WO2022149562A1 - Three-dimensional object manufacturing device and three-dimensional object manufacturing method - Google Patents

Three-dimensional object manufacturing device and three-dimensional object manufacturing method Download PDF

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Publication number
WO2022149562A1
WO2022149562A1 PCT/JP2021/049029 JP2021049029W WO2022149562A1 WO 2022149562 A1 WO2022149562 A1 WO 2022149562A1 JP 2021049029 W JP2021049029 W JP 2021049029W WO 2022149562 A1 WO2022149562 A1 WO 2022149562A1
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Prior art keywords
mold
modeling
nozzle
dimensional object
modeling material
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PCT/JP2021/049029
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French (fr)
Japanese (ja)
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昭治 見舘
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株式会社ミタテ工房
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Publication of WO2022149562A1 publication Critical patent/WO2022149562A1/en

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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
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • 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
    • B29C64/205—Means for applying layers
    • B29C64/209—Heads; Nozzles
    • 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
    • B29C64/245—Platforms or substrates
    • 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
    • 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
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor

Definitions

  • the present invention relates to a three-dimensional object modeling apparatus for modeling a three-dimensional object, and more specifically, when a modeling material such as resin is discharged from a nozzle to form a three-dimensional object, the surface of the modeled object is kept clean. It is related to a three-dimensional object modeling device that can be finished.
  • Patent Document 1 3D printers are often used to easily model three-dimensional objects.
  • a nozzle 82 for discharging resin or the like is moved in the XY direction on a base 81 configured in a plane shape, and the nozzles 82 are laminated in the Z-axis direction.
  • a resin or the like is laminated on a flat base base 81 to form a modeled object, so that a step is inevitably formed in the Z-axis direction.
  • a simple object such as a sample product
  • accurate dimensions and surface formation such as industrial products (for example, automobile parts). Not very suitable for making products that require condition.
  • Patent Document 1 there is also a method of surface-treating a product manufactured by using a 3D printer to eliminate a step (Patent Document 1 above), but even when such a method is used, the product is manufactured. Since it is necessary to perform a large-scale surface treatment on the product afterwards, there is a problem that it takes time to manufacture and it is difficult to improve the dimensional accuracy.
  • an object of the present invention is to provide a three-dimensional object modeling apparatus capable of modeling a three-dimensional object and at the same time making the surface state clean and accurately finishing the dimensions.
  • the present invention has a nozzle for discharging the modeling material on the surface of the mold having a three-dimensional shape, and the nozzle is moved three-dimensionally with respect to the mold. It is equipped with a moving mechanism for placing the modeling material.
  • a model with a clean surface is applied to the modeling material to form a model, and then the model is removed from the model to create a model with a clean surface. be able to.
  • the mold is provided with a heating means for heating the modeling material applied by the nozzle.
  • the molding material applied by the nozzle can be placed along the surface of the mold, and the surface can be kept clean.
  • a sheet covering the mold is provided, and the modeling material is applied to the surface of the sheet.
  • the sheet is adsorbed to the mold with a vacuum forming machine.
  • the sheet can be brought into close contact with the mold, so that the dimensional accuracy of the modeled object along the mold can be improved.
  • the nozzle when the nozzle is relatively moved by using the moving mechanism, the nozzle is moved in a direction intersecting with the coating direction of the modeling material coated on the lower layer.
  • the direction of the nozzle is controlled so that the modeling material is discharged in the normal direction with respect to the surface of the mold.
  • the modeling material can be applied to the mold with a uniform thickness.
  • the modeling material is served.
  • a nozzle for discharging a modeling material on the surface of a mold having a three-dimensional shape and a movement for loading the modeling material by moving the nozzle three-dimensionally relative to the mold Since it is equipped with a mechanism, the surface can be made clean by applying a modeling material to a mold having a clean surface to form a model, and then removing the model from the mold. ..
  • FIG. 1 Schematic diagram of a three-dimensional object modeling apparatus according to an embodiment of the present invention.
  • Diagram showing other patterns The figure which shows the coating direction of a resin
  • the figure which shows the ejection direction of a nozzle The figure which shows the 6-axis robot in another embodiment.
  • the three-dimensional object modeling apparatus 1 in this embodiment includes a three-dimensional shape (convex shape), a nozzle 4 for discharging a modeling material 5 on the surface of the mold 2.
  • the nozzle 4 is provided with a moving mechanism 6 for moving the nozzle 4 in the XYZ direction to serve the modeling material 5.
  • the nozzle 4 is moved by using the control means 7, and the modeling material 5 is placed on the surface of the mold 2.
  • heat is applied to the shaped object thus formed to perform vacuum pneumatic blow molding or the like, and the molded object is removed from the mold 2 to make the molded portion in the contact portion with the mold 2 smooth. It is made possible to model a shaped object.
  • the three-dimensional object modeling apparatus 1 will be described in detail.
  • the mold 2 constitutes a part of the mold of the product, has a three-dimensional shape with a smooth surface, and is formed by applying the modeling material 5 to the surface and forming the molding material 5. It is configured so that the shaped object can be removed.
  • the convex shape 2 will be described as an example, but as shown in FIG. 3, various three-dimensional shapes such as the concave shape 2 can be used.
  • the modeling material 5 When the modeling material 5 is applied to the mold 2, the modeling material 5 may be applied to the surface of the mold 2 as it is, but a coating agent such as a gel coat is applied to the surface of the mold 2 and a coating agent such as a gel coat is applied to the surface of the mold 2.
  • a heating means 22 composed of heat rays or the like may be provided inside the mold 2 to melt the modeling material 5 coated on the surface thereof.
  • the modeling material 5 when the modeling material 5 is applied to the surface of the mold 2, it is not heated or is heated at a low temperature, and when the serving progresses or the modeling is completed. In addition, it is advisable to heat the molding material 5 on the surface in contact with the mold 2 to melt it. Then, when removing the modeled object from the mold 2, the heating is stopped to lower the temperature, and then the modeled object is easily removed from the mold 2.
  • the film 3 is attached to the mold 2, and the modeling material 5 is applied to the film 3 and served. You may.
  • the mold 2 is configured by a vacuum forming machine, air is sucked through the micropores 21 provided in the mold 2, and the film 3 is formed on the surface of the mold 2. To be in close contact. At this time, it is preferable to heat the film 3 to bring it into close contact with the mold 2, and further heat the film 3 using the heating means 22 provided on the mold 2 to bring the film 3 into close contact.
  • the modeling material 5 to be placed on the mold 2 is discharged linearly or strip-shaped from the nozzle 4 via the pump 41, and is made of ABS resin, ASA resin, PLA resin, acrylic resin, epoxy resin, nylon.
  • resin materials such as resin, materials such as gypsum, silicon rubber, and resins containing fine fibers (fibers such as cellulose nanofibers, carbon nanofibers, and glass fibers) are used, but are limited to these materials. is not.
  • a material according to the intended use of the product and the usage environment is selected, and the material of the mold 2 or the mold 2 thereof is selected according to the modeling material 5.
  • the film 3 or the like to be attached is selected.
  • the nozzle 4 for applying the modeling material 5 is such that the modeling material 5 is heated and melted, and in that state, the modeling material 5 is discharged by pushing out from the pump 41, and a part of the moving mechanism 6 is discharged. It is attached to the tip of the constituent robot 65.
  • the moving mechanism 6 is provided with linear rails 62 provided on the left and right side surfaces of 61 bases on which the mold 2 is placed, and front and rear along the linear rails 62 provided above the 61 bases. It is configured by providing a U-shaped arch 63 that moves in a direction (Y direction), a robot 65 that moves in the left-right direction along a beam 64 provided above the U-shaped arch 63, and the like.
  • the robot 65 is composed of a plurality of arms 67 connected by joints 66, and is configured so that the arms 67 can be rotated around the joint 66 about the Y axis.
  • the direction of the nozzle 4 can be directed in all directions.
  • Such a nozzle 4 is controlled by the control means 7 so as to discharge the modeling material 5 from a position slightly distant from the surface of the mold 2, and gradually separates from the mold 2 while serving the molding material 5. Is controlled by.
  • the control means 7 controls the position of the nozzle 4 so as to be located at a portion slightly distant from the surface of the mold 2 and the molding material 5 placed on the mold 2. By inputting the shape of 2 and instructing the origin position, the position of the nozzle 4 can be controlled so that the modeling material 5 can be arranged.
  • the coating direction of the lower layer modeling material 5 and the coating direction of the upper layer modeling material 5 match, the strength of the modeled object decreases. Therefore, as shown in FIG. 4, it is preferable to give strength by crossing the application direction of the lower layer modeling material 5 and the application direction of the upper layer modeling material 5. As described above, when the coating directions are crossed, it is particularly effective when a resin containing fibers is used as the modeling material 5. In addition, in FIG. 4, a gap is schematically provided between the coated portions of the modeling material 5 of each layer, but in reality, the coating is performed without any gap. Further, although FIG. 4 shows a state in which the coating is applied in the orthogonal direction, the coating may be shifted by a predetermined angle (30 degrees, 45 degrees, etc.).
  • the orientation of the nozzle 4 is controlled so that the axial direction of the nozzle 4 and the normal direction of the coating surface coincide with each other, and the modeling material 5 is discharged from the nozzle 4. To.
  • the nozzle 4 is moved in all directions using the moving mechanism 6, and the modeling material 5 is placed on the mold 2 to form a modeled object.
  • the modeling material 5 on the surface of the mold 2 is heated and melted by using the heating means 22 of the mold 2, so that the modeling material 5 on the surface of the mold 2 is aligned with the mold 2.
  • the modeled object is removed from the mold 2 coated with the gel coat. Then, it becomes possible to form a modeled object having a smooth surface in close contact with the mold 2. If fine dimensional accuracy is required, the amount of serving may be increased and the surface may be polished so that the dimensional accuracy can be obtained.
  • the mold 2 having a three-dimensional shape, the nozzle 4 for discharging the modeling material 5 on the surface of the mold 2, and the nozzle 4 are moved along the surface of the mold 2. Since it is configured to be provided with a moving mechanism 6 for serving the modeling material 5, it becomes possible to model a model having a clean surface by removing the model 2 from the mold 2 having a smooth surface. ..
  • the present invention is not limited to the above embodiment, and can be implemented in various embodiments.
  • two robots 65 are provided on the beam 64, but as shown in FIG. 3, only one may be provided, or a plurality of beams 64 are provided in parallel.
  • a plurality of robots 65 may be attached to each beam 64 so that parallel work can be performed by the plurality of nozzles 4.
  • a nozzle 4 having a small diameter may be used for a portion having a large curvature, and a nozzle 4 having a large diameter may be used for a portion having a small curvature. ..
  • the diameter of the nozzles 4 may be changed for each robot 65 to perform the serving work.
  • a material such as a photocurable resin, a thermosetting resin, or a laser sintering material is used when the modeling material 5 is placed, it is necessary to irradiate light, heat, a laser, or the like to cure each time the molding material 5 is placed. good.
  • the moving mechanism 6 is configured by attaching the robot 65 to the linear rail 62, the arch 63, or the like, but as shown in FIG. 6, it is provided adjacent to the base 61 units.
  • a six-axis robot 65 may be used to move the nozzle 4 in the XYZ direction.
  • the film 3 is attached to the mold 2 to serve the modeling material 5, but the uppermost modeling material 5 has a step.
  • the surface can be pressed by applying heat to the outer surface using a wrapping tape method, backing molding method, autoclave molding method, etc., pressing with a mold containing a heater, blow molding, etc. May be in a clean state.
  • the gel coat is applied to the mold 2 and served, but in addition to the gel coat, a coating agent that can be easily removed from the mold 2 may be applied and served. ..
  • Modeling object modeling device 2 ... Mold 21 ... Micropores 22 ... Heating means 3 ... Film 4 ... Nozzle 41 ... Pump 5 ... Modeling material 6 ... ⁇ Movement mechanism 61 ⁇ ⁇ ⁇ Base 62 ⁇ ⁇ ⁇ Linear rail 63 ⁇ ⁇ ⁇ Arch 64 ⁇ ⁇ ⁇ Beam 65 ⁇ ⁇ ⁇ Robot 66 ⁇ ⁇ ⁇ Joint 67 ⁇ ⁇ ⁇ Arm 7 ⁇ ⁇ ⁇ Control means

Abstract

[Problem] To provide a three-dimensional object manufacturing device that is configured to be capable of manufacturing a three-dimensional object while simultaneously providing the same with a clean surface and precisely finished, accurate dimensions. [Solution] The present invention comprises: a female mold 2 that has a three-dimensional shape; a nozzle 4 that discharges a manufacturing material 5 onto the surface of the female mold 2; and a movement mechanism 6 that moves the nozzle 4 to dispense the manufacturing material 5 while orienting the nozzle 4 in the normal direction of the surface of the female mold 2. A heating means 22 is provided to the female mold 2, and the manufactured object is manufactured by heating and melting the manufacturing material 5 that has been applied on the female mold 2 to smooth the manufacturing material 5 on the surface of the female mold 2 and render a clean surface.

Description

立体物造形装置および立体物造形方法Three-dimensional object modeling device and three-dimensional object modeling method
　本発明は、立体物を造形させる立体物造形装置に関するものであって、より詳しくは、樹脂などの造形材料をノズルから排出させて立体物を造形する際に、造形物の表面をきれいな状態に仕上げることができるようにした立体物造形装置に関するものである。 The present invention relates to a three-dimensional object modeling apparatus for modeling a three-dimensional object, and more specifically, when a modeling material such as resin is discharged from a nozzle to form a three-dimensional object, the surface of the modeled object is kept clean. It is related to a three-dimensional object modeling device that can be finished.
　近年では、立体的な造形物を簡易的に造形する場合、３Ｄプリンターが使われることが多い（特許文献１など）。 In recent years, 3D printers are often used to easily model three-dimensional objects (Patent Document 1, etc.).
　このような３Ｄプリンターは、図７に示すように、平面状に構成されたベース台８１の上に、樹脂などを排出するノズル８２をＸＹ方向に移動させ、これをＺ軸方向に積層していくことによって立体物を造形できるようにしたものである。このような装置を用いれば、金型などを起こすことなく、比較的観点に立体物を造形することができるというメリットがあるため、サンプル品や、小ロットの製品などを製造する場合に有利である。 In such a 3D printer, as shown in FIG. 7, a nozzle 82 for discharging resin or the like is moved in the XY direction on a base 81 configured in a plane shape, and the nozzles 82 are laminated in the Z-axis direction. By going, it is possible to create a three-dimensional object. Using such a device has the advantage that it is possible to form a three-dimensional object from a relatively viewpoint without raising a mold, which is advantageous when manufacturing sample products or small lot products. be.
特開２０１８－９９８４５号公報Japanese Unexamined Patent Publication No. 2018-99845
　しかしながら、このような３Ｄプリンターを用いて立体物を造形する場合、次のような問題がある。 However, when modeling a three-dimensional object using such a 3D printer, there are the following problems.
　すなわち、従来の３Ｄプリンターは、平面状のベース台８１の上に樹脂などを積層して造形物を造形するため、どうしてもＺ軸方向に段差ができてしまう。このような段差を有する造形物を造形する場合、サンプル品などのような簡易的なものを製作するには良いが、工業製品（例えば、自動車部品など）のように、正確な寸法や表面形成状態が要求されるような製品を作るには余り適さない。 That is, in a conventional 3D printer, a resin or the like is laminated on a flat base base 81 to form a modeled object, so that a step is inevitably formed in the Z-axis direction. When modeling a modeled object with such a step, it is good to manufacture a simple object such as a sample product, but accurate dimensions and surface formation such as industrial products (for example, automobile parts). Not very suitable for making products that require condition.
　これに対して、３Ｄプリンターを用いて製作した製品を表面加工して段差をなくすようにする方法（上記特許文献１）もあるが、このような方法を用いた場合であっても、製造された製品に対して、後から大掛かりな表面処理をしなければならないため、製造に時間がかかり、また、寸法精度を向上させることが難しいといった問題もある。 On the other hand, there is also a method of surface-treating a product manufactured by using a 3D printer to eliminate a step (Patent Document 1 above), but even when such a method is used, the product is manufactured. Since it is necessary to perform a large-scale surface treatment on the product afterwards, there is a problem that it takes time to manufacture and it is difficult to improve the dimensional accuracy.
　そこで、本発明は、立体物を造形すると同時に、表面状態をきれいな状態にして寸法を正確に仕上げることができるようにした立体物の造形装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a three-dimensional object modeling apparatus capable of modeling a three-dimensional object and at the same time making the surface state clean and accurately finishing the dimensions.
　すなわち、本発明は上記課題を解決するために、立体形状を有するメ型の表面に対して、造形材料を排出させるノズルと、当該ノズルを前記メ型に対して相対的に３次元的に移動させて造形材料を盛り付ける移動機構とを備えるようにしたものである。 That is, in order to solve the above-mentioned problems, the present invention has a nozzle for discharging the modeling material on the surface of the mold having a three-dimensional shape, and the nozzle is moved three-dimensionally with respect to the mold. It is equipped with a moving mechanism for placing the modeling material.
　このように構成すれば、きれいな表面を有するメ型に造形材料に塗布して造形物を造形し、その後、その造形物をメ型から取り外すことによって、表面をきれいにした状態の造形物を造形することができる。 With this configuration, a model with a clean surface is applied to the modeling material to form a model, and then the model is removed from the model to create a model with a clean surface. be able to.
　また、このような発明において、前記メ型に、前記ノズルによって塗布された造形材料を加熱させる加熱手段を備えるようにする。 Further, in such an invention, the mold is provided with a heating means for heating the modeling material applied by the nozzle.
　このように構成すれば、ノズルによって塗布された造形材料をメ型の表面に沿わせることができ、表面をきれいな状態にすることができる。 With this configuration, the molding material applied by the nozzle can be placed along the surface of the mold, and the surface can be kept clean.
　さらに、前記メ型を覆うシートを備え、当該シートの表面に前記造形材料を塗布させるようにする。 Further, a sheet covering the mold is provided, and the modeling material is applied to the surface of the sheet.
　このように構成すれば、シートをメ型から剥離することで、メ型から造形物を取り外しやすくすることができるとともに、そのシートが造形物の表面を形成することになるため、表面をきれいな状態に仕上げることができるようになる。 With this configuration, by peeling the sheet from the mold, it is possible to easily remove the modeled object from the mold, and the sheet forms the surface of the modeled object, so that the surface is in a clean state. You will be able to finish it.
　また、このようなシートでメ型を覆う場合、真空成形機でメ型にシートを吸着させる。 Also, when covering the mold with such a sheet, the sheet is adsorbed to the mold with a vacuum forming machine.
　このように構成すれば、シートをメ型に密着させることができるため、メ型に沿った造形物の寸法精度を向上させることができるようになる。 With such a configuration, the sheet can be brought into close contact with the mold, so that the dimensional accuracy of the modeled object along the mold can be improved.
　また、前記移動機構を用いてノズルを相対的に移動させる場合、下層に塗布された造形材料の塗布方向に対して交叉する方向にノズルを移動させるようにする。 Further, when the nozzle is relatively moved by using the moving mechanism, the nozzle is moved in a direction intersecting with the coating direction of the modeling material coated on the lower layer.
　このように構成すれば、方向に依存して強度を有する造形材料を塗布する場合、交叉させることで、造形物の強度を向上させることができるようになる。 With this configuration, when a modeling material having strength depending on the direction is applied, the strength of the modeled object can be improved by crossing it.
　また、前記ノズルを用いて造形材料を排出させる場合、メ型の表面に対して法線方向に造形材料を排出させるようにノズルの方向を制御する。 Further, when the modeling material is discharged using the nozzle, the direction of the nozzle is controlled so that the modeling material is discharged in the normal direction with respect to the surface of the mold.
　このように構成すれば、メ型に対して均一な厚みで造形材料を塗布していくことができるようになる。 With this configuration, the modeling material can be applied to the mold with a uniform thickness.
　また、前記メ型に、コーティング剤を塗布した後、前記造形材料を盛り付けるようにする。 Also, after applying the coating agent to the mold, the modeling material is served.
　このように構成すれば、メ型から造形物を取り外しやすくすることができるようになり、また、そのメ型を何度も利用することができるようになる。 With this configuration, it becomes possible to easily remove the modeled object from the mold, and the mold can be used many times.
　本発明によれば、立体形状を有するメ型の表面に対して、造形材料を排出させるノズルと、当該ノズルを前記メ型に対して相対的に３次元的に移動させて造形材料を盛り付ける移動機構とを備えるようにしたので、きれいな表面を有するメ型に造形材料を塗布して造形物を造形し、その後、その造形物をメ型から取り外すことによって、表面をきれいな状態にすることができる。 According to the present invention, a nozzle for discharging a modeling material on the surface of a mold having a three-dimensional shape and a movement for loading the modeling material by moving the nozzle three-dimensionally relative to the mold. Since it is equipped with a mechanism, the surface can be made clean by applying a modeling material to a mold having a clean surface to form a model, and then removing the model from the mold. ..
本発明の一実施の形態における立体物造形装置の概略図Schematic diagram of a three-dimensional object modeling apparatus according to an embodiment of the present invention. 同形態におけるメ型にシートを貼り付けた状態を示す図The figure which shows the state which the sheet is attached to the mold in the same form. 他のメ型を示す図Diagram showing other patterns 樹脂の塗布方向を示す図The figure which shows the coating direction of a resin ノズルの排出方向を示す図The figure which shows the ejection direction of a nozzle 他の実施の形態における六軸ロボットを示す図The figure which shows the 6-axis robot in another embodiment. 従来例における３Ｄプリンターを示す図The figure which shows the 3D printer in the conventional example
　以下、本発明の第一の実施の形態における立体物造形装置１について、図面参照して説明する。 Hereinafter, the three-dimensional object modeling apparatus 1 according to the first embodiment of the present invention will be described with reference to the drawings.
　この実施の形態における立体物造形装置１は、図１に示すように、立体形状（凸状形状）を有するメ型２と、そのメ型２の表面に造形材料５を排出させるノズル４と、そのノズル４をＸＹＺ方向に移動させて造形材料５を盛り付ける移動機構６とを備えてなるものであって、制御手段７を用いてノズル４を移動させ、メ型２の表面に造形材料５を塗布することによって、立体的な造形物を造形できるようにしたものである。そして、このように造形された造形物に対して、熱を加えて真空空圧ブロー成形などを施し、メ型２から取り外すことによって、メ型２との接触部分における造形部分を滑らかな状態にした造形物を造形できるようにしたものである。以下、本実施の形態における立体物造形装置１について詳細に説明する。 As shown in FIG. 1, the three-dimensional object modeling apparatus 1 in this embodiment includes a three-dimensional shape (convex shape), a nozzle 4 for discharging a modeling material 5 on the surface of the mold 2. The nozzle 4 is provided with a moving mechanism 6 for moving the nozzle 4 in the XYZ direction to serve the modeling material 5. The nozzle 4 is moved by using the control means 7, and the modeling material 5 is placed on the surface of the mold 2. By applying it, it is possible to create a three-dimensional model. Then, heat is applied to the shaped object thus formed to perform vacuum pneumatic blow molding or the like, and the molded object is removed from the mold 2 to make the molded portion in the contact portion with the mold 2 smooth. It is made possible to model a shaped object. Hereinafter, the three-dimensional object modeling apparatus 1 according to the present embodiment will be described in detail.
　まず、メ型２は、製品の型の一部を構成するものであって、表面を滑らかにした立体形状を有し、その表面に造形材料５を塗布させるとともに、その造形材料５によって形成された造形物を取り外せるように構成される。なお、図１では、凸状のメ型２を例に挙げて説明するが、図３に示すように、凹状のメ型２など、種々の立体形状のメ型を用いることができる。 First, the mold 2 constitutes a part of the mold of the product, has a three-dimensional shape with a smooth surface, and is formed by applying the modeling material 5 to the surface and forming the molding material 5. It is configured so that the shaped object can be removed. In FIG. 1, the convex shape 2 will be described as an example, but as shown in FIG. 3, various three-dimensional shapes such as the concave shape 2 can be used.
　このメ型２に造形材料５を塗布する場合、そのメ型２の表面にそのまま造形材料５を塗布するようにしてもよいが、その表面にゲルコートなどのコーティング剤を塗布するとともに、図１の破線に示すように、そのメ型２の内側に熱線などで構成された加熱手段２２を設けておき、その表面に塗布された造形材料５を溶融させるようにしてもよい。このような加熱手段２２を設ける場合、造形材料５の塗布時に高温状態にしておくと、ノズル４から排出された造形材料５が溶けてしまうため、その後に造形材料５を盛り付けていく際の土台となる造形部分がなくなってしまう。このため、好ましくは、メ型２の表面に造形材料５を塗布させる際には、加熱しないか、あるいは、低温で加熱させるようにしておき、盛り付けが進んだ際、あるいは、造形が完了した際に、加熱を行って、メ型２に接触している表面の造形材料５を溶融させるようにするとよい。そして、そのメ型２から造形物を取り外す際には、加熱を停止して低温にした後に、そのメ型２から造形物を取り外しやすくする。 When the modeling material 5 is applied to the mold 2, the modeling material 5 may be applied to the surface of the mold 2 as it is, but a coating agent such as a gel coat is applied to the surface of the mold 2 and a coating agent such as a gel coat is applied to the surface of the mold 2. As shown by the broken line, a heating means 22 composed of heat rays or the like may be provided inside the mold 2 to melt the modeling material 5 coated on the surface thereof. When such a heating means 22 is provided, if the temperature is kept high when the modeling material 5 is applied, the modeling material 5 discharged from the nozzle 4 melts, so that a base for serving the modeling material 5 thereafter. There will be no modeling part. For this reason, it is preferable that when the modeling material 5 is applied to the surface of the mold 2, it is not heated or is heated at a low temperature, and when the serving progresses or the modeling is completed. In addition, it is advisable to heat the molding material 5 on the surface in contact with the mold 2 to melt it. Then, when removing the modeled object from the mold 2, the heating is stopped to lower the temperature, and then the modeled object is easily removed from the mold 2.
　また、メ型２に造形材料５を塗布する場合、図２に示すように、そのメ型２にフィルム３を貼り付けておき、そのフィルム３に造形材料５を塗布して盛り付けていくようにしてもよい。このようにフィルム３を貼り付ける際には、メ型２を真空成形機で構成しておき、メ型２に設けられた微小孔２１から空気を吸い込んで、そのメ型２の表面にフィルム３を密着させるようにする。このとき、そのフィルム３を加熱させてメ型２に密着させ、さらに、そのメ型２に設けられた加熱手段２２を用いてフィルム３を加熱させて、フィルム３を密着させるようにするとよい。 Further, when the modeling material 5 is applied to the mold 2, as shown in FIG. 2, the film 3 is attached to the mold 2, and the modeling material 5 is applied to the film 3 and served. You may. When the film 3 is attached in this way, the mold 2 is configured by a vacuum forming machine, air is sucked through the micropores 21 provided in the mold 2, and the film 3 is formed on the surface of the mold 2. To be in close contact. At this time, it is preferable to heat the film 3 to bring it into close contact with the mold 2, and further heat the film 3 using the heating means 22 provided on the mold 2 to bring the film 3 into close contact.
　このメ型２に盛り付けられる造形材料５は、ポンプ４１を介してノズル４から線状あるいは帯状に排出されるものであって、ＡＢＳ樹脂や、ＡＳＡ樹脂、ＰＬＡ樹脂、アクリル樹脂、エポキシ樹脂、ナイロン樹脂などの樹脂材料の他、石膏、シリコンゴム、微小繊維（セルロースナノファイバー、カーボンナノファイバー、グラスファイバーなどの繊維）を含有する樹脂などの材料が用いられるが、これの材料に限定されるものではない。このような造形材料５を選択する際には、製品の使用用途や、使用環境に応じた材料が選択され、また、この造形材料５に応じてメ型２の材料や、そのメ型２に貼り付けられるフィルム３などが選択される。 The modeling material 5 to be placed on the mold 2 is discharged linearly or strip-shaped from the nozzle 4 via the pump 41, and is made of ABS resin, ASA resin, PLA resin, acrylic resin, epoxy resin, nylon. In addition to resin materials such as resin, materials such as gypsum, silicon rubber, and resins containing fine fibers (fibers such as cellulose nanofibers, carbon nanofibers, and glass fibers) are used, but are limited to these materials. is not. When selecting such a modeling material 5, a material according to the intended use of the product and the usage environment is selected, and the material of the mold 2 or the mold 2 thereof is selected according to the modeling material 5. The film 3 or the like to be attached is selected.
　このような造形材料５を塗布するノズル４は、造形材料５を加熱溶融させ、その状態で、ポンプ４１からの押し出しによって造形材料５を排出させるようにしたもので、移動機構６の一部を構成するロボット６５の先端に取り付けられる。 The nozzle 4 for applying the modeling material 5 is such that the modeling material 5 is heated and melted, and in that state, the modeling material 5 is discharged by pushing out from the pump 41, and a part of the moving mechanism 6 is discharged. It is attached to the tip of the constituent robot 65.
　この移動機構６は、図１に示すように、メ型２を載せるベース６１台の左右側面に設けられたリニアレール６２と、このベース６１台の上方に設けられ、リニアレール６２に沿って前後方向（Ｙ方向）に移動するコの字状アーチ６３と、このコの字状アーチ６３の上部に設けられたビーム６４に沿って左右方向に移動するロボット６５などを設けて構成される。このロボット６５は、関節６６で連結された複数のアーム６７で構成されており、関節６６を中心としてアーム６７をＹ軸を中心として回動できるように構成されている。そして、このロボット６５のアーム６７の先端にノズル４を取り付けることによって、ノズル４の方向を全方向に向けられるようにしている。このようなノズル４は、制御手段７によって、メ型２の表面の少し離れた位置から造形材料５を排出させるように制御され、徐々に、造形材料５を盛り付けながら、メ型２から離れるように制御される。 As shown in FIG. 1, the moving mechanism 6 is provided with linear rails 62 provided on the left and right side surfaces of 61 bases on which the mold 2 is placed, and front and rear along the linear rails 62 provided above the 61 bases. It is configured by providing a U-shaped arch 63 that moves in a direction (Y direction), a robot 65 that moves in the left-right direction along a beam 64 provided above the U-shaped arch 63, and the like. The robot 65 is composed of a plurality of arms 67 connected by joints 66, and is configured so that the arms 67 can be rotated around the joint 66 about the Y axis. Then, by attaching the nozzle 4 to the tip of the arm 67 of the robot 65, the direction of the nozzle 4 can be directed in all directions. Such a nozzle 4 is controlled by the control means 7 so as to discharge the modeling material 5 from a position slightly distant from the surface of the mold 2, and gradually separates from the mold 2 while serving the molding material 5. Is controlled by.
　制御手段７は、ノズル４の位置を、メ型２や、そのメ型２に盛り付けられた造形材料５の表面から僅かに離れた部分に位置させるように制御させるものであって、あらかじめメ型２の形状を入力しておき、原点位置を指示することによって、ノズル４の位置を制御し、造形材料５を盛り付けて行けるように構成される。 The control means 7 controls the position of the nozzle 4 so as to be located at a portion slightly distant from the surface of the mold 2 and the molding material 5 placed on the mold 2. By inputting the shape of 2 and instructing the origin position, the position of the nozzle 4 can be controlled so that the modeling material 5 can be arranged.
　なお、このように造形材料５を盛り付ける場合、下層の造形材料５の塗布方向と、上層の造形材料５の塗布方向が一致してしまうと、造形物の強度が低下してしまう。このため、図４に示すように、下層の造形材料５の塗布方向と、上層の造形材料５の塗布方向とを交差させるようにして強度をもたせるようにするとよい。このように、塗布方向を交叉させる場合は、造形材料５として繊維を含有させた樹脂を用いる場合に特に有効である。なお、図４においては、模式的に、各層の造形材料５の塗布部分に間に隙間を設けるようにしているが、実際には、隙間のない状態で塗布される。また、図４においては、直交方向に塗布させる状態を図示しているが、所定の角度（３０度や４５度など）毎にずらして塗布するようにしてもよい。 In addition, when the modeling material 5 is arranged in this way, if the coating direction of the lower layer modeling material 5 and the coating direction of the upper layer modeling material 5 match, the strength of the modeled object decreases. Therefore, as shown in FIG. 4, it is preferable to give strength by crossing the application direction of the lower layer modeling material 5 and the application direction of the upper layer modeling material 5. As described above, when the coating directions are crossed, it is particularly effective when a resin containing fibers is used as the modeling material 5. In addition, in FIG. 4, a gap is schematically provided between the coated portions of the modeling material 5 of each layer, but in reality, the coating is performed without any gap. Further, although FIG. 4 shows a state in which the coating is applied in the orthogonal direction, the coating may be shifted by a predetermined angle (30 degrees, 45 degrees, etc.).
　また、このように移動機構６を用いてノズル４の位置を制御させる場合、ノズル４の軸方向（排出方向）と塗布面の法線方向に対して傾斜していると、造形材料５が塗布面に付着しにくくなり、また、塗布された際の造形材料５の盛り付け高さに差が出てしまう（図５（ｂ）参照）。このため、図５（ａ）に示すように、ノズル４の軸方向と塗布面の法線方向とを一致させるようにノズル４の向きを制御して、ノズル４から造形材料５を排出させるようにする。 Further, when the position of the nozzle 4 is controlled by using the moving mechanism 6 in this way, if the nozzle 4 is inclined with respect to the axial direction (discharge direction) and the normal direction of the coating surface, the modeling material 5 is coated. It becomes difficult to adhere to the surface, and there is a difference in the serving height of the modeling material 5 when it is applied (see FIG. 5 (b)). Therefore, as shown in FIG. 5A, the orientation of the nozzle 4 is controlled so that the axial direction of the nozzle 4 and the normal direction of the coating surface coincide with each other, and the modeling material 5 is discharged from the nozzle 4. To.
　そして、このようにして、移動機構６を用いてノズル４を全方向に移動させ、メ型２に造形材料５を盛り付けて造形物を造形する。 Then, in this way, the nozzle 4 is moved in all directions using the moving mechanism 6, and the modeling material 5 is placed on the mold 2 to form a modeled object.
　このように造形物を造形した後、メ型２の加熱手段２２を用いてメ型２表面の造形材料５を加熱溶融させ、メ型２の表面の造形材料５をメ型２に沿わせるようにする。そして、一定時間冷却させた後、その造形物をゲルコートの塗布されたメ型２から取り外す。すると、メ型２に密着した面が滑らかな造形物を造形することができるようになる。なお、微細な寸法精度が要求される場合は、盛り付け量を多くしておき、表面を研磨することによって、寸法精度を出せるようにしてもよい。 After modeling the modeled object in this way, the modeling material 5 on the surface of the mold 2 is heated and melted by using the heating means 22 of the mold 2, so that the modeling material 5 on the surface of the mold 2 is aligned with the mold 2. To. Then, after cooling for a certain period of time, the modeled object is removed from the mold 2 coated with the gel coat. Then, it becomes possible to form a modeled object having a smooth surface in close contact with the mold 2. If fine dimensional accuracy is required, the amount of serving may be increased and the surface may be polished so that the dimensional accuracy can be obtained.
　このように上記実施の形態によれば、立体形状を有するメ型２と、そのメ型２の表面に造形材料５を排出させるノズル４と、そのノズル４をメ型２の表面に沿って移動させて造形材料５を盛り付ける移動機構６とを備えるように構成したので、滑らかな表面を有するメ型２から造形物を取り外すことで、きれいな表面を有する造形物を造形することができるようになる。 As described above, according to the above embodiment, the mold 2 having a three-dimensional shape, the nozzle 4 for discharging the modeling material 5 on the surface of the mold 2, and the nozzle 4 are moved along the surface of the mold 2. Since it is configured to be provided with a moving mechanism 6 for serving the modeling material 5, it becomes possible to model a model having a clean surface by removing the model 2 from the mold 2 having a smooth surface. ..
　なお、本発明は、上記実施の形態に限定されることなく、種々の態様で実施することができるようになる。 The present invention is not limited to the above embodiment, and can be implemented in various embodiments.
　例えば、上記実施の形態では、ビーム６４にロボット６５を２つ設けるようにしているが、図３に示すように、１つだけ設けるようにしてもよく、あるいは、ビーム６４を複数本平行に設けておき、それぞれのビーム６４に複数のロボット６５を取り付けて、複数のノズル４で並行作業を行えるようにしてもよい。 For example, in the above embodiment, two robots 65 are provided on the beam 64, but as shown in FIG. 3, only one may be provided, or a plurality of beams 64 are provided in parallel. A plurality of robots 65 may be attached to each beam 64 so that parallel work can be performed by the plurality of nozzles 4.
　また、このような盛り付け作業を行う場合、曲率の大きな部分については、径の小さいノズル４を用い、曲率の小さな部分については、径の大きいノズル４を用いて盛り付け作業を行うようにしてもよい。この場合、複数のノズル４を用いて作業を行う場合は、ロボット６５ごとにノズル４の径を変えて盛り付け作業を行わせるようにしてもよい。 Further, when performing such a serving operation, a nozzle 4 having a small diameter may be used for a portion having a large curvature, and a nozzle 4 having a large diameter may be used for a portion having a small curvature. .. In this case, when the work is performed using a plurality of nozzles 4, the diameter of the nozzles 4 may be changed for each robot 65 to perform the serving work.
　また、造形材料５を盛り付ける際に、光硬化性樹脂や熱硬化性樹脂、レーザー焼結などの材料を用いる場合は、盛り付け毎に、光や熱、レーザーなどを照射させて硬化させるようにするとよい。 Further, when a material such as a photocurable resin, a thermosetting resin, or a laser sintering material is used when the modeling material 5 is placed, it is necessary to irradiate light, heat, a laser, or the like to cure each time the molding material 5 is placed. good.
　また、上記実施の形態では、移動機構６として、リニアレール６２やアーチ６３などにロボット６５を取り付けて構成するようにしたが、図６に示すように、ベース６１台に隣接して設けられた六軸ロボット６５を用いて、ノズル４をＸＹＺ方向に移動させるようにしてもよい。 Further, in the above embodiment, the moving mechanism 6 is configured by attaching the robot 65 to the linear rail 62, the arch 63, or the like, but as shown in FIG. 6, it is provided adjacent to the base 61 units. A six-axis robot 65 may be used to move the nozzle 4 in the XYZ direction.
　また、上記実施の形態では、メ型２にフィルム３を貼り付けて造形材料５を盛り付けるようにしたが、最上層の造形材料５については、段差ができてしまう。このため、ラッピングテープ法やバッキング成形法、オートクレープ成形法などを用いて外側表面に熱を加え、加圧を行う方法や、ヒーターを入れた金型でプレスする方法、ブロー成形などによって、表面をきれいな状態にしてもよい。 Further, in the above embodiment, the film 3 is attached to the mold 2 to serve the modeling material 5, but the uppermost modeling material 5 has a step. For this reason, the surface can be pressed by applying heat to the outer surface using a wrapping tape method, backing molding method, autoclave molding method, etc., pressing with a mold containing a heater, blow molding, etc. May be in a clean state.
　また、上記実施の形態では、メ型２にゲルコートを塗布して盛り付けを行うようにしたが、ゲルコート以外に、メ型２から取り外すことが容易なコーティング剤を塗布して盛り付けるようにしてもよい。 Further, in the above embodiment, the gel coat is applied to the mold 2 and served, but in addition to the gel coat, a coating agent that can be easily removed from the mold 2 may be applied and served. ..
１・・・造形物造形装置
２・・・メ型
２１・・・微小孔
２２・・・加熱手段
３・・・フィルム
４・・・ノズル
４１・・・ポンプ
５・・・造形材料
６・・・移動機構
６１・・・ベース
６２・・・リニアレール
６３・・・アーチ
６４・・・ビーム
６５・・・ロボット
６６・・・関節
６７・・・アーム
７・・・制御手段 1 ... Modeling object modeling device 2 ... Mold 21 ... Micropores 22 ... Heating means 3 ... Film 4 ... Nozzle 41 ... Pump 5 ... Modeling material 6 ...・ Movement mechanism 61 ・ ・ ・ Base 62 ・ ・ ・ Linear rail 63 ・ ・ ・ Arch 64 ・ ・ ・ Beam 65 ・ ・ ・ Robot 66 ・ ・ ・ Joint 67 ・ ・ ・ Arm 7 ・ ・ ・ Control means

Claims (9)

  1. 立体形状を有するメ型の表面に対して、造形材料を排出させるノズルと、
    当該ノズルを前記メ型に対して相対的に３次元的に移動させて造形材料を盛り付ける移動機構と、
    を備えたことを特徴とする立体物の造形装置。     A nozzle that discharges the modeling material to the surface of the mold that has a three-dimensional shape,
    A moving mechanism that moves the nozzle three-dimensionally relative to the mold to serve the modeling material.
    A three-dimensional object modeling device characterized by being equipped with.
  2. 前記メ型が、前記ノズルによって塗布された造形材料を加熱させる加熱手段を備えてなるものである請求項１に記載の立体物の造形装置。 The three-dimensional object modeling apparatus according to claim 1, wherein the mold is provided with a heating means for heating the modeling material applied by the nozzle.
  3. 前記メ型を覆うシートを備え、当該シートの表面に前記造形材料を塗布させるようにした請求項１に記載の立体物の造形装置。 The three-dimensional object modeling apparatus according to claim 1, further comprising a sheet covering the mold and allowing the modeling material to be applied to the surface of the sheet.
  4. 前記メ型が、真空成形機で前記シートをメ型の表面に密着させるように構成されるものである請求項３に記載の立体物の造形装置。 The three-dimensional object modeling apparatus according to claim 3, wherein the mold is configured so that the sheet is brought into close contact with the surface of the mold by a vacuum forming machine.
  5. 前記移動機構が、下層に塗布された造形材料の塗布方向に対して交叉する方向にノズルを移動させるようにしたものである請求項１に記載の立体物の造形装置。 The three-dimensional object modeling apparatus according to claim 1, wherein the moving mechanism moves the nozzle in a direction intersecting the application direction of the modeling material applied to the lower layer.
  6. 前記ノズルが、メ型の表面に対して法線方向から造形材料を塗布するように設けられるものである請求項１に記載の立体物の造形装置。 The three-dimensional object modeling apparatus according to claim 1, wherein the nozzle is provided so as to apply a modeling material to the surface of the mold from the normal direction.
  7. 立体形状を有するメ型の表面に対して、ノズルから排出される造形材料を盛り付けて立体物を造形するようにした立体物の造形方法。 A method of modeling a three-dimensional object by arranging a modeling material discharged from a nozzle on the surface of a three-dimensional object.
  8. 前記メ型に、コーティング剤を塗布した後、前記造形材料を盛り付けるようにした請求項７に記載の立体物の造形方法。 The method for modeling a three-dimensional object according to claim 7, wherein the molding material is applied to the mold after the coating agent is applied.
  9. さらに、前記メ型を加熱させて、前記盛り付けられた造形材料を溶融させるようにした請求項７に記載の立体物の造形方法。 The method for modeling a three-dimensional object according to claim 7, wherein the mold is heated to melt the arranged modeling material.
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