptually illustrating a process for realizing a desired ejection amount using the transfer function according to the embodiment. The drive control unit 125 calculates a feed amount (feed amount after calibration) corresponding to a desired discharge amount (target value) using the derived transfer function, and calculates the calculated feed amount after calibration. The control signal shown in FIG. The material feeding unit 104 feeds the filament 12 to the discharge nozzle 21 with the corrected feeding amount based on a control signal from the drive control unit 125. Accordingly, the filament 12 can be discharged from the discharge nozzle 21 to the molding table 11 at a discharge amount corresponding to the corrected feed amount, that is, a desired discharge amount.

  FIG. 9 is a graph exemplifying a correspondence relationship between the feed amount and the discharge amount after calibration according to the embodiment. FIG. 10 is a graph exemplifying a correspondence relationship between the feed amount and the discharge amount before calibration according to the comparative example. 9 and 10, the target value At of the discharge amount of the filament 12, the supply start time T1 indicating the time when the supply of the filament 12 to the discharge nozzle 21 is started, and the discharge amount of the filament 12 from the discharge nozzle 21 are The target arrival time T2 when the target value At (the deviation from the target value At includes a value within a predetermined allowable error range) is shown.

  The comparative example shown in FIG. 10 is an example in which the above-described calibration processing is not performed. In this comparative example, the delivery amount is set to the target value At from the delivery start time T1. In this case, the ejection amount (the amount of the filament 12 actually ejected from the ejection nozzle 21) gradually increases, and reaches an allowable error range from the target value At at the target arrival time T2. At this time, a time difference | T1−T2 | occurs between the sending start time T1 and the target arrival time T2. As the time difference becomes larger, the shape of the filament 12 discharged onto the modeling table 11 becomes unstable, and the shape accuracy of the modeled object M decreases.

  On the other hand, as shown in FIG. 9, when performing the above-described calibration processing, the feeding amount is set to be larger than the target value At until a predetermined time elapses from the feeding start time T1. Is done. This makes it possible to reduce the time difference | T1−T2 | from the feeding start time T1 to the target arrival time T2, stabilize the shape of the filament 12 discharged onto the modeling table 11, and reduce the shape of the modeled object M. The accuracy is improved.

  In the above description, an example of calibrating the input amount has been described, but the parameter to be subjected to the calibration process is not limited to the input amount. For example, parameters such as the moving speed of the discharge nozzle 21 (head module 15), the material temperature (the temperature of the filament 12, the temperature of the discharge nozzle 21, the temperature of the heating block 22, etc.), the table temperature (the temperature of the molding table 11, etc.) Also, the calibration can be performed by the same method as that for the above-mentioned amount. That is, when calibrating the moving speed, a transfer function indicating the correspondence between the moving speed and the discharge amount, which is derived using the moving speed as an input and the discharge amount as an output, is used. When calibrating the material temperature, a transfer function indicating the correspondence between the material temperature and the discharge amount, which is derived using the material temperature as input and the discharge amount as output, is used. When the table temperature is calibrated, a transfer function indicating the correspondence between the table temperature and the discharge amount, which is derived using the table temperature as input and the discharge amount as output, is used.

  It is preferable that the above-described calibration processing is performed before shipping of the modeling apparatus 1 or before starting use after shipping. Further, it is preferable that the calibration process is periodically performed even after the use of the modeling apparatus 1 is started. It is preferable that the calibration process is performed when the type of the filament 12 is changed. Accordingly, various parameters such as the amount of feed, the moving speed of the discharge nozzle 21, the material temperature, the table temperature, and the like are appropriately calibrated in accordance with the characteristics of the components constituting the modeling apparatus 1, deterioration of the components, changes in the use environment, and the like. It is possible to do.

  Here, a method for acquiring a correspondence between an input and an output used in deriving a transfer function will be described. Here, a case where the input amount is input and the discharge amount is output will be exemplified. As information necessary to derive a transfer function representing the characteristics of the discharge nozzle 21, a gain indicating a ratio between a target value of the feed amount and an actual discharge amount, and a discharge amount from the time when the target value of the feed amount is changed. A target value or a time constant until stabilization within an allowable range, a steady value indicating a discharge amount after a lapse of a predetermined time from the change of the target value of the feed amount, a frequency when the target value is changed at a predetermined cycle Response characteristics and the like. Methods for efficiently obtaining such information include a step input response method and a sine wave input response method.

  FIG. 11 is a diagram exemplifying a correspondence relationship between a feed amount and a discharge amount in the step input response method according to the embodiment. The step input response method is a method of monitoring a change in the discharge amount when the feed amount is switched stepwise (ON / OFF). Information such as a gain, a time constant, and a steady value can be obtained by the step input response method.

  FIG. 12 is a diagram exemplifying a correspondence relationship between a feed amount and a discharge amount in the sine wave input response method according to the embodiment. The sine wave input response method is a method of monitoring a change in the discharge amount when the feed amount is changed in a sinusoidal (wave-like) manner. By the sine wave input method, it is possible to acquire a frequency response characteristic of a gain, a time constant, or a steady value.

  FIG. 13 and FIG. 14 exemplify the correspondence between acquired inputs and outputs. FIG. 13 is a graph illustrating a correspondence relationship between a parameter according to the embodiment (a target value of a feeding amount in this example) and a steady value of a discharge speed. FIG. 14 is a graph illustrating a correspondence relationship between the parameters according to the embodiment (the target value of the input amount in this example) and the time constant of the discharge amount.

  The discharge amount of the filament 12 actually discharged from the discharge nozzle 21 changes according to various parameters such as the moving speed of the discharge nozzle 21, the material temperature, the table temperature and the like, as well as the feed amount. Therefore, by changing the horizontal axis of FIGS. 13 and 14 to various parameters and generating an appropriate transfer function, it becomes possible to calibrate various parameters.

  Although a specific method for acquiring the input and output of the transfer function as described above is not particularly limited, for example, a calibration model on the modeling table 11 separately from the target model M And a method of measuring the shape and the like of the object for calibration using an appropriate device.

  FIG. 15 is a diagram illustrating a configuration example of a mechanism that detects a discharge amount for deriving a transfer function according to the embodiment. FIG. 15 shows a calibration molding Mc, a position reference molding Mp, and a measurement device 71. The calibration modeling object Mc is a modeling object whose shape is measured in order to acquire a discharge amount used as an output for deriving a transfer function. The position reference model Mp is a model for confirming the discharge start position and the discharge end position of the calibration model Mc. The measuring device 71 is a device that measures the shape of the molded object Mc for calibration.

  By detecting the amount of the filament 12 discharged from the discharge nozzle 21 and the change with time thereof when forming the target object M, it is possible to detect the discharge amount as an output for deriving a transfer function. However, since the temperature of the melted filament 12 and the discharge nozzle 21 is high, it is difficult to directly detect the discharge amount as an output. Therefore, in the present embodiment, a transfer function is derived by forming a calibration molding Mc having a simple shape (a linear shape in this example) on the molding table 11 and measuring the shape of the calibration molding Mc. Alternatively, the discharge amount as the output is detected. Note that the shape of the modeled object for calibration Mc is not limited to a linear shape.

  The modeling object Mc for calibration is preferably formed directly on the modeling table 11, and is preferably formed so as not to come into contact with other modeling objects. This is because, if there is another modeled object that comes into contact with the calibration modeled product Mc, it is difficult to separate the calibration modeled product Mc from the other modeled product, and it may not be possible to accurately measure information regarding the discharge amount. . For example, when the calibration model Mc is formed on a lower layer made of another model, the boundary between the calibration model Mc and the lower layer becomes unclear due to the influence of the roughness of the asserted shape of the lower layer.

  The measuring device 71 measures the cross-sectional area (the area of a cross section perpendicular to the moving direction of the discharge nozzle 21) of the shaping object Mc for calibration. By dividing the measured cross-sectional area by the moving speed of the discharge nozzle 21, a change with time in the discharge amount can be calculated. The measuring device 71 can be, for example, an optical three-dimensional shape measuring device, a contact type shape measuring device, or the like.

  As described above, according to the modeling apparatus 1 according to the embodiment, the transfer function indicating the correspondence between the predetermined parameters (feed amount, moving speed, material temperature, table temperature, etc.) and the discharge amount is derived and transmitted. The value of the parameter is calibrated so that a desired discharge amount can be realized using the function. Thereby, the shape of the filament 12 discharged from the discharge nozzle 21 to the modeling table 11 can be stabilized, and the shape accuracy of the target model M can be improved.

  The program that realizes the function of the modeling apparatus 1 according to each of the above embodiments is a file in an installable format or an executable format, such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), and the like. May be configured to be provided by being recorded on a computer-readable recording medium. Further, the program may be stored on another computer connected to a network such as the Internet and provided by being downloaded via the network. The program may be provided or distributed via a network.

  The embodiments of the present invention have been described above. However, the above embodiments are presented as examples, and are not intended to limit the scope of the invention. The new embodiment can be implemented in other various forms, and various omissions, replacements, changes, and combinations can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Modeling apparatus 11 Modeling table 12 Filament 13 Reel 14 Extruder 15 Head module 21 Discharge nozzle 22 Heating block 23 Cooling block 24 Filament guide 25 Heat source 26 Thermocouple 27 Cooling source 31 X axis drive axis 32 X axis drive motor 33 Y axis drive axis 34 Y-axis drive motor 35 Z-axis drive axis 36 Guide axis 37 Z-axis drive motor 51 Control unit 61 External computer 71 Measuring device 101 X-axis / Y-axis drive unit 102 Z-axis drive unit 103 X-axis / Y-axis movement distance detection unit Reference Signs List 104 Material feeding unit 105 Feeding amount detecting unit 106 Material heating unit 107 Material temperature detecting unit 111 Table heating unit 112 Table temperature detecting unit 121 Detection result processing unit 122 Discharge amount detecting processing unit 123 Storage unit 124 Transfer function deriving unit 125 Drive Control unit M Form thereof Mc calibration shaped object Mp position reference shaped object

JP-A-2006-190426

Claims (10)

A discharge unit for discharging a material,
A feeding unit for feeding the material to a discharge unit,
A feed amount detection unit that detects a feed amount of the material fed into the discharge unit,
A discharge amount detection unit that detects a discharge amount of the material discharged from the discharge unit,
A deriving unit that derives a first transfer function indicating a correspondence between the input amount and the discharge amount by using the detected input amount as an input and using the detected output amount as an output. ,
A control unit that calculates a corrected delivery amount capable of realizing a desired discharge amount based on the first transfer function, and controls the delivery unit based on the corrected delivery amount;
A modeling device comprising: A drive unit for displacing the discharge unit,
A moving speed detecting unit that detects a moving speed of the discharge unit;
Further comprising
The deriving unit derives a second transfer function indicating the correspondence between the moving speed and the discharge amount by using the detected moving speed as an input and using the detected discharge amount as an output. ,
The control unit calculates a calibrated moving speed capable of realizing a desired discharge amount based on the second transfer function, and controls the driving unit based on the calibrated moving speed.
The molding apparatus according to claim 1. A material heating unit for heating the material before discharging,
A material temperature detection unit that detects the temperature of the material before ejection or a material temperature that is a temperature related thereto,
Further comprising
The deriving unit derives a third transfer function indicating a correspondence relationship between the material temperature and the discharge amount by using the detected material temperature as an input and using the detected discharge amount as an output. ,
The control unit calculates a material temperature after calibration capable of realizing a desired discharge amount based on the third transfer function, and controls the material heating unit based on the material temperature after calibration.
The modeling device according to claim 1. A pedestal heating unit that heats a pedestal on which the material discharged from the discharge unit is placed,
A pedestal temperature detection unit that detects a pedestal temperature that is the temperature of the pedestal or a temperature related thereto,
Further comprising
The deriving unit derives a fourth transfer function indicating a correspondence relationship between the pedestal temperature and the discharge amount by using the detected pedestal temperature as an input and using the detected discharge amount as the detected discharge amount. ,
The control unit calculates a calibrated pedestal temperature that can achieve a desired discharge amount based on the fourth transfer function, and controls the pedestal heating unit based on the calibrated pedestal temperature. ,
The molding apparatus according to claim 1. The deriving unit acquires a correspondence between the input and the output using a step input response method of monitoring a change in the output when the input is changed stepwise,
The molding apparatus according to claim 1. The deriving unit acquires a correspondence between the input and the output using a sine wave input response method that monitors a change in the output when the input is changed in a sinusoidal manner.
The molding apparatus according to claim 1. The discharge amount detection unit is configured to detect the discharge amount used as the output, based on a shape of a calibration molding formed on a base on which the material discharged from the discharge unit is placed.
The molding apparatus according to claim 1. The object for calibration has a linear shape formed by moving the discharge unit in one direction,
The discharge amount detection unit calculates the discharge amount that changes with time, based on the area of a cross section of the calibration object that is orthogonal to the moving direction of the discharge unit and the moving speed of the discharge unit. ,
The deriving unit uses the ejection amount that changes with time as the output,
The modeling device according to claim 7. The modeling object for calibration is directly formed on the platform.
The modeling apparatus according to claim 7. A step of detecting the amount of the material fed into the discharge unit that discharges the material,
Detecting a discharge amount of the material discharged from the discharge unit,
Deriving a transfer function indicating the correspondence between the input amount and the discharge amount by using the detected input amount as an input and using the detected discharge amount as an output,
A step of calculating a corrected delivery amount capable of realizing a desired ejection amount based on the transfer function,
Controlling the feeding of the material to the discharge unit based on the feeding amount after the calibration,
A method for producing a shaped article including:

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