WO2015005496A1 - 三次元形状造形物の製造方法 - Google Patents
三次元形状造形物の製造方法 Download PDFInfo
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- WO2015005496A1 WO2015005496A1 PCT/JP2014/068846 JP2014068846W WO2015005496A1 WO 2015005496 A1 WO2015005496 A1 WO 2015005496A1 JP 2014068846 W JP2014068846 W JP 2014068846W WO 2015005496 A1 WO2015005496 A1 WO 2015005496A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/141—Processes of additive manufacturing using only solid materials
- B29C64/153—Processes of additive manufacturing using only solid materials using layers of powder being selectively joined, e.g. by selective laser sintering or melting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
- B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/60—Treatment of workpieces or articles after build-up
- B22F10/66—Treatment of workpieces or articles after build-up by mechanical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/70—Recycling
- B22F10/73—Recycling of powder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/188—Processes of additive manufacturing involving additional operations performed on the added layers, e.g. smoothing, grinding or thickness control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/264—Arrangements for irradiation
- B29C64/268—Arrangements for irradiation using laser beams; using electron beams [EB]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/35—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/357—Recycling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/30—Process control
- B22F10/32—Process control of the atmosphere, e.g. composition or pressure in a building chamber
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/80—Data acquisition or data processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/22—Driving means
- B22F12/224—Driving means for motion along a direction within the plane of a layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/40—Radiation means
- B22F12/41—Radiation means characterised by the type, e.g. laser or electron beam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/40—Radiation means
- B22F12/49—Scanners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/60—Planarisation devices; Compression devices
- B22F12/67—Blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
- B22F2003/247—Removing material: carving, cleaning, grinding, hobbing, honing, lapping, polishing, milling, shaving, skiving, turning the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Definitions
- the present invention relates to a method for manufacturing a three-dimensional shaped object. More specifically, the present invention manufactures a three-dimensional shaped object in which a plurality of solidified layers are laminated and integrated by repeatedly performing formation of a solidified layer by irradiating a predetermined portion of the powder layer with a light beam. Regarding the method.
- a method of manufacturing a three-dimensional shaped object by irradiating a powder material with a light beam is known.
- the following steps (i) and (ii) are repeated to produce a three-dimensional shaped object (see Patent Document 1 or Patent Document 2).
- (I) A step of forming a solidified layer by irradiating a predetermined portion of the powder layer with a light beam to sinter or melt and solidify the powder at the predetermined portion.
- the obtained three-dimensional shaped object can be used as a mold.
- an organic powder material such as resin powder or plastic powder
- the obtained three-dimensional shaped object can be used as a model. According to such a manufacturing technique, it is possible to manufacture a complicated three-dimensional shaped object in a short time.
- metal powder is used as a powder material and the obtained three-dimensional shaped object is used as a mold.
- a powder layer 22 having a predetermined thickness t1 is formed on a modeling plate 21 (see FIG. 1A), and then a light beam is irradiated on a predetermined portion of the powder layer 22 to form a model.
- a solidified layer 24 is formed on the plate 21 (see FIG. 1B).
- a new powder layer 22 is laid on the formed solidified layer 24 and irradiated again with a light beam to form a new solidified layer.
- the solidified layer is repeatedly formed in this way, a three-dimensional shaped object in which a plurality of solidified layers 24 are laminated and integrated can be obtained. Since the solidified layer corresponding to the lowermost layer can be formed in a state of being adhered to the modeling plate surface, the three-dimensional modeled object and the modeling plate are integrated with each other and can be used as a mold as they are.
- the three-dimensional shaped object obtained by irradiation with a light beam has a relatively rough surface, and generally has a surface roughness of about several hundred ⁇ m Rz. This is because the powder adheres to the surface of the solidified layer.
- the light beam energy is converted into heat, so that the irradiated powder is once melted and then fused in the cooling process.
- the surrounding powder adheres to the solidified layer surface. Since such adhering powder brings about “surface roughness” to the three-dimensional shaped object, it is necessary to cut the surface of the three-dimensional shaped object. That is, it is necessary to subject the entire surface of the obtained three-dimensional shaped object to cutting.
- the inventors of the present application have found a phenomenon in which a tool breakage trouble may occur more frequently when powder exists around a modeled object (see FIG. 17A). Although not limited by a specific theory, it is considered that one of the factors is that the load applied to the cutting tool increases due to the biting of the powder between the surface of the modeled object and the cutting tool.
- an object of the present invention is to provide a powder sintering lamination method capable of reducing inconveniences such as “tool breakage trouble”.
- a powder layer formation and a solidification layer formation are repeated in the steps (i) and (ii), and a tertiary having the following characteristics (a) to (c):
- a method for producing an original shaped article is provided.
- the surface of the solidified layer and / or the three-dimensional shaped object is subjected to a surface cutting process with a cutting tool at least once.
- the powder around the solidified layer and / or the three-dimensional shaped object is removed by suction with a suction nozzle.
- the surrounding powder of the three-dimensional shaped object is locally removed in consideration of the lowest level that can be cut by the cutting tool.
- the suction nozzle is moved so that the movement trajectory of the suction nozzle becomes a trajectory along the following contour A, contour B, and region C to achieve local removal of powder.
- A Contour A of the solidified layer cross section located at the lowest tool level of the cutting tool.
- B The contour B of the upper surface of the solidified layer formed most recently.
- C When it is assumed that the contour A and the contour B are projected on the same plane in the stacking direction of the solidified layer (or powder layer), “projected from the closed region A ′ formed by the projected contour A” A region C obtained by dividing the closed region B ′ ”formed by the contour B.
- the suction nozzle When moving the suction nozzle, the suction nozzle may be moved horizontally above the “most recently formed powder layer”. For example, the separation distance between the tip portion of the suction nozzle and the “powder layer formed most recently” may be within 5 mm.
- the suction nozzle may be moved so as to be offset from the locus. That is, the suction nozzle is moved so that the movement locus of the suction nozzle becomes a locus along “contour A ′ offset from the contour A”, “contour B ′ offset from the contour B”, and “region C”. May be.
- the amount of offset may be determined according to the nozzle diameter of the suction nozzle and / or the tool diameter of the cutting tool.
- the powder around the solidified layer and / or the three-dimensional shaped object is sucked and removed prior to the surface cutting process, the “because of the powder biting between the surface of the object and the cutting tool” "Tool breakage trouble” can be reduced.
- the powder biting between the surface of the modeled object and the cutting tool is reduced, the load exerted on the modeled object surface during the cutting process can be reduced, and the surface smoothness of the modeled object can be improved.
- the suction removal of the powder is performed only locally on the powder layer by the suction nozzle, it can be performed efficiently and has little influence on the manufacturing time of the three-dimensional shaped object.
- the movement trajectory of the suction nozzle is easily obtained by considering the lowest level at which the cutting tool can be cut, so that more efficient suction removal is achieved in that respect.
- FIG. 2A is a perspective view schematically showing an apparatus for carrying out the powder sintering lamination method
- FIG. 2A an optical modeling combined processing machine equipped with a cutting mechanism
- FIG. 2B an apparatus not equipped with a cutting mechanism.
- powder layer refers to, for example, “metal powder layer made of metal powder” or “resin powder layer made of resin powder”.
- the “predetermined portion of the powder layer” substantially means a region of the three-dimensional shaped article to be manufactured. Therefore, by irradiating the powder existing at the predetermined location with a light beam, the powder is sintered or melted and solidified to form a three-dimensional shaped object.
- the “solidified layer” substantially means “sintered layer” when the powder layer is a metal powder layer, and substantially means “cured layer” when the powder layer is a resin powder layer. Meaning.
- upward substantially means the direction in which the solidified layer is laminated at the time of manufacturing the modeled object
- downward means the direction opposite to the “upward” (that is, (Vertical direction) means substantially.
- the powder sintering lamination method as a premise of the production method of the present invention will be described.
- the powder sintering lamination method will be described on the premise that the material powder is supplied from the material powder tank and the powder material is formed by leveling the material powder using a squeezing blade.
- a description will be given by taking as an example a mode of composite processing in which cutting of a molded article is also performed (that is, assuming a mode shown in FIG. 2A instead of FIG. And).
- 1, 3 and 4 show the function and configuration of an optical modeling composite processing machine capable of performing the powder sintering lamination method and cutting.
- the optical modeling composite processing machine 1 mainly includes a powder layer forming unit 2, a modeling table 20, a modeling plate 21, a light beam irradiation unit 3, and a cutting unit 4.
- the powder layer forming means 2 is for forming a powder layer by spreading a powder such as a metal powder and a resin powder with a predetermined thickness.
- the modeling table 20 is a table that can be moved up and down in a modeling tank 29 whose outer periphery is surrounded by a wall 27.
- the modeling plate 21 is a plate that is arranged on the modeling table 20 and serves as a foundation of a modeled object.
- the light beam irradiation means 3 is a means for irradiating the light beam L to an arbitrary position.
- the cutting means 4 is a machining means for cutting the surface (particularly the side surface) of the modeled object.
- the powder layer forming means 2 includes “a powder table 25 that moves up and down in a material powder tank 28 whose outer periphery is surrounded by a wall 26” and “to form a powder layer 22 on a modeling plate”.
- the squeezing blade 23 “.
- the light beam irradiation means 3 includes a “light beam oscillator 30 that emits a light beam L” and a “galvanomirror 31 that scans (scans) the light beam L onto the powder layer 22 (scanning). Optical system) ”.
- the light beam irradiating means 3 is a beam shape correcting means for correcting the shape of the light beam spot (for example, means having a pair of cylindrical lenses and a rotation driving mechanism for rotating the lenses around the axis of the light beam). Or an f ⁇ lens may be provided.
- the cutting means 4 mainly includes “a milling head 40 that cuts the periphery of a modeled object” and “an XY drive mechanism 41 (41a, 41b) that moves the milling head 40 to a cutting position” (FIGS. 3 and 4). reference).
- FIG. 5 shows a general operation flow of the stereolithography combined processing machine
- FIG. 6 schematically shows a process of the stereolithography composite processing machine.
- the operation of the optical modeling composite processing machine includes a powder layer forming step (S1) for forming the powder layer 22, a solidified layer forming step (S2) for forming the solidified layer 24 by irradiating the powder layer 22 with the light beam L, This is mainly composed of a surface cutting step (S3) for cutting the surface of the modeled object.
- the powder layer forming step (S1) the modeling table 20 is first lowered by ⁇ t1 (S11). Next, after raising the powder table 25 by ⁇ t1, the squeezing blade 23 is moved in the horizontal direction indicated by the arrow a as shown in FIG.
- the powder arranged on the powder table 25 is transferred onto the modeling plate 21 (S12), and the powder layer 22 is formed to be equal to the predetermined thickness ⁇ t1 (S13).
- the powder in the powder layer include “iron powder having an average particle size of about 5 ⁇ m to 100 ⁇ m” and “powder of nylon, polypropylene, ABS, etc. having an average particle size of about 30 ⁇ m to 100 ⁇ m”.
- the process proceeds to a solidified layer forming step (S2), where a light beam L is emitted from the light beam oscillator 30 (S21), and the light beam L is scanned to an arbitrary position on the powder layer 22 by the galvanometer mirror 31 (S22). .
- the powder is melted and solidified to form a solidified layer 24 integrated with the modeling plate 21 (S23).
- the light beam L include a carbon dioxide laser (about 500 W), an Nd: YAG laser (about 500 W), a fiber laser (about 500 W), and ultraviolet light.
- the light beam L is not limited to being transmitted in the air, but may be transmitted by an optical fiber or the like.
- the powder layer forming step (S1) and the solidified layer forming step (S2) are repeated until the thickness of the solidified layer 24 reaches a predetermined thickness obtained from the tool length of the milling head 40, and the solidified layer 24 is laminated (FIG. 1). (See (b)).
- stacked will be integrated with the solidified layer which comprises the already formed lower layer in the case of sintering or melt-solidification.
- the process proceeds to the surface cutting step (S3).
- the cutting step is started by driving the milling head 40 (S31).
- the tool (ball end mill) of the milling head 40 has a diameter of 1 mm and an effective blade length of 3 mm, a cutting process with a depth of 3 mm can be performed. Therefore, if ⁇ t1 is 0.05 mm, 60 solidified layers are formed. At that time, the milling head 40 is driven.
- the milling head 40 is moved in the directions of the arrow X and the arrow Y by the XY drive mechanism 41 (41a, 41b), and a surface cutting process is performed on the modeled object composed of the laminated solidified layer 24 (S32). And when manufacture of a three-dimensional shape molded article has not ended yet, it will return to a powder layer formation step (S1). Thereafter, the three-dimensional shaped object is manufactured by repeating S1 to S3 and continuing the lamination of the solidified layer 24 (see FIG. 6).
- the irradiation path of the light beam L in the solidified layer forming step (S2) and the cutting path in the surface cutting step (S3) are created in advance from three-dimensional CAD data.
- a machining path is determined by applying contour line machining.
- contour shape data of each cross section obtained by slicing STL data generated from a three-dimensional CAD model at an equal pitch for example, 0.05 mm pitch when ⁇ t1 is 0.05 mm
- the present invention is characterized by an aspect related to the surface cutting treatment among the above-described powder sintering lamination methods.
- the production method of the present invention includes at least one step of performing a surface cutting treatment with a cutting tool on the surface (particularly the side surface) after the solidified layer and / or the three-dimensional shaped object is obtained.
- a surface cutting treatment with a cutting tool on the surface (particularly the side surface) after the solidified layer and / or the three-dimensional shaped object is obtained.
- the powder around the solidified layer and / or the three-dimensional shaped object is removed by suction with a suction nozzle.
- the powder around the three-dimensional shaped object is removed only locally in view of the lowest level at which the cutting tool can be cut (see FIG. 7).
- the suction nozzle is moved to suck and remove the powder around the three-dimensional shaped object, and the path (trajectory) of the suction nozzle is determined by considering the “cutting tool lowest level”.
- the cutting tool is a tool for performing a surface cutting process on the side surface of the solidified layer, that is, the surface (particularly the side surface portion) of the modeled article.
- the cutting tool 80 is a tool attached to the tooling 82, for example, as shown in FIG.
- Specific examples of the cutting tool include an end mill, for example, a carbide two-blade ball end mill, a square end mill, a radius end mill, and the like.
- the lowest level at which the cutting tool can be cut refers to the height range (the range in the vertical direction along the stacking direction of the solidified layer) in which the side surface of the solidified layer / model can be cut. It means the height level located at the bottom. In other words, “the lowest level at which a cutting tool can be cut” indicates that the cutting tool is most effective when it is assumed that the cutting tool is inserted from above into the powder layer around the solidified layer / modeling object and cutting is performed. It means a height level that penetrates deeply. In other words, “the lowest level at which a cutting tool can be cut” corresponds to the tip level or the lower end level of the cutting tool during the surface cutting process.
- the suction nozzle is a device that can suck the powder in the powder layer in a broad sense. Because of the “nozzle”, it is preferable that the portion used for sucking in the powder has a cylindrical shape (particularly, a thin cylindrical shape). (From this viewpoint, the suction nozzle in the present invention can also be referred to as a “cylindrical suction device”. ).
- the suction nozzle 90 can be composed at least of a thin tube portion 92 and a suction device 94 connected to the thin tube portion.
- the suction removal of the powder is performed prior to the surface cutting treatment, but the suction nozzle is preferably operated so as to move in the horizontal direction. That is, the suction nozzle is moved without substantially changing the height level of the suction nozzle (the vertical position level along the stacking direction of the solidified layer). This is because when the suction nozzle is moved above the “most recently formed powder layer and / or solidified layer”, the suction nozzle is moved without changing the vertical separation distance to the powder layer and / or solidified layer. It means to move.
- the cutting tool 80 and the suction nozzle 90 are provided adjacent to each other.
- the cutting tool and the suction nozzle are arranged so that the axis of the cutting tool 80 (longitudinal axis) and the axis of the suction nozzle 90 (longitudinal axis of the thin cylindrical portion 92) are substantially parallel. It is preferable that they are adjacent to each other.
- the suction nozzle and the cutting tool are provided adjacent to each other, the suction nozzle is subjected to suction removal in an installed state adjacent to the cutting tool.
- the horizontal movement path (movement trajectory) of the suction nozzle is obtained from the “cuttable lowest level”. That is, the “movement path for operating the suction nozzle at the time of powder removal” is obtained from “the lowest level that can be cut”.
- the “suction nozzle moving path” is the minimum moving path required for the surface cutting process. In order to obtain such a minimum moving path, the “cuttable lowest level” is used.
- the moving path of the suction nozzle may be along the following contour A, contour B, and region C (see FIG. 9).
- A Contour A of the solidified layer cross section located at the lowest tool level of the cutting tool.
- B The contour B of the upper surface of the solidified layer formed most recently.
- C When it is assumed that the contour A and the contour B are projected on the same plane (a plane perpendicular to the stacking direction) in the stacking direction of the solidified layer, from the “closed region A ′ formed by the projected contour A” Region C obtained by excluding “closed region B ′ formed by projected contour B”.
- the suction nozzle is moved so that the movement trajectory of the suction nozzle becomes a trajectory along the contour A, the contour B, and the region C, and the powder is removed only locally.
- Contour A is a contour line of a solidified layer cross section (a cross section obtained by cutting the solidified layer along the horizontal direction) located at the lowest level of the cutting tool. As can be seen from the embodiment shown in FIG. 9, the contour A corresponds to the contour line of the solidified layer cross section at the height level at which the cutting tool penetrates most deeply.
- Contour B is a contour line on the upper surface of the solidified layer formed most recently. As can be seen from the embodiment shown in FIG. 9, the contour B corresponds to the contour of the uppermost surface of the solidified layer formed last when the surface cutting process is performed. As shown in FIG.
- region C is the same plane (XY plane) of “closed region A ′ formed by contour A” and “closed region B ′ formed by contour B” without changing the horizontal position. Indicates a local area obtained by excluding the closed area B ′ from the closed area A ′.
- the closed area B ′ is a closed area because the shaped object may have a shape that becomes narrower in the stacking direction (upward) from the viewpoint of draft angle or the like. It can be positioned so as to be smaller than A ′ and included in the closed region A ′ on the same plane.
- Such a movement trajectory can be easily obtained by considering the “cuttable lowest level” and utilizing the contour of the solidified layer at that level. That is, the “suction nozzle movement path” required for local powder removal can be easily obtained without going through a complicated calculation process.
- the suction nozzle is moved in the horizontal direction at the time of suction removal, and the movement trajectory is along the contour A, the contour B, and the region C.
- the movement locus drawn by the suction port portion of the horizontally moving suction nozzle is along the contour A, the contour B, and the region C (see FIGS. 9 and 10).
- local powder removal is performed by moving the suction nozzle so that only the following three are included.
- the suction nozzle is moved horizontally so that the suction port portion of the suction nozzle follows “contour A (particularly, a contour line obtained by shifting the contour A in the stacking direction without changing the position in the horizontal direction)”.
- the suction nozzle is moved horizontally so that the suction port portion of the suction nozzle follows “contour B (particularly, a contour line obtained by shifting the contour B in the stacking direction without changing the position in the horizontal direction)”.
- the suction nozzle of the suction nozzle moves horizontally so that the suction nozzle traces "region C (particularly, the region C is shifted in the stacking direction without changing the position in the horizontal direction).
- the suction nozzle is horizontally moved so that the locus drawn by the mouth fills “region C (particularly, an area where region C is shifted in the stacking direction without changing the position in the horizontal direction).
- the suction nozzle may be reciprocated while gradually shifting the position in the horizontal direction so that the locus drawn by the suction port portion completely fills the area.
- FIG. 11 schematically shows a suction removal portion when viewed from above the solidified layer / modeling object.
- the powder region sucked and removed by the suction nozzle is along the contour A (FIG. 11A), the contour B (FIG. 11B), and the region C (FIG. 11C). It becomes a local region (FIG. 11D).
- FIG. 11A the contour A
- FIG. 11B the contour B
- FIG. 11C the region C
- the movement trajectory of the suction nozzle may be a predetermined distance offset (offset in the horizontal direction).
- the suction nozzle may be moved so as to have a locus along “contour A ′ offset from contour A”, “contour B ′ offset from contour B”, and “region C”. (See FIG. 13).
- the suction effect by the suction nozzle can be effectively exerted on the region near the side surface of the solidified layer / modeled object, and more efficient suction removal is possible in that respect.
- the powder removal is required to locally remove the powder present around the side of the modeling part to be subjected to the surface cutting process, and has a suction effect at a local location slightly outside from the side of the modeling part. Can be effective.
- the degree of offset is preferably determined according to the nozzle diameter of the suction nozzle and / or the tool diameter of the cutting tool. That is, the offset amount preferably depends on the “nozzle diameter of the suction nozzle” and / or the “tool diameter of the cutting tool”. For example, the offset amount ⁇ may be increased as the nozzle diameter d 1 of the suction nozzle is increased, and the offset amount ⁇ may be decreased as the nozzle diameter d 1 is decreased (see FIG. 14). For example, when the suction nozzle diameter d 1 is 1.8 mm to 10 mm, the offset amount ⁇ may be about 0.9 mm to 5 mm, which is half of the offset amount ⁇ .
- a mode in which the central axis of the trajectory T drawn by the central axis of the nozzle may be used. Therefore, as long as the nozzle diameter d 1 of the suction nozzle as or less large from 1.8 mm ⁇ 10 mm, accordingly, it may be respectively greater than or less the offset amount ⁇ from 0.9 mm ⁇ 5 mm. Similarly, the offset amount ⁇ may be increased as the tool diameter d 2 of the cutting tool is increased, and the offset amount ⁇ may be decreased as the tool diameter d 2 is decreased (see FIG. 14).
- the offset amount [delta] may be 0.25 mm ⁇ approximately 1.5mm in half, thus offset
- the trajectory may be a trajectory T central axis drawn by the central axis of the suction nozzle. Therefore, as long as the tool diameter d 2 of the cutting tool is one or less large from 0.5 mm ⁇ 3 mm, accordingly, it may be respectively greater than or less the offset amount ⁇ from 0.25 mm ⁇ 1.5 mm.
- the suction removal of the suction nozzle may be performed close to the surface of the powder layer. That is, at the time of suction removal, the separation distance between the “tip portion of the suction nozzle (suction port portion)” and the “powder layer formed closest” can be made particularly suitable for suction removal. .
- the separation distance between the “level of the tip of the suction nozzle (ie, the level of the suction port)” and the “powder layer formed most recently” Is preferably within 5 mm, that is, 0 (not including 0) to 5 mm.
- the separation distance is within 1 mm, that is, 0 (not including 0) to 1 mm, and more preferably about 0.4 mm to 1.0 mm. This is because, as demonstrated in FIG. 15, if the suction nozzle is moved with the tip of the suction nozzle closer to the “most recently formed powder layer”, the powder around the solidified layer can be efficiently removed. is there.
- the “uppermost formed powder layer” and the “most recently formed solidified layer” are substantially flush with each other before the powder is sucked and removed.
- the separation distance between the “tip portion of the suction nozzle (suction port portion)” and the “powder layer formed closest” is the distance between the “tip portion of the suction nozzle (suction port portion)” and the “nearest point”. It is synonymous with the separation distance between the "solidified layer formed by”.
- the suction nozzle is operated to move horizontally, for example, and the suction conditions (for example, the suction amount and the moving speed of the nozzle) are appropriately set according to the thickness (depth) of the powder layer at the suction location. You may change it. To illustrate this, when the thickness of the powder layer is larger (that is, when the powder layer at the portion to be removed by suction is deeper), the suction amount of the suction nozzle may be increased. When the thickness of the powder layer is larger (that is, when the powder layer to be sucked and removed is deeper), the scanning speed of the suction nozzle may be reduced.
- the suction conditions for example, the suction amount and the moving speed of the nozzle
- the suction conditions may be appropriately changed according to the shape of the modeled object that is close to the location to be sucked.
- a place where the powder layer is "broad" in the surroundings ie, a place where a relatively large amount of powder is present
- suction by the suction nozzle is performed at a place where the powder layer is "broad” in the surroundings.
- the amount may be larger.
- the suction amount of the suction nozzle is made smaller at locations where the powder layer is “narrow” in the vicinity, such as suction locations in the vicinity of the rib portion of the modeled object (that is, locations where there is relatively little powder around). You can do it.
- the scanning speed of the suction nozzle may be further reduced at a location where the powder layer exists “broadly” around the suction location in the vicinity of the outer portion of the modeled object.
- the scanning speed of the suction nozzle may be further increased at a location where the powder layer is “narrow” around the suction location in the vicinity of the rib portion of the modeled object.
- the suction method can be appropriately controlled according to the powder layer depth to be sucked and the shape of the modeled object in consideration of the “Z direction (vertical direction)”.
- the powder biting between the surface of the shaped object and the cutting tool is performed.
- the resulting tool breakage trouble can be reduced.
- the average period until tool breakage can be increased by about 80 to 400% (this is just an example, but the “tool breakage average interval” under a certain condition is increased from about 30 to 50 hours to about 140 to 150 hours. Can increase up to).
- the powder biting between the surface of the modeled object and the cutting tool is reduced, the load exerted on the surface of the modeled object during the cutting process can be reduced, and the surface smoothness of the modeled object can be improved.
- the surface roughness Rz of the portion subjected to surface cutting can be preferably 6 ⁇ m or less, more preferably 5 ⁇ m or less, and even more preferably 4 ⁇ m or less.
- the “surface roughness Rz” means “the height from the highest line to the highest peak” and “the lowest valley bottom” in the roughness curve (in the present invention, “cross-sectional profile of the solidified layer surface”). It means the roughness scale obtained by adding together the “depth to”.
- the program used in the present invention will be added. Specifically, a program for determining the scanning path (movement trajectory) of the suction nozzle, that is, a program for determining the powder exclusion path will be added.
- a program for determining the scanning path (movement trajectory) of the suction nozzle that is, a program for determining the powder exclusion path will be added.
- each contour line of the solidified layer cross section at heights h1 and h2 is projected on the XY plane and surrounded by the two projected contour lines.
- An area is extracted (see FIG. 16A). Through such extraction, the following exclusion paths 1 and 2 (paths 1 and 2 for local removal of powder) will be required.
- Exclusion path 1 A path that scans the contour lines of h1 and h2
- Exclusion path 2 A path that scans the area surrounded by the two projected contour lines at a predetermined pitch Note that the powder layer thickness Can be obtained based on the intersection of the vertical plane including the exclusion path and the cross-sectional outline of each layer (see FIG. 16B).
- the powder sucked and removed by the suction nozzle may be used again for the production of a shaped article. That is, the sucked and removed powder may be recycled.
- the sucked and removed powder may be automatically sieved and returned to the material powder tank.
- the suction removal by the suction nozzle may be performed at the time of forming the solidified layer and / or the surface cutting process.
- the powder may be removed by suction during solidified layer formation or surface cutting treatment. In such a modified mode, it is possible to remove the fumes generated during the formation of the solidified layer, and additionally or alternatively to remove the suspended powder and chips (chips) generated during the surface cutting process.
- the amount of inert gas injected into the chamber may be increased during suction removal by the suction nozzle. This is because an atmospheric gas (for example, a gas containing nitrogen gas) is sucked into the suction nozzle during suction removal, and the oxygen concentration in the chamber can be increased. That is, by increasing the inert gas injection amount, the inert gas atmosphere can be suitably maintained during suction removal.
- an atmospheric gas for example, a gas containing nitrogen gas
- the resulting three-dimensional shaped article is a plastic injection mold, a press mold, a die-cast mold, It can be used as a mold such as a casting mold or a forging mold.
- the powder layer is an organic resin powder layer and the solidified layer is a cured layer
- the obtained three-dimensional shaped article can be used as a resin molded product.
- Powder layer formation means 3
- Light beam irradiation means 4
- Cutting means 19
- Modeling table (support table) 21
- modeling plate 22
- powder layer for example, metal powder layer or resin powder layer
- Blade for squeezing 24
- Solidified layer for example, sintered layer or hardened layer
- three-dimensional shaped object 25 obtained therefrom
- Powder table 26 Wall part 27 of powder material tank 27
- Wall part 28 of modeling tank 28
- Powder material tank 29
- Light beam oscillator 31
- Galvano mirror 32
- Reflection mirror 33
- Condensing lens 40
- Milling head 41
- XY drive mechanism 41a X axis drive unit
- 41b Y axis drive unit 42
- Tool magazine 50
- Light transmission window 80
- Cutting tool 82
- Tooling 90
- Suction nozzle 92
- Suction nozzle Thin tube part
- Suction instrument 96 Connecting
Abstract
Description
(i)粉末層の所定箇所に光ビームを照射することよって、かかる所定箇所の粉末を焼結又は溶融固化させて固化層を形成する工程。
(ii)得られた固化層の上に新たな粉末層を敷いて同様に光ビームを照射して更に固化層を形成する工程。
(i)粉末層の所定箇所に光ビームを照射して当該所定箇所の粉末を焼結又は溶融固化させて固化層を形成する工程。
(ii)得られた固化層の上に新たな粉末層を形成し、その新たな粉末層の所定箇所に光ビームを照射して更なる固化層を形成する工程。
(a)固化層および/または三次元形状造形物が得られた後において固化層および/または三次元形状造形物の表面に切削工具で表面切削処理を施す工程を少なくとも1回含む。
(b)表面切削処理に先立っては、固化層および/または三次元形状造形物の周囲の粉末を吸引ノズルで吸引除去する。
(c)吸引除去においては、切削工具の切削可能最下レベルを考慮して、三次元形状造形物の周囲の粉末を局所的に除去する。
(a)切削工具の工具最下レベルに位置する固化層断面の輪郭A。
(b)最直近にて形成された固化層の上面の輪郭B。
(c)固化層(又は粉末層)の積層方向に向かって輪郭Aと輪郭Bとを同一平面に投影することを想定した際、「投影した輪郭Aが成す閉領域A’」から「投影した輪郭Bが成す閉領域B’」を除して得られる領域C。
まず、本発明の製造方法の前提となる粉末焼結積層法について説明する。説明の便宜上、材料粉末タンクから材料粉末を供給し、スキージング・ブレードを用いて材料粉末を均して粉末層を形成する態様を前提として粉末焼結積層法を説明する。また、粉末焼結積層法に際しては造形物の切削加工をも併せて行う複合加工の態様を例に挙げて説明する(つまり、図2(b)ではなく図2(a)に表す態様を前提とする)。図1、3および4には、粉末焼結積層法と切削加工とを実施できる光造形複合加工機の機能および構成が示されている。光造形複合加工機1は、粉末層形成手段2と、造形テーブル20と、造形プレート21と、光ビーム照射手段3と、切削手段4とを主として備えている。粉末層形成手段2は、金属粉末および樹脂粉末などの粉末を所定の厚みで敷くことによって粉末層を形成するためのものである。造形テーブル20は、外周が壁27で囲まれた造形タンク29内において上下に昇降できるテーブルである。造形プレート21は、造形テーブル20上に配され造形物の土台となるプレートである。光ビーム照射手段3は、光ビームLを任意の位置に照射するための手段である。切削手段4は、造形物表面(特に側面)を削るための機械加工手段である。
本発明は、上述した粉末焼結積層法のなかでも、表面切削処理に関連する態様に特徴を有している。
(a)切削工具の工具最下レベルに位置する固化層断面の輪郭A。
(b)最直近にて形成された固化層の上面の輪郭B。
(c)固化層の積層方向に向かって輪郭Aと輪郭Bとを同一平面(積層方向に垂直な平面)に投影することを想定した際、「投影した輪郭Aが成す閉領域A’」から「投影した輪郭Bが成す閉領域B’」を除いて得られる領域C。
かかる態様では、吸引ノズルの移動軌跡が輪郭A、輪郭Bおよび領域Cに沿った軌跡となるように吸引ノズルを移動操作させて粉末を局所的にのみ除去する。
「輪郭B」は、最直近にて形成された固化層の上面の輪郭線である。図9に示す態様から分かるように、輪郭Bは、表面切削処理を施す時点において最後に形成された固化層の最上面の輪郭線に相当する。
「領域C」は、図9に示すように「輪郭Aが成す閉領域A’」と「輪郭Bが成す閉領域B’」とを水平方向の位置を変えずに同一平面(XY平面)上で重ね合わせた際、閉領域A’から閉領域B’を除いて得られる局所的領域のことを指している。尚、三次元造形物が最終的に金型として用いられる場合、抜き勾配などの観点から積層方向(上方)へと幅狭くなる形状を造形物が有し得るので、閉領域B’は閉領域A’よりも小さく、かつ、上記同一平面上で閉領域A’に含まれるように位置付けられ得る。
・吸引ノズルの吸引口部が「輪郭A(特に水平方向の位置を変えずに輪郭Aを積層方向へとシフトさせた輪郭線)」をなぞるように吸引ノズルを水平移動させる。
・吸引ノズルの吸引口部が「輪郭B(特に水平方向の位置を変えずに輪郭Bを積層方向へとシフトさせた輪郭線)」をなぞるように吸引ノズルを水平移動させる。
・吸引ノズルの吸引口部が「領域C(特に水平方向の位置を変えずに領域Cを積層方向へとシフトさせたエリア」をなぞるように吸引ノズルを水平移動させる。つまり、吸引ノズルの吸引口部が描く軌跡が「領域C(特に水平方向の位置を変えずに領域Cを積層方向へとシフトさせたエリア」を塗りつぶすように吸引ノズルを水平移動させる。1つ例示すると、吸引ノズルの吸引口部が描く軌跡が前記エリアを隈なく塗りつぶすことになるように、水平方向に位置を漸次ずらしながら吸引ノズルを往復運動させてよい。
(1)排除経路1:h1およびh2の輪郭線上を走査する経路
(2)排除経路2:投影された2つの輪郭線で囲まれる領域を所定ピッチで塗りつぶすように走査する経路
尚、粉末層厚みについては、排除経路を含む垂直平面と各層の断面輪郭線との交点に基づいて求めることができる(図16(b)参照)。
本発明においては、吸引ノズルによる吸引除去時にチャンバー内の不活性ガス注入量を増やしてよい。なぜなら、吸引除去時には雰囲気ガス(例えば窒素ガスを含むガス)が吸引ノズルに吸い込こまれて、チャンバー内の酸素濃度が上昇し得るからである。つまり、不活性ガス注入量を増やすことによって、吸引除去時にて不活性ガス雰囲気を好適に維持することができる。
関連出願の相互参照
2 粉末層形成手段
3 光ビーム照射手段
4 切削手段
19 粉末/粉末層(例えば金属粉末/金属粉末層または樹脂粉末/樹脂粉末層)
20 造形テーブル(支持テーブル)
21 造形プレート
22 粉末層(例えば金属粉末層または樹脂粉末層)
23 スキージング用ブレード
24 固化層(例えば焼結層または硬化層)またはそれから得られる三次元形状造形物
25 粉末テーブル
26 粉末材料タンクの壁部分
27 造形タンクの壁部分
28 粉末材料タンク
29 造形タンク
30 光ビーム発振器
31 ガルバノミラー
32 反射ミラー
33 集光レンズ
40 ミーリングヘッド
41 XY駆動機構
41a X軸駆動部
41b Y軸駆動部
42 ツールマガジン
50 チャンバー
52 光透過窓
80 切削工具
82 ツーリング
90 吸引ノズル
92 吸引ノズルの細筒部
94 吸引器具
96 連結ホース
L 光ビーム
Claims (5)
- (i)粉末層の所定箇所に光ビームを照射して該所定箇所の粉末を焼結又は溶融固化させて固化層を形成する工程、および
(ii)得られた固化層の上に新たな粉末層を形成し、該新たな粉末層の所定箇所に光ビームを照射して更なる固化層を形成する工程
によって粉末層形成および固化層形成を繰り返して行う三次元形状造形物の製造方法であって、
前記固化層および/または前記三次元形状造形物が得られた後において該固化層および/または該三次元形状造形物の表面に切削工具で表面切削処理を施す工程を少なくとも1回含み、
前記表面切削処理に先立っては、前記固化層および/または前記三次元形状造形物の周囲の粉末を吸引ノズルで吸引除去し、
前記吸引除去においては、前記切削工具の切削可能最下レベルを考慮して、前記三次元形状造形物の周囲の前記粉末を局所的に除去し、また
前記吸引ノズルの移動軌跡が、
(a)前記切削工具の工具最下レベルに位置する固化層断面の輪郭A、
(b)最直近にて形成された固化層の上面の輪郭B、および
(c)前記固化層の積層方向に向かって前記輪郭Aと前記輪郭Bとを同一平面に投影することを想定した際、前記投影した輪郭Aが成す閉領域A’から前記投影した輪郭Bが成す閉領域B’を除して得られる領域C
に沿った軌跡となるように前記吸引ノズルを移動操作させて前記粉末を前記局所的に除去することを特徴とする、三次元形状造形物の製造方法。 - 前記移動操作に際しては、最直近にて形成された粉末層の上方において前記吸引ノズルを水平移動させることを特徴とする、請求項1に記載の三次元形状造形物の製造方法。
- 前記吸引ノズルの前記移動軌跡が、
前記輪郭Aに代えて、該輪郭Aからオフセットさせた輪郭A’、
前記輪郭Bに代えて、該輪郭Bからオフセットさせた輪郭B’、および
前記領域C
に沿った軌跡となるように前記吸引ノズルを移動操作することを特徴とする、請求項1または2に記載の三次元形状造形物の製造方法。 - 前記吸引ノズルのノズル径および/または前記切削工具の工具径に応じて前記オフセットの量を決めることを特徴とする、請求項3に記載の三次元形状造形物の製造方法。
- 前記吸引ノズルの先端部と、前記最直近にて形成された前記粉末層との間の離隔距離を5mm以内にすることを特徴とする、請求項2に従属する請求項3または4に記載の三次元形状造形物の製造方法。
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Cited By (2)
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CN110052713A (zh) * | 2019-03-22 | 2019-07-26 | 江南大学 | 零件增减材复合制造工艺 |
CN110052713B (zh) * | 2019-03-22 | 2020-04-10 | 江南大学 | 零件增减材复合制造工艺 |
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CN104768680B (zh) | 2016-08-24 |
CN104768680A (zh) | 2015-07-08 |
TW201529286A (zh) | 2015-08-01 |
EP2902137A1 (en) | 2015-08-05 |
EP2902137B1 (en) | 2017-11-15 |
JP2015017294A (ja) | 2015-01-29 |
EP2902137A4 (en) | 2015-11-11 |
US20150298211A1 (en) | 2015-10-22 |
JP5599921B1 (ja) | 2014-10-01 |
KR20150056661A (ko) | 2015-05-26 |
US9604282B2 (en) | 2017-03-28 |
KR101606426B1 (ko) | 2016-03-25 |
TWI549807B (zh) | 2016-09-21 |
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