JP2016013621A - Three-dimensional molding apparatus and method for controlling three-dimensional molding apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional molding apparatus that can accurately treat a leaked resin and can form a molded article faithful to design data.SOLUTION: The three-dimensional molding apparatus includes a molding stage where a molded article is mounted and a plurality of molding heads 25A, 25B. A computer 200 as a control unit sets at least one of the plurality of molding heads 25 in a molding mode and sets other molding heads 25 in a standby mode or a halt state, and also carries out embedding operation of changing a predetermined portion of the one molding head to first temperature when the molding operation of the one molding head of the plurality of molding heads is finished, and extruding a resin remaining in the one molding head to embed in the molded article.

Description

  The present invention relates to a three-dimensional modeling apparatus and a method for controlling the three-dimensional modeling apparatus.

  A three-dimensional modeling apparatus that manufactures a three-dimensional modeled object (hereinafter simply referred to as a modeled object) based on the three-dimensional design data is known from Patent Document 1, for example. As a method of such a three-dimensional modeling apparatus, various methods such as an optical modeling method, a powder sintering method, an ink jet method, and a molten resin extrusion modeling method have been proposed and commercialized.

  In 3D modeling equipment that uses the molten resin extrusion molding method, a modeling head for injecting molten resin that is the material of the modeled object is mounted on a three-dimensional movement mechanism, and the modeling head is moved in the three-dimensional direction for melting. The molten resin is laminated while injecting the resin to obtain a shaped article. In a three-dimensional modeling apparatus using such a molten resin extrusion modeling method, when a modeled object having a plurality of colors is to be formed, resins of different colors are injected through a plurality of modeling heads. Moreover, also when it is going to form one modeling thing using a some material, a some modeling head is required for the several types of material.

  However, in the case of an apparatus having such a plurality of modeling heads, there is a problem that residual resin may leak from a modeling head other than the operating modeling head. Such resin leakage causes the modeled object to have different properties from the design data, and the operating modeling head collides with such a leaked part, resulting in damage or collapse of the modeled object. May cause problems.

  In order to cope with such resin leakage, a three-dimensional modeling apparatus including a brush or a wiper for removing the leaked resin has been proposed, for example, in Patent Document 1 or the like. However, it is difficult to accurately remove the resin leaked with the brush or the like, and the process of removing the resin leaked with the brush or the like increases the time required for the manufacturing process of the molded article. In addition, there is a problem that the apparatus becomes large due to the area occupied by the brush and the wiper.

Japanese Patent No. 4860769

  An object of this invention is to provide the three-dimensional modeling apparatus which can process the leaked resin correctly, and can produce the modeling object faithful to design data, and its control method.

The three-dimensional modeling apparatus according to the present invention includes a modeling stage on which a model is placed,
And a plurality of modeling heads for melting and discharging the resin. The control unit is configured to set at least one of the plurality of modeling heads to a modeling mode for performing a modeling operation, and to set another modeling head to a standby mode or a stopped state for waiting for a transition to the modeling operation. Is done. Then, when the modeling operation of one modeling head among the plurality of modeling heads is completed, the control unit performs an embedding operation that extrudes the resin remaining in the one modeling head and embeds it in the modeled object. Configured to do.

1 is a perspective view illustrating a schematic configuration of a 3D printer 100 included in a 3D modeling apparatus according to an embodiment. It is a front view which shows schematic structure of the three-dimensional modeling apparatus which concerns on 1st Embodiment. 2 is a perspective view showing a configuration of an XY stage 12. FIG. It is the schematic of the structure of modeling head 25A, 25B. 3 is a block diagram illustrating details of the structure of a driver 300. FIG. It is a conceptual diagram explaining the problem of this invention. It is the schematic which shows operation | movement of the three-dimensional modeling apparatus of 1st Embodiment. It is a flowchart which shows operation | movement of the three-dimensional modeling apparatus of 1st Embodiment. It is a transition diagram which shows operation | movement of the three-dimensional modeling apparatus of 1st Embodiment. It is a block diagram which shows operation | movement of the three-dimensional modeling apparatus of 2nd Embodiment. It is a flowchart which shows operation | movement of the three-dimensional modeling apparatus of 2nd Embodiment.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is a perspective view illustrating a schematic configuration of a 3D printer 100 included in the three-dimensional modeling apparatus according to the first embodiment. As illustrated in FIG. 1, the 3D printer 100 includes a frame 11, an XY stage 12, a modeling stage 13, a lifting table 14, and a guide shaft 15.

  A computer 200 is connected to the 3D printer 100 as a control device for controlling the 3D printer 100. A driver 300 for driving various mechanisms in the 3D printer 100 is also connected to the 3D printer 100.

  As shown in FIG. 1, the frame 11 has, for example, a rectangular parallelepiped shape and includes a frame made of a metal material such as aluminum. For example, four guide shafts 15 are formed at four corners of the frame 11 so as to extend in the Z direction in FIG. 1, that is, in a direction perpendicular to the plane of the modeling stage 13. The guide shaft 15 is a linear member that defines a direction in which the elevating table 14 is moved in the vertical direction as will be described later. The number of guide shafts 15 is not limited to four, and is set to a number that can stably maintain and move the lifting table 14. The modeling stage 13 is a table on which the model S is placed. Specifically, the modeling stage 13 is a table on which a thermoplastic resin discharged from a modeling head described later is deposited.

  As shown in FIG. 1 and FIG. 2, the elevating table 14 penetrates the guide shaft 15 at its four corners, and is configured to be movable along the longitudinal direction (Z direction) of the guide shaft 15. Yes. The elevating table 14 includes rollers 34 and 35 that come into contact with the guide shaft 15, and the elevating table 14 moves smoothly in the Z direction as the rollers 34 and 35 rotate while in contact with the guide shaft 15. It is possible to do. Further, as shown in FIG. 2, the elevating table 14 transmits a driving force of the motor Mz by a power transmission mechanism including a timing belt, a wire, a pulley, and the like, so that a predetermined interval (for example, 0.1 mm pitch) in the vertical direction. Move with. As the motor Mz, for example, a servo motor or a stepping motor is suitable.

  The XY stage 12 is placed on the upper surface of the lifting table 14. FIG. 3 is a perspective view showing a schematic configuration of the XY stage 12. The XY stage 12 includes a frame body 21, an X guide rail 22, a Y guide rail 23, filament holders 24A and 24B, a modeling head 25 (25A and 25B), and a modeling head holder H. Both ends of the X guide rail 22 are fitted into the Y guide rail 23 and are held slidable in the Y direction. The filament holders 24A and 24B are containers for holding a thermoplastic resin (filament) that is a material of the shaped object S and supplying it to the shaping heads 25A and 25B. The filament holders 24A and 24B supply thermoplastic resins (filaments) of different colors or materials. Further, although not shown in FIG. 1, the filament is held in a form of being wound up by, for example, a roller held above the frame 11, and is sent to the filament holder 24A or 24B as necessary. In the following description, the modeling heads 25A and 25B may be collectively referred to as “modeling head 25”.

The modeling heads 25A and 25B are supplied with filaments from the filament holders 24A and 24B via the tube Tb. The modeling heads 25A and 25B are both held by the modeling head holder H and configured to be movable along the X and Y guide rails 22 together with the filament holders 24A and 24B. The modeling heads 25 </ b> A and 25 </ b> B need only be movable with the modeling head holder H while maintaining a fixed positional relationship with each other in the XY plane, but also in the XY plane so that the mutual positional relationship can be changed. It may be configured.
Although not shown in FIGS. 2 and 3, motors Mx and My for moving the modeling heads 25 </ b> A and 25 </ b> B with respect to the XY table 12 are also provided on the XY stage 12. Although not shown, a motor Mr for raising and lowering the modeling heads 25A and 25B in the vertical direction (Z direction) with respect to the modeling head holder H is also mounted in the XY table 12. As the motors Mx, My, and Mr, for example, a servo motor or a stepping motor is suitable. The modeling heads 25A and 25B can be supplied with filaments of different colors. Alternatively, the modeling heads 25A and 25B can be supplied with filaments of different materials, for example. In this embodiment, for simplification of explanation, the number of modeling heads is two, but the present invention can be applied to an apparatus having three or more modeling heads.

  FIG. 4 is a schematic view of the structure of the modeling heads 25A and 25B. The modeling heads 25 </ b> A and 25 </ b> B include a heater 26, a temperature sensor 27, a molten resin holding unit 28, and a discharge hole 29. The heater 26 is for changing the temperature of the modeling heads 25A and 25B. Further, the temperature sensor 25 measures the temperature at a predetermined location of the modeling heads 25A and 25B (the temperature of the modeling heads 25A and 25B around the temperature sensor 25), and feeds back the measurement result to the computer 200. Moreover, the molten resin holding | maintenance part 28 is a part into which the filament mentioned above enters. When the filament that has entered the molten resin holding portion 28 is heated by the heater 26, the filament is melted, the molten thermoplastic resin is accumulated in the molten resin holding portion 28, and is further discharged outside through the discharge holes 29.

  Next, the details of the structure of the driver 300 will be described with reference to the block diagram of FIG. The driver 300 includes a CPU 301, a filament feeding device 302, a head selection device 303, a current switch 304, a leak monitoring sensor 305, and a pulse generator 306.

  The CPU 301 receives various signals from the computer 200 via the input / output interface 307 and controls the entire driver 300. The filament feeding device 302 controls the feeding amount (pushing amount or retracting amount) of the filament to the modeling heads 25A and 25B in accordance with a control signal from the CPU 301. Further, the head selection device 303 selects one of the modeling heads 25 </ b> A and 25 </ b> B according to a control signal from the CPU 301. The selected modeling head 25A or 25B is lowered to the operating position when the above-described motor Mr is driven, and is also raised to the retracted position after the modeling operation is completed.

  The current switch 304 is a switch circuit for switching the amount of current flowing through the heater 26. When the switching state of the current switch 304 is switched, the current flowing through the heater 26 is increased or decreased, thereby changing the temperature of the modeling head 25A or 25B. The leak monitoring sensor 305 detects the leakage of the molten resin from the discharge hole 29 and outputs the detection result to the CPU 301 as a detection signal. The CPU 301 receiving the detection signal can use the detection signal for various controls. As the leak monitoring sensor 305, various types of sensors such as an optical sensor, a temperature sensor, and an image sensor can be used. The pulse generator 306 generates a pulse signal for controlling the motors Mx, My, and Mz in accordance with a control signal from the CPU 301.

In the apparatus described above, each of the plurality (two in the figure) of the modeling heads 25A and 25B stops the modeling mode for performing the modeling operation, the standby mode for waiting for the transition to the modeling operation, or the operation. And set to one of the stop modes for waiting for the transition to the standby mode. The mode is set by a computer 200 as a control device according to a computer program supplied to the computer 200.
In principle, only one of the plurality of modeling heads is set to the modeling mode, but the present invention is not limited to this, and the plurality of modeling heads simultaneously shift to the modeling mode. It is also possible. In this embodiment, for simplification of description, it is assumed that the number of modeling heads that simultaneously enter the modeling mode is one.

  When there is the modeling head 25 that has finished the modeling mode and has shifted to the standby mode or the stop mode, as shown in FIG. 6, the thermoplastic resin remaining in the inside from the modeling head 25 in the standby mode or the stop mode is external. There was a risk that it would leak onto the shaped object S. When the molten resin falls on the model S, the model S has a property different from the design data. In addition, the molten resin that has fallen on the shaped object S in this way has a problem in the subsequent shaping operation, and there is a problem that the shaped object S is destroyed or collapsed in some cases.

  Therefore, in the present embodiment, by performing the operations as shown in FIGS. 7 and 8, it is possible to process such remaining thermoplastic resin and form a model faithfully to the design data. ing. The processing operation will be described below with reference to FIGS. Here, as an example, the operation in the case where the modeling operation by the modeling head 25A is finished and the process moves to the modeling operation by another modeling head 25B will be described. On the other hand, the operation when the modeling operation by the modeling head 25B is completed and the process moves to the modeling operation by the other modeling head 25A is substantially the same, and thus the description thereof is omitted below.

When the modeling operation by the modeling head 25A is executed and finished (P1 in FIG. 7 and S11 in FIG. 8), the temperature of the modeling head 25A is from the modeling temperature T1 during the modeling operation to discharge the remaining molten resin. Thus, the temperature of the modeling head 25A starts to change toward the discharge temperature T2. On the other hand, the temperature of the modeling head 25B is set from the standby temperature T3 to the modeling temperature T1, and starts changing toward the modeling temperature T1 (S12 in FIG. 8).
For the purpose of suppressing leakage of residual resin from the modeling head, the modeling temperature T1 is a temperature of about 230 ° C., for example, and the discharge temperature T2 is a temperature of about 210 ° C., for example, which is slightly lower than the modeling temperature T1. The temperature is preferred. By setting the discharge temperature T2 as described above, an appropriate viscosity is given to the remaining molten resin, leakage of the molten resin can be suppressed, and an embedding process described later can be facilitated. However, if it is desired to expedite the discharge from the modeling head, it is possible to set the discharge temperature T2 to a temperature higher than the modeling temperature T1, and the discharge temperature T2 is not limited to the above-mentioned numerical values. .

  Subsequently, as shown in P2 of FIG. 7, the operation of retracting (pulling out) the filament Fa is performed from the modeling head 25A that has finished the modeling operation and shifts to the standby operation (S13 in FIG. 8). This retreating operation is performed at a time before the modeling head 25A rises to the above-described discharge temperature T2. Further, the distance for retreating is about 15 mm, for example. By this operation, the remaining thermoplastic resin (hereinafter referred to as residual resin) remains without being discharged to the outside in the vicinity of the discharge port 29 of the modeling head 25A.

  Next, as shown at P3 in FIG. 7, the modeling head 25A that has shifted to the standby state is raised to a predetermined retracted position (S14 in FIG. 8). This evacuation operation is to suppress the influence of the shape of the model S being deformed due to the influence of the residual heat of the modeling head 25A. The retreat distance at this time can be set to, for example, about 1 mm.

Then, it waits until modeling head 25A reaches the above-mentioned discharge temperature T2 (S15 of Drawing 8). Whether or not the discharge temperature T2 has been reached is determined by a detection signal from the temperature sensor 27. Instead, it may be detected whether or not a specified time (for example, 10 seconds) has elapsed according to the output of a timer (not shown). Thereby, the residual resin Fr remaining in the vicinity of the molten resin holding portion 28 and the discharge hole 29 is discharged from the discharge hole 29 and leaks to the outlet side of the discharge hole 29.
After the residual resin leaks out, cooling of the modeling head 25A is started. Cooling may be performed by natural cooling or by a Peltier element (not shown). This prevents further leakage of residual resin and further melting of the filament Fa.

When the residual resin Fr leaks out of the discharge hole 29 in this way, the modeling head 25A is again lowered by about 1 mm toward the modeled object S as shown in P5 of FIG. S is contacted. Thereby, the residual resin Fr comes into contact with the shaped object S.
Subsequently, as shown at P6 in FIG. 7, the filament Fa is pushed out in the direction of the discharge hole 29 in the modeling head 25A (S17 in FIG. 8). The extrusion distance of the filament Fa is, for example, about 15 mm. As a result, the residual resin Fr remaining in the vicinity of the discharge hole 29 due to the viscosity is pushed out of the discharge hole 29 and discharged to the modeling object S side. Subsequently, as shown at P7 in FIG. 7, an operation of retracting (pulling out) the filament Fa in the modeling head 25A immediately after discharge is performed (S18 in FIG. 8). The retraction distance of the filament Fa can be set to about 15 mm, for example, similarly to the extrusion distance of S17. The extrusion of the filament Fa is executed so that at least a part of the filament Fa is pushed out to the heating position by the heater 27. After the extrusion, in order to avoid melting of the filament Fa, the filament Fa is immediately pulled out of the heating position.
Thereafter, the temperature of the modeling head 25A is set to a standby temperature T3 suitable for the standby mode (S19 in FIG. 8). The standby temperature T3 may be the same as the above-described discharge temperature T2, but a temperature slightly lower than the discharge temperature T2 is preferable. As an example, when the discharge temperature T2 is 210 ° C., the standby temperature T3 is preferably about 200 ° C. Further, the standby temperature T3 can be set to the same level as the modeling temperature T1 depending on various conditions.

  Subsequently, as shown in P8 of FIG. 7, an embedding operation for embedding the residual resin Fr extruded onto the shaped object S in the shaped object S is performed (S20 in FIG. 8). The embedding operation is performed by moving the tip (discharge hole 29) of the modeling head 25 along the surface of the modeled object S while contacting the modeled object S. The trajectory of the movement of the modeling head 25 at this time is preferably an 8-shaped trajectory, for example. By performing such a movement operation in the XY directions, the residual resin Fr remaining at the tip of the modeling head 25A is attached to the modeling object S side while embedding the discharged residual resin Fr in the modeling object S. This prevents the residual resin Fr from pulling the yarn and the shape of the shaped object S from becoming unexpected.

  After the filling operation of the residual resin Fr is completed, the modeling head 25A ascends in a direction away from the modeled object S (S21 in FIG. 8), as indicated by P9 in FIG. Thereafter, the modeling head 25A moves to the next modeling position together with the modeling head 25B (P10 in FIG. 7 and S22 in FIG. 8).

When the movement to the next modeling position is completed, the modeling head that is the target of the modeling operation is changed from the modeling head 25A to the modeling head 25B (S23 in FIG. 8). The modeling head 25A is maintained in the standby mode (standby temperature T3) for the transition to the next modeling operation. However, when it is determined that the modeling head 25A is not used for a long time, the modeling head 25A further shifts from the standby mode to the stop mode (stop temperature T4). In the modeling head 25 </ b> A that has shifted to the standby mode or the stop mode, the filament Fa is retracted upward and is retracted to a position separated from the heating position of the heater 27. The same applies to the modeling head 25B.
On the other hand, the modeling head 25B is already set to the modeling mode (modeling temperature T1) in S12 of FIG. 8, and this modeling head 25B is used for the next modeling operation. When it is determined that the modeling head 25B has reached the modeling temperature T1, the modeling head 25B starts to descend toward the modeled object S (S24 in FIG. 8). In parallel with this, the filament Fb in the modeling head 25B is pushed out toward the discharge hole 29 (S25 in FIG. 8), thereby starting the modeling operation by the modeling head 25B (S26 in FIG. 8).
Note that the above procedure is an example for the treatment of the residual resin, and can be changed to a procedure different from the procedure shown in FIG. 8 as long as the treatment of the residual resin is performed accurately. For example, in FIG. 8, during the standby in S15, the process waits until the modeling head 25A reaches the discharge temperature T2, but instead of this, it waits until the modeling head 25B reaches the modeling temperature T1. It is also possible to change to.

[effect]
According to the above operation, when the modeling head to be subjected to the modeling operation is switched from the modeling head 25A to the modeling head 25B, it is not affected by the residual resin Fr leaking from the modeling head 25A after the modeling operation is completed. The modeling object S can be modeled. That is, it is possible to provide a three-dimensional modeling apparatus that can accurately process the leaked resin and create a model that is faithful to the design data.

  FIG. 9 is a transition diagram illustrating how the modeling head transitions between the modeling mode, the standby mode, and the stop mode in the three-dimensional modeling apparatus of the present embodiment. As shown in FIG. 9, in this embodiment, the modeling head in the modeling mode temporarily shifts to the standby mode by the mode transition process as described above, and shifts to the stop mode via the standby mode. In addition, the modeling head in the stop mode temporarily shifts to the standby mode, and then shifts to the modeling mode via the standby mode. The modeling head in the stop mode may suddenly shift to the modeling mode, but the modeling head in the modeling mode is prohibited from suddenly shifting to the stop mode. This is to prevent the shape of the model from being deteriorated by the residual resin described above.

[Second Embodiment]
Next, a three-dimensional modeling apparatus according to the second embodiment of the present invention will be described with reference to FIGS. The structure of the 3D modeling apparatus according to the second embodiment is substantially the same as the structure according to the first embodiment (FIGS. 1 to 4). However, in the second embodiment, the modeling heads 25A and 25B are provided with a residual detection sensor 31 that detects whether or not the residual resin Fr remains, which is different from the first embodiment. ing. The residual detection sensor 31 can be configured by, for example, a combination of a laser light source and an optical sensor, but various other types of sensors can be used.

Next, the procedure of the modeling operation of the three-dimensional modeling apparatus according to the second embodiment will be described with reference to the flowchart of FIG.
First, when the power switch SWp of the 3D printer 100 is turned “ON” (S31 in FIG. 8), an initial operation is performed on the modeling heads 25A and 25B, and the modeling heads 25A and 25B are operated by the operation of the motor Mr. It moves to each retreat position (S32).

  Next, the modeling heads 25A and 25B simultaneously shift from the stop mode (stop temperature T4) to the standby mode (standby temperature T3) (S33). Then, the above-described residual detection sensor 31 determines whether or not the residual resin Fr remains in the modeling heads 25A and 25B (S34). When it is determined that the residual resin Fr remains, the temperature of the modeling head 25A or 25B is set to the discharge temperature T2 to melt the residual resin Fr, and the first embodiment (FIGS. 7 and 8). The residual resin Fr is discharged in the same manner as the processing procedure shown in FIG.

  When the processing of the residual resin Fr is completed, the modeling heads 25A and 25B wait in the standby mode (standby temperature T3) until the next request (control signal) is received from the computer 200 (S36, S37). If the timer (not shown) determines that the upper limit time of the standby mode has elapsed, the modeling heads 25A and 25b temporarily shift to the stop mode (stop temperature T4). When the request is received again from the computer 200, the process returns to the standby mode (standby temperature T3) (S40 to 42).

  When the modeling head 25A or 25B shifts to the modeling mode (modeling temperature T1) in accordance with a request from the computer 200 and the modeling ends without interruption (S44 to S46), the residual remains as in the first embodiment. Resin Fr processing is performed. Thereafter, the modeling heads 25A and 25B are retracted to the retracted position for the standby operation, and shift to the standby mode (S47 to S48). Thereafter, the standby mode is maintained until a new request is issued from the computer 200. When the timer (not shown) determines that the upper limit time of the standby mode has elapsed, the modeling heads 25A and 25b temporarily shift to the stop mode (stop temperature T4). When the request is received again from the computer 200, the process returns to the standby mode (standby temperature T3) (S50 to 53).

  When the modeling operation is interrupted for some reason after the modeling operation is started (S45), the interrupting operation is performed (S61). The content of the interruption operation can include, for example, a filament retracting operation, a temperature adjustment of the modeling head, and the like. When this interruption operation is performed, the modeling heads 25A and 25B are retracted to a predetermined retracted position (S62). When it is determined that the modeling operation can be resumed, a return operation is executed (S63), the modeling heads 25A and 25B return to the modeling position for the modeling operation (S64), and the modeling operation is resumed.

The above operation is repeated until the modeling operation is completed.
According to the second embodiment described above, the presence or absence of the residual resin Fr is inspected by the residual detection sensor 31, and processing of the residual resin Fr is executed according to the result. Therefore, according to the second embodiment, it is possible to further reduce the influence of the residual resin Fr.
In the processing procedure of FIG. 11, the example in which the presence or absence of the residual resin Fr is detected by the residual detection sensor 31 only immediately after the power is turned on is shown, but the present invention is not limited to this, and each modeling The detection by the residual detection sensor 31 can be executed every time the modeling operation in the head is finished.

  As mentioned above, although several embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 100 ... 3D printer, 200 ... Computer, 300 ... Driver, 11 ... Frame, 12 ... XY stage, 13 ... Modeling stage, 14 ... Lifting table, 15 ... Guide shaft, 21 ... Frame, 22 ... X guide rail, 23 ... Y guide rail, 24A, 24B ... Filament holder, 25A, 25B ... Modeling head, H ... Modeling head Holder, 26 ... Heater, 27 ... Temperature sensor, 28 ... Molten resin holding part, 29 ... Discharge hole, 31 ... Residual detection sensor, 34, 35 ... Roller, 301 ... CPU 302 Filament feeding device 303 Head selection device 304 Current switch 305 Leak monitoring sensor 306 ... pulse generator, 307 ... interface.

Claims (14)

A modeling stage on which a model is placed;
A plurality of modeling heads for melting and discharging the resin;
A controller configured to set at least one of the plurality of modeling heads to a modeling mode for performing a modeling operation, and to set another modeling head to a standby mode or a stop state for waiting for a transition to the modeling operation. And
When the modeling operation of one modeling head among the plurality of modeling heads is completed, the control unit performs an embedding operation for extruding the residual resin remaining in the one modeling head and embedding it in the modeled object. A three-dimensional modeling apparatus characterized by being configured to execute.   The three-dimensional modeling apparatus according to claim 1, wherein the embedding operation is an operation in which the residual resin is melted and then embedded in the modeled object.   The three-dimensional modeling apparatus according to claim 1, wherein the controller executes the embedding operation after changing a temperature at a predetermined location in the first modeling head from a first temperature to a second temperature. The first temperature is a temperature during the modeling operation,
The three-dimensional modeling apparatus according to claim 3, wherein the second temperature is lower than the first temperature.   The three-dimensional modeling apparatus according to any one of claims 1 to 4, wherein the embedding operation includes an operation of moving the tip of the modeling head along the surface of the modeled object while contacting the modeled object.   The three-dimensional modeling apparatus according to claim 1, wherein the control unit executes an operation of retracting a filament as a resin material from the one modeling head. The modeling head includes a heater for heating the resin,
The said control part performs the operation | movement which evacuates to the outside of a heating position immediately after pushing out the filament as a resin material from the said 1 modeling head in the said embedding operation to the heating position of the said heater. 3D modeling equipment.   The three-dimensional modeling apparatus according to any one of claims 1 to 7, wherein the control unit performs a transition between the modeling mode and the stop mode via the standby mode.   The three-dimensional modeling apparatus according to claim 1, wherein the control unit simultaneously changes the plurality of modeling heads from a stop mode to a standby mode. The control unit further includes a residual detection sensor that detects whether or not resin remains in the modeling head,
The three-dimensional modeling apparatus according to claim 1, wherein the controller performs the embedding operation when the residual resin is detected by the residual detection sensor. A modeling stage on which a model is placed;
A plurality of modeling heads for melting and extracting the resin;
A controller configured to set at least one of the plurality of modeling heads to a modeling mode for performing a modeling operation, and to set another modeling head to a standby mode or a stop state for waiting for a transition to the modeling operation. And
When the modeling operation of one modeling head among the plurality of modeling heads is completed, the control unit shifts the one modeling head from the modeling mode to the standby mode or the stop mode,
The transition between the modeling mode and the stop mode is performed via the standby mode. A control method for a three-dimensional modeling apparatus,
The three-dimensional modeling apparatus includes a plurality of modeling heads that melt and extract a resin,
The method
At least one of the plurality of modeling heads is set to a modeling mode for performing a modeling operation, and the other modeling head is set to a standby mode or a stop state for waiting for a transition to a modeling operation,
When a modeling operation of one of the plurality of modeling heads is completed, an embedding operation is performed in which the residual resin remaining in the one modeling head is pushed out and embedded in the modeled object. The control method of the three-dimensional modeling apparatus.   The method according to claim 12, wherein when the modeling operation of the one modeling head is completed, the temperature at a predetermined location in the first modeling head is changed from the first temperature to the second temperature. The method according to claim 12, wherein the transition between the modeling mode and the stop mode is performed via the standby mode.

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