WO2020004659A1

WO2020004659A1 - Three-dimensional shaping apparatus and three-dimensional shaping method

Info

Publication number: WO2020004659A1
Application number: PCT/JP2019/025971
Authority: WO
Inventors: 陽介赤松; 渉上田; 祥村田; 道子馬場; 大起林
Original assignee: 株式会社Ihi
Priority date: 2018-06-29
Filing date: 2019-06-28
Publication date: 2020-01-02

Abstract

A three-dimensional shaping apparatus for shaping a three-dimensional object by discharging a shaping material from a head and depositing the shaping material on a table provided below the head, wherein the apparatus is provided with: a first mechanism unit that at least makes it possible for the head to move relative to the table in the direction of each of three orthogonal axes; and a second mechanism unit that at least makes it possible for the table to rotate about a rotational axis line running in a direction parallel to the upper surface of the table.

Description

Three-dimensional printing apparatus and three-dimensional printing method

The present disclosure relates to a three-dimensional forming apparatus and a three-dimensional forming method for forming a three-dimensional object.

Conventionally, as a three-dimensional printing apparatus and a three-dimensional printing method, for example, as described in JP-T-2016-518267, a heated material is discharged from a head, and the material is deposited on a plate to form a three-dimensional object. A device for modeling is known. In this apparatus, an object is formed by moving a head according to the shape of the object to be formed and accumulating the material.

JP-T-2016-518267

However, in such an apparatus, it may be difficult to form an object having a desired strength. For example, in this type of apparatus, in general, when modeling an object, the head is reciprocated in the horizontal direction to form a cross section of the object, and the object is sequentially deposited upward to deposit the object. Shape it. At this time, if the direction in which the object is desired to be reinforced is not horizontal, it is difficult to form the object with a desired strength. For example, as shown in FIG. 13, when the head is reciprocated in the horizontal direction and the material is successively deposited from below the object 100 to form the material, the material is formed continuously in the horizontal direction. In this case, in the object 100, the strength in the horizontal direction increases, but the strength in the vertical direction decreases. That is, although the object 100 has the two

protruding portions

101, 101 protruding upward at the center position, the tensile strength in the vertical direction D1 is low, and the tensile strength in the oblique vertical direction D2 is also low.

Therefore, there is a demand for the development of a three-dimensional modeling apparatus and a three-dimensional modeling method capable of increasing the strength in a desired direction and modeling an object.

A three-dimensional modeling apparatus according to an embodiment of the present disclosure is a three-dimensional modeling apparatus that discharges a modeling material from a head, deposits the modeling material on a table provided below the head, and models a three-dimensional object. A first mechanism for relatively moving the head and the table in each of the three orthogonal axes, and a second mechanism for rotating the table at least about a rotation axis oriented in a direction parallel to the upper surface of the table And a unit. According to this three-dimensional printing apparatus, by providing the second mechanism that enables the table to rotate around the rotation axis directed in the direction parallel to the upper surface of the table, the rotation in the direction parallel to the upper surface of the table is provided. The table can be tilted by rotating the table about the axis. For this reason, it is possible to change the posture of the object being formed. Therefore, the head can be moved along the direction in which the object is to be strengthened, and the modeling material can be continuously attached in the direction in which the object is to be strengthened. Therefore, the object can be shaped by increasing the strength in a desired direction.

In addition, in the three-dimensional printing apparatus according to an aspect of the present disclosure, the first mechanism unit may move the head in each of three orthogonal directions with respect to the table. In this case, a desired object can be formed by moving the head with respect to the table.

In addition, in the three-dimensional printing apparatus according to an aspect of the present disclosure, the second mechanism unit may be configured to be able to rotate the table about a rotation axis directed in a direction perpendicular to the upper surface of the table. In this case, the direction of the object on the table can be easily changed by making the table rotatable about the rotation axis oriented in the vertical direction, and the object with the increased strength in the desired direction can be easily formed. Can be done.

Further, in the three-dimensional printing apparatus according to an aspect of the present disclosure, the table has a support member formed according to the shape of the object and supporting the object, and adjusts the operation of the first mechanism and the second mechanism. Controlling the attitude of one or both of the head and the table so that the molding material is discharged perpendicular to the surface of the support member, and relatively moving the head and the table so that the head is along the surface of the support member, A control unit for depositing the modeling material on the support member may be provided. In this case, since the support member is formed according to the shape of the object, the object can be modeled by depositing a modeling material on the support member. At this time, by depositing the modeling material along the surface of the support member, the strength of the object can be increased in a desired direction on the surface of the object.

In the three-dimensional printing apparatus according to an aspect of the present disclosure, the support member has a plurality of surfaces having different normal directions, and the control unit relatively moves the head and the table so that the head is along the plurality of surfaces. To deposit the build material on the plurality of surfaces. In this case, the head and the table can be relatively moved so that the head is along a plurality of surfaces having different normal directions of the support member, and the modeling material can be deposited in a desired direction on the plurality of surfaces. . Therefore, the strength of the object can be increased in a desired direction on the surface of the object.

Further, in the three-dimensional printing apparatus according to an aspect of the present disclosure, the control unit relatively controls the head and the table such that the head follows the surface of the support member while maintaining a predetermined interval between the head and the support member. May be moved. In this case, while the head and the table are maintained at a predetermined distance, the head and the table are relatively moved so that the head follows the surface of the support member, whereby the modeling material is appropriately deposited on the support member. Can be done.

Further, in the three-dimensional printing apparatus according to an aspect of the present disclosure, the control unit relatively moves the head and the table so that a discharge direction of a forming material discharged from the head is a normal direction of a surface of the support member. May be moved. In this case, the head and the table are relatively moved such that the discharge direction of the molding material discharged from the head is the normal direction of the surface of the support member, so that the build material is accurately deposited on the surface of the support member. Can be done.

In the three-dimensional modeling apparatus according to an embodiment of the present disclosure, the modeling material may be a material including a fiber-reinforced plastic. In this case, by using a material containing fiber-reinforced plastic as the modeling material, the fiber-reinforced plastic can be oriented in a direction in which the modeling material is continuously attached. For this reason, modeling of an object can be performed by increasing the strength in a desired direction.

A three-dimensional modeling method according to an aspect of the present disclosure is a three-dimensional modeling method that discharges a modeling material from a head, deposits a modeling material on a table provided below the head, and models a three-dimensional object. A rotating step of rotating the table about a rotation axis directed in a direction parallel to the upper surface of the table, and a modeling step of depositing a modeling material on the table to form an object. According to this three-dimensional modeling method, the table can be tilted by rotating the table about a rotation axis oriented in a direction parallel to the upper surface of the table, and the posture of the object during modeling can be changed. Therefore, the head is moved along the direction in which the object is to be strengthened, and the modeling material is easily deposited. Therefore, the object can be shaped by increasing the strength in a desired direction.

Further, in the three-dimensional modeling method according to an aspect of the present disclosure, the table includes a support member formed according to the shape of the object and supporting the object, and the rotating step is performed such that the modeling material is perpendicular to the surface of the support member. In the modeling step, the head and the table are relatively moved so that the head follows the surface of the support member, and the modeling material is deposited on the support member. In this case, since the support member is formed according to the shape of the object, the object can be modeled by depositing a modeling material on the support member. At this time, by depositing the modeling material along the surface of the support member, the strength of the object can be increased in a desired direction on the surface of the object.

In the three-dimensional modeling method according to an aspect of the present disclosure, the modeling step discharges the modeling material from the head toward the lower side in the vertical direction, and places the modeling material on the first attachment point on the first surface of the support member. An adhesion step of attaching, and a deposition step of continuously moving the head and the table while depositing the molding material from the head to deposit the molding material continuously on the support member, wherein the deposition step includes a first step. The modeling material may be deposited from the attachment point to a second attachment point on a second surface different from the first surface of the support member in a normal direction. In this case, the object can be smoothly modeled by continuously depositing the modeling material on the surfaces of the support member having different normal directions.

According to the present disclosure, it is possible to shape an object by increasing the strength in a desired direction.

FIG. 1 is a schematic configuration diagram of a three-dimensional printing apparatus according to the first embodiment of the present disclosure. FIG. 2 is an explanatory diagram of a second mechanism in the three-dimensional printing apparatus of FIG. FIG. 3 is a flowchart showing the operation of the three-dimensional printing apparatus of FIG. 1 and the three-dimensional printing method according to the first embodiment. FIG. 4 is an explanatory diagram of modeling of an object in the three-dimensional modeling apparatus of FIG. FIG. 5 is an explanatory diagram of an object that can be formed by the three-dimensional printing apparatus of FIG. 1 and the three-dimensional printing method according to the present embodiment. FIG. 6 is a schematic configuration diagram of a three-dimensional printing apparatus according to the second embodiment. FIG. 7 is an explanatory diagram of a robot arm in the three-dimensional printing apparatus of FIG. FIG. 8 is an explanatory diagram of a forming operation in the three-dimensional forming apparatus of FIG. FIG. 9 is a flowchart showing the operation of the three-dimensional printing apparatus of FIG. 6 and the three-dimensional printing method according to the second embodiment. FIG. 10 is an explanatory diagram of a forming operation in the three-dimensional forming apparatus of FIG. FIG. 11 is a diagram illustrating an object formed by using the three-dimensional forming apparatus of FIG. 6 and the three-dimensional forming method according to the second embodiment. FIG. 12 is a diagram illustrating an object of a comparative example. FIG. 13 is an explanatory diagram of the background art.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description.

(First embodiment)
FIG. 1 is a schematic configuration diagram of a three-dimensional printing apparatus according to the first embodiment of the present disclosure. The three-dimensional printing apparatus 1 is an apparatus that discharges a forming material from a head 2 and deposits the forming material on a table 3 (stage) provided below the head 2 to form a three-dimensional object. The three-dimensional printing apparatus 1 of the present embodiment is applied to an AM (Additive Manufacturing) apparatus of a so-called FDM (Fused Deposition Modeling) method. That is, in the three-dimensional modeling apparatus 1, the heated modeling material is extruded from the head 2, and the modeling material is deposited (laminated or adhered) on the table 3 to form an object. As the modeling material, for example, a material containing fiber-reinforced plastics (FRP) is used. Specifically, the molding material is a material containing a fiber reinforced plastic and a resin. In this case, the modeling material is arranged with the direction of the fiber oriented in the moving direction of the head 2. Examples of the fiber-reinforced plastic include those using glass fiber, carbon fiber, and the like. Further, examples of the fiber-reinforced plastic include those using discontinuous fibers or continuous fibers. Further, as the modeling material, a material other than the fiber reinforced plastic may be used. For example, a resin (for example, nylon, ABS, PC, PEEK, PEI) that can be formed by the FDM method may be used as the forming material.

The head 2 is a part for discharging the heated molding material and supplying it onto the table 3. A discharge port 21 is formed on the lower surface of the head 2. The discharge port 21 is an opening for discharging the molding material. The discharge port 21 is formed, for example, at the tip of a nozzle provided on the lower surface of the head 2. A heater (not shown) is provided in the head 2 and heats a modeling material supplied from the outside by the heater. The head 2 is provided so as to be relatively movable with respect to the table 3. The head 2 is provided such that the discharge port 21 faces directly below. That is, the head 2 is provided so that the modeling material is discharged in the direction of gravity (vertical direction). For this reason, the discharge and deposition of the molding material can be performed stably, and the molding quality can be made uniform. Therefore, high quality modeling is possible. The head 2 may be provided so that the modeling material is discharged substantially vertically. In addition, the head 2 may be configured such that the ejection direction of the head 2 is a direction other than the vertical direction (for example, a horizontal direction) according to a molding situation or the like. The table 3 is a base member for performing modeling, and for example, a plate-shaped member is used. The table 3 supports the modeling material discharged from the head 2 and the object being modeled. In addition, the table 3 may be a stage that supports the molding material and the object being molded, or may be a plate that is set on the stage.

The table 3 may be provided with a support member 31 (see FIG. 4). The support member 31 is a support member that supports the object O to be formed, and is formed according to the shape of the object O. The object O can be formed by depositing the forming material on the support member 31. At this time, by forming the modeling material along the surface of the support member 31, it is possible to perform modeling that increases the strength of the object O along the surface of the object O. That is, on the surface of the object O, modeling can be performed by arbitrarily increasing the strength in the direction in which the strength is desired to be increased. Further, the surface of the table 3 may be made to have a shape corresponding to the shape of the object O to function as the support member 31.

において In FIG. 1, the three-dimensional printing apparatus 1 includes a first mechanism unit 4. The first mechanism unit 4 is a mechanism that enables the head 2 to move relative to the table 3 in each of three orthogonal directions. For example, the first mechanism unit 4 is configured to be able to move the head 2 in each of three axes orthogonal to the table 3. The first mechanism section 4 is attached to a frame 82 provided on the base member 81. The base member 81 is a flat member. The frame 82 is, for example, a frame forming a rectangular parallelepiped. The frame 82 is formed by erecting four column members 82a on a base member 81, and bridging beam members 82b between upper ends of the column members 82a. I have.

The first mechanism section 4 includes the slider 41. The slider 41 is a member that moves in the front-rear direction (X-axis direction) of the table 3. For example, a long member arranged horizontally is used as the slider 41. The slider 41 is provided between two beam members 82b provided in parallel on the frame body 82, and is provided movably along the longitudinal direction of the beam members 82b. A rail is formed along the longitudinal direction of the beam member 82b, and the slider 41 is movable along the rail. The slider 41 is moved by driving an actuator (not shown).

The first mechanism unit 4 includes the pole 42. The pole 42 is a member that moves in the left-right direction (Y-axis direction) of the table 3. For example, the pole 42 is attached to the slider 41 and provided so as to be movable in the longitudinal direction (Y-axis direction) of the slider 41. A rail is formed along the longitudinal direction of the slider 41, and the pole 42 is movable along the rail. The pole 42 is moved by driving an actuator (not shown).

The movable member 43 is attached to the pole 42. The movable member 43 is a member that moves in the vertical direction (Z-axis direction) of the table 3. For example, the movable member 43 is attached to the pole 42 and provided so as to be movable in the longitudinal direction (Z-axis direction) of the pole 42. A movable member 43 is slidably attached to the pole 42, and the movable member 43 is moved by driving an actuator (not shown).

ヘッド The head 2 is attached to the movable member 43. The head 2 moves integrally with the movable member 43. For this reason, the head 2 can be moved in each of three orthogonal directions with respect to the table 3 by the operation of the first mechanism 4. Note that the first mechanism unit 4 may be configured by a mechanism other than the above-described mechanism as long as the head 2 can relatively move in the three orthogonal directions with respect to the table 3. Further, the first mechanism unit 4 may be a mechanism for rotating the head 2 around the rotation axis in a different direction, in addition to moving the head 2 relatively to each of the three orthogonal axes with respect to the table 3.

The three-dimensional printing apparatus 1 includes the second mechanism 5. FIG. 2 is a perspective view illustrating an outline of the second mechanism unit 5. The second mechanism 5 is a mechanism for rotating the table 3. For example, as shown in FIG. 2, the second mechanism unit 5 enables the table 3 to rotate around a rotation axis A1 oriented in a direction (for example, a horizontal direction) parallel to the upper surface of the table 3, and The table 3 is configured to be rotatable around a rotation axis A2 directed in a direction perpendicular to the upper surface of the table 3. The second mechanism section 5 includes a first actuator 51 and a second actuator 52. The first actuator 51 rotates the table 3 around a rotation axis A1 directed in a direction parallel to the upper surface of the table 3. For example, the first actuator 51 includes a motor and a gear, and is provided so as to be able to rotate the second actuator 52 and the table 3 around the rotation axis A1.

The second actuator 52 is provided so as to be rotatable about a rotation axis A1 with respect to a support 53 attached to the base member 81 (see FIG. 1). Then, by the operation of the first actuator 51, a rotational force is applied to the second actuator 52, so that the second actuator 52 and the table 3 rotate around the rotation axis A1. In FIG. 2, the rotation axis A1 is oriented in the horizontal direction.

The table 3 is attached to the second actuator 52 so as to be rotatable about the rotation axis A2. For example, the second actuator 52 includes a motor, a gear, and the like, and is provided so as to be able to rotate the table 3 about the rotation axis A2.

The table 3 is rotatable around the rotation axis A1 and the rotation axis A2 by the operation of the first actuator 51 and the second actuator 52 of the second mechanism unit 5. By rotating the table 3 about the rotation axis A1, the table 3 can be tilted, and the posture of the object being formed can be changed. Further, the rotation of the table 3 about the rotation axis A2 causes the table 3 to rotate on its own axis, thereby making it possible to change the direction of the object being formed. The second mechanism section 5 may be configured by a mechanism other than the above-described mechanism as long as the mechanism can rotate the table 3 around the rotation axis A1 and the rotation axis A2. In addition, the second mechanism unit 5 may be a mechanism that rotates the table 3 about three rotation axes.

In FIG. 1, the three-dimensional printing apparatus 1 includes a control unit 6 and an HMI (Human Machine Interface) 7. The control unit 6 is an electronic control unit that controls the operation of the three-dimensional printing apparatus 1, and includes, for example, a computer including a CPU, a ROM, and a RAM. The control unit 6 is electrically connected to the first mechanism unit 4 and controls the operation of the first mechanism unit 4. For example, the control unit 6 outputs a control signal to the first mechanism unit 4 to operate the first mechanism unit 4, and moves the head 2 according to the modeling of the object. The control unit 6 is electrically connected to the second mechanism unit 5 and controls the operation of the second mechanism unit 5. For example, the control unit 6 outputs a control signal to the second mechanism unit 5 to operate the second mechanism unit 5, and rotates the table 3 according to the modeling of the object. The control unit 6 is electrically connected to a material supply device (not shown), adjusts the supply of the molding material to the head 2, and controls the ejection of the molding material from the head 2.

The control unit 6 stores the modeling data of the object. For example, the control unit 6 stores three-dimensional CAD (Computer-Aided Design) data of an object to be formed. Then, the control unit 6 sets the position of the head 2, the rotation state of the table 3, the discharge amount of the molding material, and the like according to the shape of the object. The position data of the head 2 at the time of modeling may be set as movement locus data of the head 2.

The HMI 7 is an input / output device for the three-dimensional printing apparatus 1, and corresponds to, for example, an input unit for performing operation input and data input such as operation buttons, a keyboard, a mouse, and an output unit such as a speaker and a monitor. The HMI 7 may be configured integrally with the control unit 6.

Next, the operation of the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment will be described.

FIG. 3 is a flowchart showing the operation of the three-dimensional printing apparatus 1 and the three-dimensional printing method. The control process in FIG. 3 is executed by the control unit 6, for example. First, in step S1 of FIG. 3 (hereinafter simply referred to as S1; the same applies to the following steps), data setting processing is performed. The setting process is a process of storing shape data of an object to be formed, setting position data of the head 2 (building material deposition trajectory data) and rotation data of the table 3 at the time of forming according to the shape of the object. It is.

(5) Then, the process proceeds to S2, and the process of the operation instruction is performed. This process is a process for instructing an operation related to modeling. For example, the control unit 6 reads necessary operation data when forming an object, and outputs control signals to the head 2, the first mechanism unit 4, the second mechanism unit 5, and the like.

Then, the process proceeds to S3 and S4, where the rotation process of the table 3 and the shaping process of the object are performed. The rotation process of the table 3 in S3 is a process of controlling the rotation of the table 3 in shaping the object, and rotates the table 3 about the rotation axis A1 and the rotation axis A2. For example, a control signal is output from the control unit 6 to the second mechanism unit 5, and the table 3 is rotated by the operation of the second mechanism unit 5.

The shaping process of the object in S4 is a process for controlling the movement of the head 2 with respect to the table 3 and controlling the ejection of the shaping material from the head 2. For example, a control signal is output from the control unit 6 to the first mechanism unit 4, and the head 2 moves by the operation of the first mechanism unit 4. Further, the heated molding material is discharged from the head 2 according to a control signal from the control unit 6. In FIG. 3, the rotation process of the table 3 and the shaping process of the object are shown as separate steps, but may be executed as the same step process.

FIG. 4 is a diagram showing a modeling state of the object O. That is, FIG. 4 shows a state in which the object O is formed on the table 3 by performing the rotation processing in S3 and the forming processing in S4. In FIG. 4, a trapezoidal support member 31 is provided on the table 3, and a central portion of the object O is formed on the support member 31. That is, the control unit 6 adjusts the operation of the first mechanism unit 4 and the second mechanism unit 5, and one or both of the head 2 and the table 3 so that the modeling material is discharged perpendicular to the surface of the support member 31. Is controlled, the head 2 and the table 3 are relatively moved along the surface of the support member 31 to deposit a molding material on the support member 31 and form the object O.

4) As shown in FIG. 4A, when forming a region parallel to the upper surface of the table 3 for the object O, the table 3 is rotated so that the parallel region faces horizontally. Thus, the object 2 can be formed by moving the head 2 horizontally with the discharge port 21 facing directly below. That is, by discharging the heated modeling material from the discharge port 21 while moving the head 2 along the modeling region of the object O, the modeling material can be continuously deposited on the modeling region.

In addition, as shown in FIG. 4B, when forming a region of the object O obliquely inclined with respect to the upper surface of the table 3, the table 3 is rotated so that the obliquely inclined region is horizontal. . Thus, the object 2 can be formed by moving the head 2 horizontally with the discharge port 21 facing directly below.

{Circle around (4)} As shown in FIG. 4 (c), when forming a region of the object O perpendicular to the upper surface of the table 3, the table 3 is rotated so that the perpendicular region is horizontal. Thus, the object 2 can be formed by moving the head 2 horizontally with the discharge port 21 facing directly below.

{Circle around (4)} As shown in FIG. 4D, when forming a region of the object O parallel to the upper surface of the table 3, the table 3 is rotated so that the parallel region is horizontal. Thus, the object 2 can be formed by moving the head 2 horizontally with the discharge port 21 facing directly below.

As described above, in the rotation processing of S3 and the molding processing of S4 in FIG. 3, the table 3 is rotated to adjust the direction and the attitude of the object O and to attach the molding material, so that the discharge port 21 is directed downward. In this state, the head 2 is moved horizontally, and a modeling material is continuously attached to the object O in a desired direction to form the object O. For this reason, the object can be shaped by increasing the strength in a desired direction.

For example, even if the ejection port 21 of the head 2 faces directly below, it is difficult to bring the ejection port 21 of the head 2 close to the area where the object O is formed if the region where the object O is formed is not parallel. . In other words, if the head 2 is to be brought close to the region where the modeling is to be performed, the end of the lower surface 22 of the head 2 will contact the region where the modeling is to be performed. For this reason, the molding material must be discharged away from the region where the head 2 is to be molded, and it is difficult to deposit the molding material at a desired position. Therefore, the modeling accuracy is reduced.

In this case, it is also conceivable that the head 2 is inclined in accordance with the inclination of the forming region so that the opening of the discharge port 21 of the head 2 is parallel to the region where the object O is formed. For example, there is a case where a robot arm or the like is used as a moving mechanism of the head 2. However, in this case, since the discharge port 21 does not face directly below, it is difficult to accurately deposit the modeling material discharged from the discharge port 21 at a desired position. Therefore, the modeling accuracy of the object is reduced.

On the other hand, in the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment, the table 3 can be tilted by the operation of the second mechanism 5 to change the attitude of the object O. For this reason, the head 2 is moved horizontally with the discharge port 21 facing downward, and the modeling material is attached to the object O in a desired direction so that the modeling of the object O can be performed. Therefore, as shown in FIG. 5, the object O can be shaped by increasing the strength in a desired direction. In FIG. 5, the solid line shown on the object O indicates the direction in which the modeling material is continuously attached. In particular, this is effective when a material containing fiber-reinforced plastic is used as the molding material. In this case, since the fiber-reinforced plastic can be oriented in a direction in which the modeling material is continuously attached, the object O can be modeled by increasing the strength in a desired direction.

Then, the process proceeds to S5 in FIG. 3, and it is determined whether or not the shaping of the object O has been completed. For example, it is determined whether or not the shaping of the object O has been completed based on whether or not the shaping operation of the object O has been completed according to the preset deposition trajectory data of the forming material. In S5, when it is determined that the shaping of the object O has not been completed, the process returns to S3 and S4, and the rotation processing of the table and the shaping processing are performed. On the other hand, if it is determined in S5 that the modeling of the object O has been completed, the series of control processes shown in FIG. 3 is terminated.

As described above, according to the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment, the table 3 can be rotated around the rotation axis A1 directed in a direction parallel to the upper surface of the table 3. Thereby, the table 3 can be rotated about the rotation axis A1 to tilt the table 3. For this reason, it is possible to change the attitude of the object O being formed. Therefore, the head 2 can be easily moved along the direction in which the object O is desired to be strengthened, and the strength of the object O can be increased in a desired direction to form the object O.

Further, according to the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment, the table 3 is rotatable around the rotation axis A1 directed in a direction parallel to the upper surface of the table 3, whereby the rotation axis The attitude of the object O can be adjusted by rotating the table 3 around A1. For this reason, the head 2 is horizontally moved with the discharge port 21 facing directly downward, and the modeling material is attached to the object O in a desired direction so that the modeling of the object O can be performed. Therefore, the object O can be shaped by increasing the strength in a desired direction.

Further, according to the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment, the table 3 is rotatable around the rotation axis A2 directed in a direction perpendicular to the upper surface of the table 3, and thus the rotation axis is The direction of the object O can be easily changed by rotating the table 3 around A2. Therefore, it is possible to easily form the object O having the increased strength in a desired direction.

In the three-dimensional modeling apparatus 1 and the three-dimensional modeling method according to the present embodiment, the table 3 is rotatable around the rotation axis A1 and the rotation axis A2 that are orthogonal to each other. I can do it. For example, if the table 3 is rotatable about the rotation axis A2 and the object on the table 3 is rotated about the rotation axis A1 to perform modeling, it is difficult to form an object having a complicated shape. is there. Specifically, in the object 100 as shown in FIG. 6, the posture of the object 100 is adjusted so that the inclined surface of the protruding portion 101 is oriented in the horizontal direction, and the upper surface of the inclined portion that extends left and right is horizontally oriented. It is difficult to adjust the attitude of the object 100 so that the object 100 is directed toward. For this reason, it is difficult to increase the strength of an object having a complicated shape such as the object 100 in a desired direction and form the object. On the other hand, in the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the present embodiment, the table 3 is rotatable about the rotation axis A1 and the rotation axis A2 that are orthogonal to each other. Can be easily adjusted, and an object having a complicated shape can be formed.

In addition, in the three-dimensional modeling apparatus 1 and the three-dimensional modeling method according to the present embodiment, by using a material including a fiber-reinforced plastic as a modeling material, the fiber-reinforced plastic can be oriented in a direction in which the modeling material is continuously attached. it can. For this reason, the strength of a desired direction is increased and the object O can be easily formed.

(Second embodiment)
Next, a three-dimensional printing apparatus 1a and a three-dimensional printing method according to a second embodiment will be described.

FIG. 6 is a schematic configuration diagram of a three-dimensional printing apparatus according to the second embodiment. The three-dimensional printing apparatus 1a according to the present embodiment is a hot-melt lamination type printing apparatus, like the three-dimensional printing apparatus 1 according to the first embodiment described above. The three-dimensional modeling apparatus 1a is different from the three-dimensional modeling apparatus 1 according to the first embodiment in that the position of the head 2 is fixed, and the table 3 moves and changes the posture to form an object on the table 3. Is different.

The head 2 is attached to the frame 83. The frame 83 is provided on the base member 81, and arranges the head 2 above the base member 81. For example, the frame 83 has a structure in which a beam member 83b is erected above two pillar members 83a. The head 2 is fixed to the beam member 83b.

The three-dimensional printing apparatus 1 a includes the robot arm 9. The robot arm 9 functions as a first mechanism for relatively moving the head 2 and the table 3 in each of three orthogonal axes. In addition, the robot arm 9 enables the table 3 to rotate around a rotation axis oriented in a direction parallel to the upper surface of the table 3, and also moves the table around a rotation axis oriented perpendicular to the upper surface of the table 3. It functions as a rotatable second mechanism. The robot arm 9 is attached to the base member 81, and is provided with the table 3 at the tip. The robot arm 9 operates according to a control signal from the control unit 6.

FIG. 7 is a schematic diagram of the configuration of the robot arm 9. The robot arm 9 is operated with, for example, six degrees of freedom, and is provided so as to be able to change the position and posture (direction) of the table 3 with respect to the head 2. Specifically, the robot arm 9 has a plurality of links 91 to 94 and a plurality of joints 95 to 97, and is configured to be able to change the position and orientation of the table 3. The link portions 91 to 94 are rod-shaped members extending in the axial direction. The link portion 91 is oriented vertically, and its base end is attached to the upper surface of the base member 81. The link portion 91 is configured to be rotatable about the axis of the link portion 91. A link portion 92 is attached to a distal end side of the link portion 91 via a joint portion 95. The joint 95 is configured to be rotatable about a horizontal axis. Due to the rotation of the joint 95, the link 92 rotates around the rotation axis of the joint 95.

リンク A link portion 93 is attached to the distal end side of the link portion 92 via a joint portion 96. The joint 96 is configured to be rotatable about a horizontal axis. The link 93 rotates around the rotation axis of the joint 96 by the rotation of the joint 96. The link portion 93 is configured to be rotatable about the axis of the link portion 93. A link portion 94 is attached to a distal end side of the link portion 93 via a joint portion 97. The joint 97 is configured to be rotatable about a horizontal axis. The rotation of the joint 97 causes the link 94 to rotate about the rotation axis of the joint 97. The link portion 94 is configured to be rotatable about the axis of the link portion 94.

テーブル The table 3 is attached to the distal end side of the link part 94. The table 3 is a part on which an object O is formed by depositing a forming material. The upper surface of the table 3 has a shape corresponding to the shape of the object O, and functions as a support member. That is, the table 3 is configured by integrating the support member on the upper surface of the flat plate, and has a surface shape corresponding to the shape of the object O. For example, the upper surface of the table 3 is formed in a truncated quadrangular pyramid. Note that a flat table 3 may be used, and a support member according to the shape of the object O may be attached to the upper surface of the table 3. The table 3 functioning as a support member has a plurality of surfaces having different normal directions. Here, the normal direction means a direction perpendicular to the plane portion and a direction perpendicular to the curved surface portion on the surface of the table 3.

The robot arm 9 operates in response to a control signal from the control unit 6, and moves the table 3 with respect to the head 2 so that the upper surface of the table 3 is perpendicular to the discharge direction of the molding material of the head 2. Adjust the posture of 3. That is, the robot arm 9 adjusts the attitude of the table 3 so that the direction of ejection of the modeling material ejected from the head 2 is the normal direction of the surface of the table 3. If there is already a modeling part (part in the middle of modeling) of the object O on the table 3, the attitude of the table 3 is adjusted so as to be in the normal direction of the surface of the modeling part. In this case, the posture of the table 3 is adjusted by regarding the surface of the modeling portion of the object O as the surface of the table 3 or the surface of the support member. Then, the robot arm 9 moves the table 3 with the plurality of surfaces of the table 3 sequentially along the head 2. The ejection direction of the head 2 is a vertical direction. In the present embodiment, the head 2 is fixed and its position and orientation are not changed, so that the ejection direction of the head 2 always faces downward. Here, the vertical direction includes a substantially vertical direction that does not hinder the discharge of the molding material. When moving the table 3 with respect to the head 2, the robot arm 9 moves the table 3 while maintaining a predetermined interval between the head 2 and the table 3. Here, the predetermined interval is an interval set in advance, and is, for example, a constant interval. When there is already a modeling portion of the object O on the table 3, the table 3 is moved while maintaining a predetermined interval between the modeling portion and the head 2. In this case, the table 3 is moved by regarding the modeling portion of the object O as the table 3 or the support member. When the modeling is performed on the modeling portion of the object O, as illustrated in FIG. 8, the modeling may be performed on a portion other than the modeling portion deposited last time. For example, the table 3 may be moved along the surface composed of a plurality of layers at the end of the modeling portion of the object O.

Next, the operation of the three-dimensional printing apparatus 1a and the three-dimensional printing method according to the present embodiment will be described.

FIG. 9 is a flowchart showing the operation of the three-dimensional printing apparatus 1a and the three-dimensional printing method. The control process in FIG. 9 is executed by the control unit 6, for example. First, data setting processing is performed in S11 of FIG. This setting process is a process of storing shape data of an object to be formed and performing setting of position data of the table 3 and rotation data (posture data or orientation data) of the table 3 at the time of forming according to the shape of the object. is there.

(5) Then, the process proceeds to S12, and an operation instruction process is performed. This process is a process for instructing an operation related to modeling. For example, the control unit 6 reads necessary operation data when forming an object, and outputs control signals to the head 2 and the robot arm 9.

(5) Then, the process proceeds to S13, and the object forming process is performed. This shaping process is a process for controlling the operation of the robot arm 9 and controlling the ejection of the shaping material from the head 2. 6, the control unit 6 outputs a control signal to the head 2 and the robot arm 9. Thereby, as shown in FIG. 10, the robot arm 9 operates to move the table 3 near the ejection position of the head 2. Then, a modeling material is deposited on the table 3, and the object O is modeled. At this time, the table 3 functioning as a support member has a plurality of surfaces having different normal directions. The build material is deposited continuously over a plurality of surfaces having different normal directions. For example, the control unit 6 causes the modeling material to be discharged from the head 2 downward in the vertical direction, and causes the modeling material to adhere to the first attachment point 311 a of the first surface 311 of the table 3. The control unit 6 moves the table 3 relatively to the head 2 while discharging the modeling material from the head 2, and moves the modeling material to the second attachment point 312 a on the second surface 312 of the table 3. Deposit. The first surface 311 and the second surface 312 are surfaces having different normal directions. The angle difference between the normal direction of the first surface 311 and the normal direction of the second surface 312 may be an acute angle, a right angle, or an obtuse angle. As described above, even if the surface having different normal directions is formed on the table 3 functioning as the support member, the modeling material is continuously deposited on the surfaces having different normal directions, and the object O is smoothly formed. be able to.

Then, the processing shifts to S14 in FIG. 9, and it is determined whether the shaping of the object O is completed. For example, it is determined whether or not the molding of the object O has been completed based on whether or not the molding operation of the object O has been completed in accordance with the preset molding data of the molding material. In S14, when it is determined that the shaping of the object O is not completed, the process returns to S12 and S13, and the shaping process and the like are performed. On the other hand, if it is determined in S14 that the modeling of the object O has been completed, a series of control processes shown in FIG. 9 is ended.

As described above, according to the three-dimensional printing apparatus 1a and the three-dimensional printing method according to the present embodiment, the table 3 functions as a support member and is formed according to the shape of the object. The object O can be formed by depositing the forming material. At this time, by depositing the modeling material along the surface of the table 3, the strength of the object can be increased in a desired direction on the surface of the object.

For example, when the shape of the table 3 is a truncated quadrangular pyramid as shown in FIG. 11, the object O can be shaped as a frame of a truncated quadrangular pyramid. In this shaping, a shaping material can be deposited along the longitudinal direction of the member constituting the object O to perform shaping. Therefore, the strength of the object O can be increased in the longitudinal direction of the members constituting the object O. That is, since the modeling material is provided continuously in the longitudinal direction of the members constituting the object O, the strength of the members constituting the object O can be increased.

On the other hand, as shown in FIG. 12, when the object 200 is formed on a flat table having no support member (support member), the forming material can be deposited only in a direction parallel to the upper surface of the table. For this reason, it is difficult to deposit a modeling material on the member 201 extending in a direction intersecting the upper surface of the table along the longitudinal direction. Therefore, in the member 201 constituting the object O, the modeling material cannot be connected in the longitudinal direction, and the strength of the member 201 constituting the object O is low. On the other hand, in the three-dimensional modeling apparatus 1a and the three-dimensional modeling method according to the present embodiment, by providing the table 3 with the support member that supports the object O, the modeling material is connected in the longitudinal direction of the member configuring the object O. Therefore, the strength of the members constituting the object O can be increased.

Further, according to the three-dimensional printing apparatus 1a and the three-dimensional printing method according to the present embodiment, the head 2 and the table 3 are relatively moved so that the head 2 follows a plurality of surfaces of the table 3 having different normal directions. The build material can be deposited in a desired direction over a plurality of surfaces. Therefore, the strength of the object O can be increased in a desired direction on the surface of the object O.

Further, according to the three-dimensional printing apparatus 1 a and the three-dimensional printing method according to the present embodiment, the head 2 is arranged along the surface of the table 3 while maintaining the space between the head 2 and the table 3 at a predetermined interval. And the table 3 are relatively moved. Therefore, the object O can be modeled by appropriately depositing the modeling material on the table 3.

Further, according to the three-dimensional printing apparatus 1a and the three-dimensional printing method according to the present embodiment, the head 2 and the head 2 are set so that the discharging direction of the forming material discharged from the head 2 is the normal direction of the surface of the table 3. The table 3 moves relatively. Therefore, the modeling material can be accurately deposited on the surface of the table 3 functioning as a support member.

Note that the present disclosure is not limited to the above-described embodiments. The present disclosure can take various modifications without departing from the gist of the claims.

For example, in the first embodiment described above, a case has been described in which the second mechanism unit 5 enables the table 3 to rotate around the rotation axis A1 and the rotation axis A2. The table 3 may be rotatable around the center. Specifically, in FIG. 2, the table 3 may be rotatable around the rotation axis A1 by the first actuator 51, and the installation of the second actuator 52 may be omitted. Even in this case, the same operation and effect as those of the three-dimensional printing apparatus 1 and the three-dimensional printing method according to the above-described embodiment can be obtained. That is, by enabling the table 3 to rotate around the rotation axis A1 oriented in a direction parallel to the upper surface of the table 3, the table 3 can be rotated around the rotation axis A1 to tilt the table 3. For this reason, it is possible to change the attitude of the object O being formed. Therefore, the head 2 can be easily moved along the direction in which the object O is desired to be strengthened, and the strength of the object O can be increased in a desired direction to form the object O.

Further, for example, in each of the above-described embodiments, the case where the table 3 and the head 2 are set on the base member 81 has been described. However, the table 3 and the head 2 are installed in a sealed chamber to perform modeling. It may be performed. By accommodating the table 3 and the head 2 in the chamber, it is possible to adjust the temperature during molding. Further, in the three-dimensional modeling apparatus 1 described above, the apparatus can be reduced in size and can be easily housed in the chamber. By adjusting the temperature during molding, thermal warpage (a phenomenon in which the object warps after molding due to the temperature difference between the already molded part and the newly molded part) and defects in crystallization (cooling rate when using a crystalline resin) Is too high, the ratio of the non-crystalline portion increases).

Further, in the first embodiment described above, a case has been described in which the head 2 is movable in three orthogonal axes and the table 3 is rotatable in two orthogonal axes. The shaft may be provided on the table 3 side. For example, the head 2 may be movable in the XY axes, the table 3 may be movable in the Z axis, and the table 2 may be rotatable in two orthogonal axes.

Further, in the first embodiment described above, the case of the five-axis operation in which the head 2 is movable in the three orthogonal axes and the table 3 is rotatable in the two orthogonal axes has been described. It may be a case where a multi-axis operation can be performed. For example, the head 2 may be movable in three orthogonal axes and rotatable in two orthogonal axes, the table 3 may be rotatable in two orthogonal axes, and may be operated in seven axes.

As described above, since the head 2 can be moved in three orthogonal axes and can be rotated in two orthogonal axes, the degree of freedom of the shape of the object to be formed can be increased. By rotating the head 2, the ejection direction of the head 2 may be different from the direction of gravity (vertical direction). In this case, the discharge and deposition of the modeling material may be stabilized by controlling the rotation angle of the head 2 so that the discharge direction of the head 2 becomes substantially the direction of gravity.

According to the three-dimensional modeling apparatus and the three-dimensional modeling method of the present disclosure, it is possible to perform modeling of an object by increasing strength in a desired direction.

DESCRIPTION OF SYMBOLS 1 3D modeling apparatus 2 Head 3 Table 4 1st mechanism part 5 2nd mechanism part 6 Control part 7 HMI
9 Robot arm (first mechanism, second mechanism)
21 Discharge port 31 Support member (support member)
41 Slider 42 Pole 43 Movable member 51 First actuator 52 Second actuator 81 Base member 82 Frame 83 Frame 311 First surface 311a First attachment point 312 Second surface 312a Second attachment point A1 Rotation axis A2 Rotation axis O Object

Claims

A three-dimensional modeling apparatus that discharges a modeling material from a head, deposits the modeling material on a table provided below the head, and models a three-dimensional object,
A first mechanism unit that relatively moves the head and the table in each of three orthogonal axes,
A second mechanism unit that enables the table to rotate around a rotation axis directed at least in a direction parallel to the upper surface of the table,
A three-dimensional modeling device comprising:
The first mechanism section enables the head to move in each of three orthogonal axes with respect to the table.
The three-dimensional printing apparatus according to claim 1.
The second mechanism unit enables the table to rotate around a rotation axis oriented in a direction perpendicular to the upper surface of the table,
The three-dimensional printing apparatus according to claim 1.
The table has a support member formed according to the shape of the object and supporting the object,
Adjusting the operation of the first mechanism and the second mechanism, controlling the attitude of one or both of the head and the table so that the modeling material is discharged perpendicular to the surface of the support member, The head includes a controller that relatively moves the head and the table along the surface of the support member, and deposits the modeling material on the support member.
The three-dimensional modeling apparatus according to any one of claims 1 to 3.
The support member has a plurality of surfaces having different normal directions,
The control unit relatively moves the head and the table so that the head is along the plurality of surfaces, and deposits the modeling material on the plurality of surfaces.
The three-dimensional printing apparatus according to claim 4.
The control unit relatively moves the head and the table so that the head follows the surface of the support member, while maintaining a predetermined interval between the head and the support member,
The three-dimensional printing apparatus according to claim 4.
The control unit is configured to relatively move the head and the table such that a discharge direction of the modeling material discharged from the head is a normal direction of a surface of the support member.
The three-dimensional printing apparatus according to any one of claims 4 to 6.
The modeling material is a material including a fiber-reinforced plastic,
The three-dimensional modeling apparatus according to any one of claims 1 to 7.
A three-dimensional modeling method of discharging a modeling material from a head, depositing the modeling material on a table provided below the head, and modeling a three-dimensional object,
A rotation step of rotating the table around a rotation axis directed in a direction parallel to the upper surface of the table,
A forming step of forming the object by depositing the forming material on the table;
And three-dimensional modeling methods.
The table has a support member formed according to the shape of the object and supporting the object,
The rotating step rotates the table so that the modeling material is discharged perpendicular to the surface of the support member,
The modeling step is to relatively move the head and the table so that the head is along the surface of the support member, to deposit the modeling material on the support member,
The three-dimensional modeling method according to claim 9.
The molding process includes:
An adhering step of ejecting the molding material toward the lower side in the vertical direction from the head, and attaching the molding material to a first attachment point on the first surface of the support member,
While discharging the modeling material from the head, a deposition step of relatively moving the head and the table to continuously deposit the modeling material on the support member,
The depositing step deposits the modeling material from the first attachment point to a second attachment point of a second surface different from the first surface of the support member in a normal direction.
The three-dimensional modeling method according to claim 10.