WO-2026094128-A1 - SOLID OBJECT FABRICATION SYSTEM, CONTROL DEVICE, PROGRAM, AND SOLID OBJECT FABRICATION METHOD

WO2026094128A1WO 2026094128 A1WO2026094128 A1WO 2026094128A1WO-2026094128-A1

Abstract

[Problem] To realize a technique with which it is possible to appropriately determine the internal structure of a three-dimensional object. [Solution] This solid object fabrication system 1 comprises a head 21, an articulated robot 22, a structure determination unit 153, a route generation unit 154, a head movement control unit 155, and a discharge control unit 156. The head 21 discharges a fabrication material for fabricating a solid object. The articulated robot 22 moves the head 21. The structure determination unit 153 determines the structure of the solid object, which includes an internal structure, on the basis of three-dimensional data pertaining to the solid object. The route generation unit 154 sets, on the basis of the structure determined by the structure determination unit 153, a tool path over which one built-up layer of the solid object including the internal structure is produced in an unbroken action. The head movement control unit 155 and the discharge control unit 156 move the head 21 by using the articulated robot 22 and cause the head 21 to discharge the fabrication material in accordance with the tool path generated by the route generation unit 154.

Inventors

CHINEN Moriyasu
MATSUOKA YASUTOMO

Assignees

株式会社DigitalArchi

Dates

Publication Date: 20260507
Application Date: 20241028

Claims (14)

An extrusion means for extruding molding material for creating three-dimensional objects, A moving means for moving the aforementioned discharging means, A structure determination means for determining the structure of the three-dimensional object, including its internal structure, based on the three-dimensional data of the three-dimensional object, A path generation means sets a toolpath for drawing a single layer of the three-dimensional object, including the internal structure, based on the structure determined by the structure determination means, A control means that moves the extrusion means by the moving means according to the toolpath generated by the path generation means and extrudes the molding material, A three-dimensional object molding system characterized by comprising the following features.
The three-dimensional object fabrication system according to claim 1, characterized in that the structure determination means determines the internal structure by dividing a closed figure in the slice data of the three-dimensional data of the three-dimensional object and generating multiple cells.
The three-dimensional object fabrication system according to claim 1 or 2, characterized in that the structure determination means generates a plurality of cells by generating a Voronoi diagram based on a set of reference points set within a closed figure in the slice data of the three-dimensional data of the three-dimensional object, and determines the internal structure.
The three-dimensional object fabrication system according to claim 3, characterized in that the structure determination means adds or deletes the reference point group related to the generation of the Voronoi diagram to a portion of the closed figure in the slice data of the three-dimensional data of the three-dimensional object.
The three-dimensional object molding system according to claim 1 or 2, characterized in that the structure determination means sets an offset on the side of the cell corresponding to the extrusion width of the molding material by the extrusion means.
The three-dimensional object modeling system according to claim 1 or 2, characterized in that the structure determination means connects the edges of adjacent cells in a predetermined connection configuration and sets the edges of the connected plurality of cells as a toolpath that draws in a single stroke.
The three-dimensional object fabrication system according to claim 6, characterized in that the structure determination means connects the edges of adjacent cells in a synaptic connection configuration in which the toolpaths do not intersect.
The three-dimensional object fabrication system according to claim 6, characterized in that the structure determination means connects the edges of adjacent cells in a cross-shaped connection configuration where toolpaths intersect.
The three-dimensional object fabrication system according to claim 1 or 2, characterized in that the structure determination means sets the reference points at different densities for each portion of the slice data of the three-dimensional data of the three-dimensional object.
The three-dimensional object fabrication system according to claim 1 or 2, characterized in that the structural determination means performs a structural analysis of the three-dimensional object to be fabricated and determines the internal structure based on the results of the structural analysis.
The three-dimensional object manufacturing system according to claim 1 or 2, characterized in that it manufactures large three-dimensional objects, including building components or structures, as the aforementioned three-dimensional object.
An extrusion means for extruding molding material for creating three-dimensional objects, A moving means for moving the aforementioned discharging means, A control device for controlling a three-dimensional object modeling system, comprising: A structure determination means for determining the structure of the three-dimensional object, including its internal structure, based on the three-dimensional data of the three-dimensional object, A path generation means sets a toolpath for drawing a single layer of the three-dimensional object, including the internal structure, based on the structure determined by the structure determination means, A control means that moves the extrusion means by the moving means according to the toolpath generated by the path generation means and extrudes the molding material, A control device characterized by comprising:
An extrusion means for extruding molding material for creating three-dimensional objects, A moving means for moving the aforementioned discharging means, A computer that constitutes a control device for controlling a three-dimensional object modeling system equipped with the following: A structure determination function that determines the structure of the three-dimensional object, including its internal structure, based on the three-dimensional data of the aforementioned object, A path generation function sets a toolpath to draw a single layer of the three-dimensional object, including the internal structure, based on the structure determined by the structure determination function, A control function that moves the extrusion means by the moving means according to the toolpath generated by the path generation function and extrudes the molding material, A program characterized by its ability to achieve this.
A method for creating three-dimensional objects that is performed by a three-dimensional object creation system, A dispensing step in which a molding material for creating a three-dimensional object is dispensed by a dispensing means, A moving step of moving the discharge means, A structure determination step in which the structure of the three-dimensional object, including its internal structure, is determined based on the three-dimensional data of the three-dimensional object, A path generation step, based on the structure determined in the structure determination step, sets a toolpath to draw one layer of the three-dimensional object including the internal structure in a single stroke, A control step that controls the movement of the extrusion means and the extrusion of the molding material in the movement step, according to the toolpath generated by the path generation step, A method for creating three-dimensional objects, characterized by including the following:

Description

Three-dimensional object modeling system, control device, program, and three-dimensional object modeling method This invention relates to a three-dimensional object fabrication system, a control device, a program, and a three-dimensional object fabrication method. In recent years, technologies that use 3D printers and other three-dimensional object manufacturing devices to create large three-dimensional objects such as building components and structures are increasingly being utilized. For example, Non-Patent Document 1 describes forming formwork for shell structures in buildings using 3D printing. This is a schematic diagram showing the system configuration of a three-dimensional object fabrication system 1 according to one embodiment of the present invention.This is a block diagram showing the hardware configuration of the information processing device 800 that constitutes the control system of the three-dimensional object modeling system 1.This is a block diagram showing the functional configuration of the control unit 10.This is a schematic diagram showing the method for determining the internal structure in the first embodiment.This is a schematic diagram illustrating the state in which a cloud of reference points is set within a closed shape in slice data.This is a schematic diagram showing an example of the internal structure of a three-dimensional object.This is a schematic diagram illustrating the process of creating a Voronoi diagram based on a set of reference points.This is a schematic diagram showing the state in which offsets are set for each edge that makes up a cell in a Voronoi diagram.This is a schematic diagram showing the state of a cell (polygon) where double edges are formed by an offset.This is a schematic diagram illustrating a state where a minimum spanning tree is set up that passes through all cells.This is a schematic diagram illustrating a state where edges passing through the minimum spanning tree are cut.This is a schematic diagram illustrating an example of connecting an open edge to the edge of an adjacent cell.This is a schematic diagram illustrating a synaptic connection configuration, where an open edge is connected to an edge of an adjacent cell.This is a schematic diagram showing a cross-shaped connection configuration, where an open edge is connected to the edge of an adjacent cell.This flowchart shows the flow of the control data generation process performed by the 3D object modeling system 1.This flowchart shows the flow of the three-dimensional object creation process performed by the three-dimensional object creation system 1.This is a schematic diagram showing an example of a three-dimensional object created by the three-dimensional object fabrication system 1 (an example of fabrication using a cross shape).This is a schematic diagram showing another example of a three-dimensional object created by the three-dimensional object fabrication system 1 (an example of fabrication using a synaptic type).This is a schematic diagram illustrating an example of creating gaps in the internal structure by shortcutting the vertices of the polygons that make up a cell. Embodiments of the present invention will be described below with reference to the drawings. [First Embodiment] [System Configuration] The three-dimensional object fabrication system 1 according to this embodiment is realized as one form of a three-dimensional object fabrication system to which the present invention is applied, and is configured as a 3D printer capable of fabricating large three-dimensional objects such as building components and structures. In the three-dimensional object fabrication system 1, the internal structure (infill) is determined according to the structure of the three-dimensional object to be fabricated, and a toolpath (head movement path) is generated to draw the structure of the three-dimensional object, including the internal structure, in a predetermined form in a single stroke, and the three-dimensional object is fabricated using a path without travel. Therefore, it is possible to create an appropriate internal structure according to the three-dimensional object being fabricated, and by moving the head along the path thus generated, large three-dimensional objects can be fabricated efficiently, while suppressing quality degradation due to unnecessary material stringing, etc. Therefore, the three-dimensional object fabrication system 1 to which the present invention is applied can realize a technology that can appropriately determine the internal structure of a three-dimensional object. Figure 1 is a schematic diagram showing the system configuration of a three-dimensional object fabrication system 1 according to one embodiment of the present invention. As shown in Figure 1, the three-dimensional object manufacturing system 1 comprises a control unit 10 and a manufacturing unit 20. The control unit 10 and the manufacturing unit 20 are configured to communicate with each other via wi