JP2020168873A - Three-dimensional model-forming apparatus - Google Patents

Abstract

To simplify the measurement work of a model-formed three-dimensional subject model or incomplete subject model in the middle of model-forming.SOLUTION: Provided is a three-dimensional model-forming apparatus 1 comprising model-forming means 2 for model-forming a three-dimensional model subject 11 in a predetermined processing space, and in which measurement means 12 for carrying out the measurement of measurement object data on the incomplete model-formed subject in the middle of model-forming by the model-forming means is included. Thereby the measurement work of the model-formed three-dimensional model subject, or the incomplete model-formed subject in the middle of model-forming can be simplified.SELECTED DRAWING: Figure 1

Description

The present invention relates to a three-dimensional modeling apparatus.

Conventionally, there is known a three-dimensional modeling device that creates a three-dimensional object (three-dimensional model) having a desired three-dimensional shape specified by the three-dimensional data based on the designed or measured three-dimensional data. ..

For example, in Patent Document 1, the reproduction source three-dimensional object is housed in a chamber for three-dimensional measurement, the three-dimensional shape of the reproduction source three-dimensional object is measured, and based on the measurement data obtained thereby, the reproduction source three-dimensional object is used for three-dimensional modeling. A three-dimensional modeling device for modeling a replica in a chamber is disclosed. In this three-dimensional modeling device, the chamber for three-dimensional measurement and the chamber for three-dimensional modeling are shared to save space in the device.

The modeling accuracy of a three-dimensional modeled object mainly depends on the modeling accuracy of the three-dimensional modeling device, and the modeling accuracy of the three-dimensional modeling device may not be sufficient. In this case, as with other modeling devices that model by cutting, laminating, molding, etc., the necessary measurement parameters such as the shape and dimensions of the modeled three-dimensional modeled object or the unfinished modeled object in the process of modeling are measured, and the tertiary It is necessary to confirm whether or not the modeling error of the original model is within the permissible range.

However, conventionally, the measurement work for confirmation has been performed on the final model formed by the three-dimensional modeling device, so that it is difficult to measure in the state of the final structure (internal structure of the final structure, etc.). ) Is difficult to obtain. Therefore, it has been difficult to obtain detailed measurement results for the final structure including the shape of such a portion.

In order to solve the above-mentioned problems, the present invention measures an unfinished model in the process of modeling by the modeling means in a three-dimensional modeling apparatus provided with a modeling means for modeling a three-dimensional model in a predetermined processing space. It is characterized by having a measuring means performed in the processing space.

According to the present invention, it is possible to obtain a measurement result including a portion that is difficult to measure in the state of the final structure, and it is possible to obtain a detailed measurement result for the final structure. To.

It is a perspective view which shows the internal structure of the three-dimensional modeling apparatus in embodiment. It is a top view which shows the internal structure of the three-dimensional modeling apparatus. It is a front view which shows the internal structure of the 3D modeling apparatus. It is a control block diagram of the three-dimensional modeling apparatus. It is explanatory drawing for demonstrating the exchange of data of the 3D modeling apparatus. It is a front view which shows the structure of the measuring apparatus provided in the three-dimensional modeling apparatus. It is a top view which shows the structure of the measuring apparatus. (A) is a flow chart which shows the flow of a series of processing steps in the conventional modeling method by cutting or the like. (B) is a flow chart which shows the flow of a series of processing steps in the modeling method by a conventional three-dimensional modeling apparatus. (C) is a flow chart which shows the flow of a series of processing steps in the modeling method by the three-dimensional modeling apparatus of this embodiment. (A) and (b) are perspective views showing an example of a three-dimensional modeled object. (A) is a top view of an unfinished model in the process of modeling the three-dimensional model shown in FIG. (B) is a side view of the unfinished model. It is a front view which shows the measuring apparatus in modification 1. FIG. It is a front view which shows the measuring apparatus in the modification 2. It is a front view which shows the measuring apparatus in the modification 3. It is explanatory drawing explaining the structure and measurement principle of the measuring apparatus. It is explanatory drawing which shows the table tilting means which tilts the mounting table of the measuring apparatus. (A) is a front view showing a state in which the measuring device is positioned at the first imaging position for capturing a reference image in the modified example 4, and (b) is a second view for capturing a comparative image. It is a front view which shows the state which the measuring apparatus is positioned at the image pickup position.

Hereinafter, an embodiment in which the present invention is applied to a three-dimensional modeling apparatus for modeling a three-dimensional model by the Fused Deposition Modeling (FDM) method will be described.
The present invention is not limited to the thermal melting lamination method (FDM), and is completely different from other modeling methods for forming a three-dimensional model by sequentially laminating layered model structures. It can also be applied to a three-dimensional modeling device that models a three-dimensional modeled object by the modeling method of.

FIG. 1 is a perspective view showing the internal structure of the three-dimensional modeling apparatus 1 according to the present embodiment.
FIG. 2 is a plan view showing the internal structure of the three-dimensional modeling apparatus 1 according to the present embodiment.
FIG. 3 is a front view showing the internal structure of the three-dimensional modeling apparatus 1 according to the present embodiment.

In the three-dimensional modeling apparatus 1, a mounting table 7 is provided in a processing space inside the housing 10, and a three-dimensional modeled object is modeled on the mounting table 7. A modeling head 2 as a modeling means is provided above the mounting table 7 in the processing space. The molding head 2 has an injection nozzle 8 that ejects a molding material below the molding head 2. In this three-dimensional modeling apparatus 1, the modeling material 3 is heated and melted by the modeling head 2 and ejected so as to be extruded from the nozzle 8, so that the layered modeling structures are sequentially laminated to form a three-dimensional modeled object. ..

The modeling material 3 has an elongated wire shape, is set in the three-dimensional modeling device 1 in a wound state, and is supplied to the modeling head 2 through the supply path 4. The modeling head 2 is held so as to be slidable along the longitudinal direction (left-right direction of the device) of the left-right guide member 5 with respect to the left-right guide member 5 extending in the left-right direction of the device (left-right direction in FIG. 3). The modeling head 2 can be moved in the left-right direction of the device by sliding with respect to the left-right guide member 5 by the driving force of the left-right drive mechanism as the driving means.

Both ends of the left and right guide members 5 extend in the front-rear direction of the device (vertical direction in FIG. 2) with respect to the front-rear guide members 6L and 6R, respectively, along the longitudinal direction of the front-rear guide members 6L and 6R (the device front-rear direction). It is held so that it can be slid. The modeling head 2 can be moved in the front-rear direction of the device by sliding the left and right guide members 5 with respect to the front-rear guide members 6L and 6R by the driving force of the front-rear drive mechanism as the driving means.

The front-rear guide members 6L and 6R are held so as to be slidable with respect to the housing 10 in the vertical direction of the device (vertical direction in FIG. 3). The modeling head 2 can be moved in the vertical direction of the device by sliding the front and rear guide members 6L and 6R with respect to the housing 10 by the driving force of the vertical drive mechanism as the driving means.

FIG. 4 is a control block diagram of the three-dimensional modeling apparatus of this embodiment.
The left and right guide members 5 are provided with a left and right position detection mechanism 21 that detects the slide position of the modeling head 2. The detection result of the left / right position detection mechanism 21 is sent to the control unit 100. The control unit 100 controls the left-right movement mechanism 22 based on the detection result to move the modeling head 2 to the target device left-right direction position.

The front-rear guide members 6L and 6R are provided with a front-rear position detection mechanism 23 that detects the slide position of the left-right guide member 5. The detection result of the front-rear position detection mechanism 23 is sent to the control unit 100. The control unit 100 controls the front-back movement mechanism 24 based on the detection result to move the modeling head 2 to the target device front-back direction position.

The housing 10 is provided with a vertical position detecting mechanism 25 that detects the sliding positions of the front and rear guide members 6L and 6R. The detection result of the vertical position detection mechanism 25 is sent to the control unit 100. The control unit 100 controls the vertical movement mechanism 26 based on the detection result to move the modeling head 2 to the target device vertical position.

By controlling the movement of the modeling head 2 in this way, the control unit 100 can move (position) the modeling head 2 to a target three-dimensional position in the processing space.

FIG. 5 is an explanatory diagram for explaining the exchange of data of the three-dimensional modeling apparatus 1 in the present embodiment.
An external device such as a personal computer in which the three-dimensional shape data 31p of the three-dimensional modeled object modeled by the three-dimensional modeling device 1 of the present embodiment is connected to the three-dimensional modeling device 1 by wired or wireless data communication. When input is input from 30, the three-dimensional shape data 31p is sent to the control unit 100.

The control unit 100 that has received the three-dimensional shape data 31p receives data (slice data for modeling) of a large number of layered structures decomposed in the vertical direction based on the input three-dimensional shape data 31p in the modeling data processing unit 100p. 32p) is generated. The slice data 32p corresponding to each layered structure corresponds to each layered structure that can be formed by the modeling material 3 ejected from the modeling head 2 of the three-dimensional modeling apparatus 1, and the thickness of the layered structure is It is appropriately set according to the capacity of the three-dimensional modeling apparatus 1.

After that, the control unit 100 shifts to a modeling step of modeling a three-dimensional model according to the slice data 32p of each layered structure generated. In the modeling step, first, a layered structure of the lowest layer is created on the mounting table 7 according to the slice data 32p of the lowest layer (first layer). At this time, a support material that does not constitute a three-dimensional model may also be created, but the description here will be omitted. The support material is usually formed of a material different from that of the modeling material 3, and is finally removed from the three-dimensional model formed of the modeling material 3.

In the control unit 100, the vertical position of the tip of the injection nozzle 8 of the modeling head 2 (the vertical position with respect to the mounting table 7) is set to the target vertical position corresponding to the layered structure data of the lowermost layer. The vertical movement mechanism 26 is controlled based on the detection result of the vertical position detection mechanism 25, and the front / rear guide members 6L and 6R are moved in the vertical direction for positioning. After that, the control unit 100 controls the left-right movement mechanism 22 and the front-back movement mechanism 24 based on the slice data 32p of the lowermost layer (first layer), and sequentially moves the tip of the injection nozzle 8 of the modeling head 2 to the target position. While doing so, the molding material 3 is injected from the injection nozzle 8. As a result, a layered structure according to the slice data 32p of the lowest layer (first layer) is formed on the mounting table 7.

Subsequently, the control unit 100 controls the vertical movement mechanism 26 so as to position the vertical position of the tip of the injection nozzle 8 of the modeling head 2 at the target vertical position corresponding to the slice data 32p of the second layer. After that, the control unit 100 controls the left-right movement mechanism 22 and the front-back movement mechanism 24 based on the slice data 32p of the second layer, and ejects while sequentially moving the tip of the injection nozzle 8 of the molding head 2 to the target position. The molding material 3 is injected from the nozzle 8. As a result, a layered structure according to the slice data 32p of the second layer is formed on the layered structure of the lowermost layer formed on the mounting table 7.

In this way, by repeating the process of modeling while stacking the layered structures in order from the lower layer, the three-dimensional model 11 is finally modeled according to the input three-dimensional shape data 31p.

The three-dimensional modeling device 1 in the present embodiment measures the unfinished model 11'which is in the middle of modeling the three-dimensional model 11 modeled on the mounting table 7 in the processing space inside the housing 10. A measuring device 12 is provided as a measuring means performed in the processing space. The content to be measured by the measuring device 12 of the present embodiment is not particularly limited, and measures the shape and dimensions of the unfinished model 11', and the physical and chemical properties of the unfinished model 11'. Examples include those to be measured. The measuring method by the measuring device 12 is appropriately selected in consideration of the content to be measured and the like. As an example, the measuring device 12 of the present embodiment measures the shape of the unfinished model 11'based on an image obtained by imaging the unfinished model 11'by an imaging means which is an optical means. It will be explained by listing in.

FIG. 6 is a front view showing the configuration of the measuring device 12 provided in the three-dimensional modeling device 1 in the present embodiment.
FIG. 7 is a plan view showing the configuration of the measuring device 12 provided in the three-dimensional modeling device 1 in the present embodiment.
The measuring device 12 of the present embodiment is mounted on the modeling head 2, and is configured to be movable relative to the mounting table 7 together with the modeling head 2. The measuring device 12 has a built-in camera including a lens, an image sensor, and the like, and the measurement result is sent to the control unit 100.

In the present embodiment, the measuring device 12 measures the shape of the unfinished model 11'in the process of modeling. Specifically, the layered structure up to a predetermined layer to be measured (every layer, one or two or more layers, or a specific layer having a high importance of measurement). After modeling, the measuring device 12 focuses on the uppermost surface of the unfinished model 11', that is, the layered structure (layered structure to be measured) formed last, and acquires an image. Since the distance between the measuring device 12 and the uppermost surface (layered structure to be measured) of the unfinished model 11'is known, the two-dimensional shape data of the uppermost surface of the unfinished model 11'is obtained from the obtained image. 33m can be calculated.

Since the positional relationship between the tip of the injection nozzle 8 of the modeling head 2 (position reference of the modeling head 2) and the measuring device 12 is fixed, the focus of the measuring device 12 can be fixed in advance or can be optically pan-focused. It may be configured so that focusing is not required.

In addition, the entire uppermost surface (layered structure to be measured) of the unfinished model 11'may not fit within the angle of view that can be photographed by the measuring device 12. In such a case, as shown in FIG. 7, the modeling head 2 is moved in the front-back and left-right directions by changing the positions A1, A2, and A3 in the same movement control as in the modeling while the vertical position is fixed, and the process is incomplete. The image acquisition of the uppermost surface of the modeled object 11'is repeated a plurality of times. Then, by connecting the acquired plurality of captured images, the entire image of the uppermost surface of the unfinished model 11'can be obtained, so that the two-dimensional shape data 33 m of the uppermost surface of the unfinished model 11'is calculated. can do.

The two-dimensional shape data 33m measured by the measuring device 12 is sent to the control unit 100. The control unit 100 sequentially accumulates a plurality of measured two-dimensional shape data 33m in a storage unit 100a as a storage means provided in the control unit 100, and a plurality of the measured two-dimensional shape data 33m accumulated in the storage unit 100a. The measurement result data processing unit 100m performs a process of generating three-dimensional shape data 34 m from the two-dimensional shape data 33 m. Then, when the final three-dimensional shape data 34m of the three-dimensional model 11 is generated, the control unit 100 transmits the three-dimensional shape data 34m as measurement result data to the external device 30.

In the present embodiment, since it is possible to measure the unfinished model 11'in the middle stage of modeling, for example, it is possible to obtain 3D shape data 34 m for the 3D model 11 which is the final model. In particular, if all the layered structures are to be measured, it is possible to obtain the three-dimensional shape data 34 m equivalent to the original three-dimensional shape data 31p for the three-dimensional model 11 which is the final model. Moreover, the three-dimensional shape data 34m of the three-dimensional model 11 which is the final model can be obtained at the same time as the completion of the modeling process.

FIG. 8A is a flow chart showing a flow of a series of processing steps in a conventional modeling method such as cutting.
FIG. 8B is a flow chart showing a flow of a series of processing steps in a modeling method using a conventional three-dimensional modeling apparatus.
FIG. 8C is a flow chart showing a flow of a series of processing steps in the modeling method by the three-dimensional modeling apparatus 1 of the present embodiment.

As shown in FIG. 8A, in the conventional modeling method by cutting or the like, a step of generating processing data suitable for the processing apparatus to be used is required from the input three-dimensional shape data. For example, in the case of cutting, since there is a shape in which a blade does not fit, a three-dimensional modeled object may be divided into a plurality of parts and the individually shaped parts may be finally united. In this case, it is necessary to generate processing data for each part. Further, even when the three-dimensional modeled object is not divided, data for processing may be generated by changing the data such as excluding the shape portion that cannot be processed. In addition, after the final three-dimensional model is finished, the three-dimensional model is set in a measuring device separate from the processing device, and the three-dimensional model is measured.

As shown in FIG. 8B, in the modeling method using the conventional three-dimensional modeling apparatus (the same FDM as in the present embodiment), it is sufficient to perform data conversion only by dividing the input three-dimensional shape data for each layered structure. .. This data conversion does not require any special treatment because a general slice data format has been established. Therefore, the preparation time until the start of modeling can be shortened as compared with the conventional modeling method by cutting or the like. However, even with the conventional modeling method using a 3D modeling device, after the final 3D model has been modeled, the 3D model is set in a measuring device separate from the 3D model device, and the 3D model is set. The original model is measured.

On the other hand, also in the modeling method of the present embodiment, as shown in FIG. 8C, the preparation time until the start of modeling is shortened as compared with the conventional modeling method by cutting or the like, as in the modeling method using the conventional three-dimensional modeling device. Can be converted. Moreover, according to the modeling method of the present embodiment, the three-dimensional shape data of the three-dimensional model 11 which is the final model can be obtained at the same time as the completion of the modeling process, so that the final three-dimensional model can be obtained from the data input. The processing time required for a series of processing up to the measurement of an object can be shortened as compared with the modeling method using a conventional three-dimensional modeling device. Further, since it is not necessary to transfer and set the three-dimensional modeled object to a measuring device separate from the three-dimensional modeling device, the burden of the measuring work is reduced.

In the present embodiment, since the measurement (imaging) by the measuring device 12 is also performed during the modeling process, the time required from the start to the end of the modeling process is the time required for the measurement, which is the conventional three-dimensional modeling device. It will be longer than the modeling method by. However, the time required for the measurement in the present embodiment is very short, that is, the time required for one or several imaging times, and even if the measurement is performed for all the layered structures, the processing required for a series of processes. The time can be shortened as compared with the modeling method using the conventional three-dimensional modeling device.

Further, in the present embodiment, by measuring the unfinished model 11'in the middle of modeling, for example, in the state of the three-dimensional model 11 which is the final model, the measurement cannot be performed or the measurement is difficult (three-dimensional). The measurement result of the internal shape of the modeled object, etc.) can also be obtained.

Specifically, as shown in FIGS. 9A and 9B, a case where the shape of the three-dimensional model 11 through which the through hole 11a for passing the hook 20 passes through the inside is measured is taken as an example. I will explain. When measuring the shape of such a three-dimensional model by, for example, a contact-type measuring method using a probe, for example, depending on the shape and dimensions of the through hole 11a, the inner wall of the through hole 11a of the three-dimensional model. In some cases, the shape of the inner wall of the through hole 11a cannot be measured because the probe reaches the probe or the contact position of the probe cannot be confirmed. For example, the shape of the unfinished object (two-dimensional shape of the layered structure formed immediately before the measurement) shown in FIG. 10A cannot be measured by the contact-type measurement method using a probe. Further, even in a non-contact type measuring method such as an optical type (including a laser type), it is not possible to measure a portion that cannot be confirmed from the outside, such as the shape of the inner wall of the through hole 11a. Regardless of which method, conventionally, in order to measure the shape of such a portion, it is necessary to cut the shaped three-dimensional modeled object so that the inside can be confirmed before the measurement.

On the other hand, in the present embodiment, since it is possible to measure the unfinished model 11'in the middle of modeling, the three-dimensional model 11 which is the final model is represented by the reference numeral B- in FIG. 10 (b). The same measurement result as that measured in the state of being cut at B'can be obtained. That is, in the present embodiment, it is possible to measure the detailed shape of the internal structure of the three-dimensional model 11 which is the final model which cannot be measured or is difficult to measure by the conventional measurement method. Is. Therefore, it is possible to obtain higher quality measurement data for the three-dimensional model 11 which is the final model than the conventional measurement method.

[Modification 1]
Next, a modification of the measuring device according to the present embodiment (referred to as “modification example 1”) will be described.
FIG. 11 is a front view showing the measuring device in the first modification.
The measuring device 12 in the first modification has a structure in which the measuring device 12 is attached to the housing 10 of the three-dimensional modeling device 1 and does not move integrally with the modeling head 2. The measuring device 12 also measures the shape of the unfinished model 11'based on an image obtained by imaging the unfinished model 11'with an imaging means.

In the first modification, the measuring device 12 is fixedly arranged above the center in the processing space inside the housing 10 so that the entire unfinished object 11'on the mounting table 7 can be imaged from above. It has become. In the present modification 1, when the modeling of the layered structure to be measured is completed, the control unit 100 retracts the modeling head 2 out of the angle of view of the measuring device 12, and then acquires an image by the measuring device 12. Move on to the next layered structure modeling process.

In the first modification, since the measuring device 12 is fixedly arranged, improvement in measurement accuracy can be expected.
Further, in the configuration in which the measuring device 12 is mounted on the modeling head 2 as in the above-described embodiment, the distance between the measuring device 12 and the unfinished model 11'on the mounting table 7 immediately after the modeling process by the modeling head 2. Is close. Therefore, it may be difficult to fit the entire unfinished model 11'on the mounting table 7 within the angle of view of the measuring device 12, and in that case, a plurality of imaging operations are required and the measurement time is required. become longer. On the other hand, according to the configuration in which the measuring device 12 is fixedly arranged at a position different from the modeling head 2 as in the present modification 1, the distance between the measuring device 12 and the unfinished model 11'on the mounting table 7 is set. It can be secured, and it is easy to configure the unfinished object 11'on the mounting table 7 to fit within the angle of view of the measuring device 12. Therefore, the measurement can be completed by one imaging operation, and it is easy to avoid a long measurement time.

However, in the present modification 1, since it is necessary to retract the modeling head 2 from within the angle of view of the measuring device 12 at the time of measurement, it may be necessary to increase the size of the device by the amount of securing the retracted space.

[Modification 2]
Next, another modification of the measuring device in the present embodiment (this modification is referred to as "modification 2") will be described.
FIG. 12 is a front view showing the measuring device in the present modification 2.
The measuring device 13 in the second modification measures the shape of the unfinished object 11'by a laser method using optical means. The measuring device 13 in the second modification is mounted on the modeling head 2 as in the above-described embodiment, and is configured to be movable relative to the mounting table 7 together with the modeling head 2.

The laser-type measuring device 13 scans the measuring laser with respect to the unfinished object 11', or moves the measuring device 13 relative to the unfinished model 11'to measure the unfinished object 11'. It is necessary to irradiate the entire area with the measurement laser. Therefore, as compared with the measuring device 12 using the above-mentioned imaging means, the measuring time tends to be longer, but high measurement accuracy can be obtained.

[Modification 3]
Next, another modification of the measuring device according to the present embodiment (referred to as "modification 3") will be described.
FIG. 13 is a front view showing the measuring device in the present modification 3.
The measuring device 14 in the third modification projects a pattern image from the pattern irradiation unit 14b onto the unfinished model 11', and captures the pattern image projected on the unfinished model 11'with a stereo camera 14a as an imaging means. .. The measuring device 14 in the third modification is mounted on the modeling head 2 as in the above-described embodiment, and is configured to be movable relative to the mounting table 7 together with the modeling head 2.

In the third modification, the unfinished model 11 in which the striped pattern is distorted according to the surface unevenness of the unfinished model 11'by irradiating a pattern image consisting of a striped pattern without distortion of a certain width. 'The above pattern image is captured by the stereo camera 14a. The stereo camera 14a captures the unfinished model 11'from a plurality of different points by at least two cameras, a reference camera that captures the reference image and a comparison camera that captures the comparison image, and obtains the reference image and the comparison image. obtain. Then, based on the principle of triangulation, the distance information at each point on the unfinished model 11'is acquired from the parallax information between the reference image and the comparison image, and the shape on the unfinished model 11' is measured. Irradiation of the pattern image is not always necessary.

FIG. 14 is an explanatory diagram illustrating the configuration and measurement principle of the measuring device 14 in the third modification.
The stereo camera 14a of the measuring device 14 in the third modification is mainly composed of a reference camera and a comparison camera provided with sensors 15A and 15B and lenses 16A and 16B, respectively. In the reference image captured by the reference camera and the comparison image captured by the comparison camera, the same point 11p on the measurement object is formed at a different position on the image sensor of each camera. When the difference (parallax) of the imaging position on the image sensor is d, the distance between these cameras is B, and the distance from the ejection pupil position in the optical system of each camera to the sensor surface is f, from the sensor surface. The distance Z to the object to be measured can be obtained from the following equation (1). Since B and f are predetermined, the distance to each point on the measurement object can be calculated by calculating the parallax d from the reference image and the comparison image.
Z = B × f / d ・ ・ ・ (1)

According to the present modification 3, not only the two-dimensional shape data of the uppermost surface (layered structure to be measured) of the unfinished model 11', but also the unfinished model 11 including the layered structure formed before the data. 'Three-dimensional shape data can be measured.
Further, according to the present modification 3, the three-dimensional shape data of the three-dimensional model 11 which is the final model can be measured by one or several imaging operations.

Further, according to the present modification 3, the three-dimensional shape data of the three-dimensional model 11 which is the final model obtained from the parallax information obtained by the stereo camera 14a, and each layered structure as described in the above-described embodiment. It is possible to compare with the three-dimensional shape data obtained from the two-dimensional shape data for each object. This makes it possible to evaluate the presence or absence of deformation of the layered structure after a certain period of time has passed after modeling, and according to the evaluation result, urges the user to stop modeling or for subsequent modeling. Processing such as applying correction is possible.

Even in the third modification, the three-dimensional shape data of the unfinished model 11'cannot be measured at a portion that is not projected on the reference image or the comparative image by the stereo camera 14a. In that case, it is preferable to provide a means for changing the posture of the unfinished object 11'with respect to the stereo camera 14a so that the unfinished object 11'can be imaged by the stereo camera 14a from different directions. For example, as shown in FIG. 15, a table tilting means for tilting the mounting table 7 by rotating the mounting table 7 around at least one rotation axis is provided, and an unfinished model 11'on the mounting table 7 is provided. Change the posture of. By imaging the unfinished model 11'from different directions with the stereo camera 14a, more detailed three-dimensional shape data of the unfinished model 11'can be obtained.

It should be noted that the means for changing the posture of the unfinished model 11', such as the table tilting means, is effective not only in the present modification 3 but also in the measuring devices such as the above-described embodiment and other modifications.

[Modification example 4]
Next, another modification of the measuring device according to the present embodiment (referred to as "modification 4") will be described.
In this modified example 4, as in the modified example 3, the unfinished model 11'is imaged from a plurality of different points, a reference image and a comparative image are acquired, and the unfinished model 11'is based on the principle of triangulation. It measures the three-dimensional shape data of. However, in the present modification 4, the reference image and the comparison image are acquired by moving the camera without using the stereo camera.

FIG. 16A is a front view showing a state in which the measuring device 14'is positioned at the first imaging position for capturing a reference image, and FIG. 16B is a first view for capturing a comparative image. (Ii) It is a front view which shows the state which the measuring apparatus 14'is positioned at the imaging position.
The measuring device 14'in the fourth modification has a camera as a single imaging means, is mounted on the modeling head 2 as in the above-described embodiment, and moves relative to the mounting table 7 together with the modeling head 2. It is configured to be possible. At the time of measurement, the control unit 100 first moves the modeling head 2 to the first imaging position shown in FIG. 16A, images the unfinished model 11'with the camera of the measuring device 14'at that position, and then images the unfinished object 11'. The captured image is acquired as a reference image. After that, the control unit 100 moves the modeling head 2 to the second imaging position shown in FIG. 16B, images the unfinished model 11'with the camera of the measuring device 14'at that position, and compares the captured images. Get as an image. Subsequent processing is the same as that of the above-described modification 3.

What has been described above is an example, and has a unique effect in each of the following aspects.
(Aspect A)
In a three-dimensional modeling apparatus 1 provided with a modeling means such as a modeling head 2 for modeling a three-dimensional model 11 in a predetermined processing space, measurement of shape data and the like of an unfinished model 11'in the process of modeling by the modeling means. It is characterized by having measuring means such as measuring devices 12, 13, 14, 14'that measure the target data in the processing space.
According to this aspect, it is possible to measure the unfinished model 11'while the unfinished object 11'in the process of modeling is positioned in the processing space. Therefore, it is possible to measure even a part (internal structure of the three-dimensional model 11) that is difficult to measure in the state of the three-dimensional model 11 which is the final model, and the more detailed three-dimensional model 11 can be measured. It is possible to obtain the measurement result.

(Aspect B)
In the aspect A, the measuring means uses the shape data of the unfinished object as the measurement target data, and measures the shape data by an optical means such as an imaging means or a laser measuring device. ..
According to this, the shape data of the three-dimensional model 11 can be easily obtained.

(Aspect C)
In the aspect A or B, the measuring means has a storage means such as a storage unit 100a that performs the measurement a plurality of times in different modeling steps and stores a plurality of measurement results measured by the measuring means. To do.
According to this, it becomes possible to obtain a more detailed measurement result of the three-dimensional model 11.

(Aspect D)
In any of the embodiments A to C, the modeling means forms a three-dimensional modeled object by sequentially stacking layered modeled structures, and the measuring means forms a predetermined modeled structure. It is characterized in that the measurement is performed when the layers are laminated.
According to this, by measuring the unfinished modeled object in the middle of modeling, it is possible to measure the shape of the cross section which cannot be measured without cutting the three-dimensional modeled object 11 in the state of the three-dimensional modeled object 11 which is the final modeled object. Is possible.

(Aspect E)
In any of the above-described aspects A to D, the mounting table 7 on which the three-dimensional model 11 modeled by the modeling means is placed is provided, and the modeling means can move relative to the above-described table. It is characterized in that the measuring means is configured to be movable relative to the above-mentioned stand together with the modeling means.
According to this, the measuring means can be moved, and the measuring means can be moved to a suitable measurement position to perform the measurement. Moreover, it is not necessary to provide the moving means of the measuring means separately from the moving means of the modeling means, and the configuration can be simplified.

(Aspect F)
In any of the embodiments A to E, the measuring means is a non-contact method.
According to this, the measurement can be performed without contacting the unfinished model 11'.

(Aspect G)
In the F aspect, the measuring means is characterized in that the three-dimensional modeled object or the unfinished modeled object is imaged by an imaging means from a plurality of different points, and the measurement is performed based on a plurality of captured images obtained. To do.
According to this, the three-dimensional shape of the unfinished model 11'can be measured by using the parallax information in a plurality of captured images taken from a plurality of points.

(Aspect H)
In any of the embodiments A to G, when the mounting table 7 on which the three-dimensional model 11 modeled by the modeling means is placed and the three-dimensional model or the unfinished model are modeled by the modeling means. The three-dimensional modeled object has a table tilting means for tilting the above-described stand so as to have a second posture different from the posture of the above-mentioned, and the measuring means has the second posture by the table tilting means. Alternatively, the measurement is performed on the unfinished model.
According to this, it is possible to obtain the measurement result at a place where the measurement is difficult in the posture at the time of modeling.

1 Three-dimensional modeling device 2 Modeling head 3 Modeling material 4 Supply path 5 Left and right guide members 6L, 6R Front and rear guide members 7 Mounting stand 8 Injection nozzle 10 Housing 11 Three-dimensional modeling object 11'Unfinished modeled object 12, 13, 14, 14 'Measuring device 14a Stereo camera 14b Pattern irradiation unit 15A, 15B Image sensor 16A, 16B Lens 20 Hook 30 External device 100 Control unit

Japanese Patent No. 5640672

To solve the problems described above, the present invention provides a three-dimensional modeling apparatus you build a 3D object in a predetermined processing space, two-dimensional shape data over the top surface of the concrete form during the unfinished shaped object It is characterized by having a measuring means for measuring data in the processing space.

Claims (8)

In a three-dimensional modeling device equipped with a modeling means for modeling a three-dimensional model in a predetermined processing space.
A three-dimensional modeling apparatus comprising a measuring means for measuring measurement target data of an unfinished object in the process of modeling by the modeling means in the processing space. In the three-dimensional modeling apparatus according to claim 1,
The measuring means is a three-dimensional modeling apparatus characterized in that the shape data of the unfinished model is used as the measurement target data and the shape data is measured by optical means. In the three-dimensional modeling apparatus according to claim 1 or 2.
The measuring means performs the measurement a plurality of times at different modeling stages.
A three-dimensional modeling apparatus comprising a storage means for storing a plurality of measurement results measured by the measuring means. In the three-dimensional modeling apparatus according to any one of claims 1 to 3,
The modeling means is for modeling a three-dimensional modeled object by sequentially stacking layered modeled structures.
The measuring means is a three-dimensional modeling apparatus characterized in that the measurement is performed when a predetermined modeling structure is laminated. In the three-dimensional modeling apparatus according to any one of claims 1 to 4.
It has a mounting table on which a three-dimensional modeled object formed by the modeling means is placed.
The modeling means is configured to be movable relative to the above-mentioned stand.
The measuring means is a three-dimensional modeling apparatus characterized in that it is configured to be movable relative to the above-mentioned stand together with the modeling means. In the three-dimensional modeling apparatus according to any one of claims 1 to 5,
The measuring means is a three-dimensional modeling apparatus characterized by a non-contact method. In the three-dimensional modeling apparatus according to claim 6,
The measuring means is a three-dimensional modeling apparatus characterized in that the three-dimensional modeled object or the unfinished modeled object is imaged by an imaging means from a plurality of different points, and the measurement is performed based on a plurality of captured images obtained. .. In the three-dimensional modeling apparatus according to any one of claims 1 to 7.
A mounting table on which a three-dimensional modeled object formed by the modeling means is placed,
It has a table tilting means for tilting the above-mentioned stand so that the three-dimensional modeled object or the unfinished modeled object has a second posture different from the posture at the time of modeling by the modeling means.
The measuring means is a three-dimensional modeling apparatus characterized in that the measurement is performed on the three-dimensional modeled object or the unfinished modeled object in the second posture by the table tilting means.

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