Patent Publication Number: US-2020298509-A1

Title: Modeling apparatus, method, and annealing apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2019-051911, filed on Mar. 19, 2019. The contents of which are incorporated herein by reference in their entirety. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a modeling apparatus and method, and an annealing apparatus. 
     2. Description of the Related Art 
     Recently, modeling apparatuses have come to a wide use, as an apparatus capable of modeling a modeled object without the use of any mold, for example. 
     For example, when a modeled object is formed using a crystalline resin, the modeled object becomes more susceptible to warping, because, as a result of the modeled object being cooled unevenly in the process of modeling, the modeled object goes through an uneven shrinkage and the internal stress is generated thereby. Japanese Patent No. 6235717 discloses a technology for modeling a modeled object using one or more semi-crystalline polymers, and one or more second materials configured to delay the crystallization of the one or more semi-crystalline polymers. 
     As a solution for suppressing such warpage, a thin plate, which is referred to as a brim, may be formed around the bottom part of the modeled object. However, depending on the size of the modeled object, it has been difficult to suppress warpage merely with a brim. 
     SUMMARY OF THE INVENTION 
     According to an aspect of the present invention, a modeling apparatus is configured to laminate a modeling material to model a three-dimensional modeled object. The modeling apparatus includes a local heating unit, a local cooling unit, and an annealing unit. The local heating unit is configured to locally heat the modeling material during lamination of the modeling material is being laminated. The local cooling unit is configured to locally cool the modeling material during the lamination. The annealing unit is configured to anneal the resultant three-dimensional modeled object at a temperature equal to or higher than a predetermined temperature. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating an overall structure of a modeling apparatus; 
         FIG. 2  is a schematic front view illustrating an internal structure of a modeling area; 
         FIG. 3  is a schematic front view illustrating an internal structure of an annealing area; 
         FIG. 4  is a schematic for explaining a general structure of a modeling head; 
         FIG. 5  is a block diagram illustrating an overall structure of a driving control system for the modeling head; 
         FIG. 6  is a block diagram illustrating an overall structure of a control system for the modeling apparatus; 
         FIG. 7  is a schematic for explaining manufacturing conditions and results of qualitative evaluations of examples and comparative examples; 
         FIGS. 8A and 8B  are schematics for explaining three-dimensional modeled objects used in evaluating strength in an lamination direction; 
         FIG. 9  is a schematic for explaining quantitative evaluations of the amount of warpage in three-dimensional modeled objects achieved with a fixed laser output; 
         FIG. 10  is a schematic for explaining evaluation results of breaking stress when tensile tests were carried out with a fixed regulator pressure setting; and 
         FIG. 11  is a schematic for explaining annealing conditions and evaluation results of tensile elasticities of the resultant three-dimensional modeled objects. 
     
    
    
     The accompanying drawings are intended to depict exemplary embodiments of the present invention and should not be interpreted to limit the scope thereof. Identical or similar reference numerals designate identical or similar components throughout the various drawings. 
     DESCRIPTION OF THE EMBODIMENTS 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. 
     As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. 
     In describing preferred embodiments illustrated in the drawings, specific terminology may be employed for the sake of clarity. However, the disclosure of this patent specification is not intended to be limited to the specific terminology so selected, and it is to be understood that each specific element includes all technical equivalents that have the same function, operate in a similar manner, and achieve a similar result. 
     An embodiment of the present invention will be described in detail below with reference to the drawings. 
     An embodiment has an object to obtain a high-quality three-dimensional object with warpage or deformation suppressed, using a simple structure. 
     A three-dimensional modeling apparatus according to an embodiment will now be explained in detail with reference to the appended drawings. This embodiment is, however, not intended to limit the scope of the present invention in any way. 
     As one example of the modeling apparatus, fused deposition modeling will now be explained. With fused deposition modeling, a modeling material containing a thermo-plastic resin is heated and melted to a semi-liquid state. This modeling material is then discharged based on a piece of 3D data representing a three-dimensional modeled object that is to be modeled, and a modeling layer is formed thereby. By laminating modeling layers repeatedly, a three-dimensional modeled object can be formed more easily, compared with other methods. 
     As a modeling material used in such a fused deposition modeling apparatus, it is possible to use a multi-layered modeling material including a hard-to-handle resin, being hard-to-handle when the modeling material is fabricated or stored, or when a three-dimensional modeled object is manufactured, as a core layer, covered by a super engineering plastic, such as polyetheretherketone, serving as a sheath layer. 
     One embodiment of the present invention will now be explained with reference to the drawings. 
     Overall Structure 
     Explained now is one embodiment of a modeling apparatus that laminates modeling layers on a modeling stage, using a modeling material, and a modeling apparatus for modeling a three-dimensional modeled object using the fused deposition modeling using a filament made of a thermo-plastic resin as a modeling material. 
     The modeling apparatus is, however, not limited to that using fused deposition modeling using a filament of a thermo-plastic resin, and may be applied to various modeling materials or modeling methods, and it is possible to use any modeling apparatus that models a three-dimensional modeled object on the placement surface of a modeling stage. 
       FIG. 1  is a block diagram illustrating an overall structure of the modeling apparatus. This modeling apparatus  100  includes a housing  101 , a placement board  102 , a shutter  104 , a slider  105 , an elevator unit  106 , a placement board support  110 . 
     The housing  101  has a modeling area  101 A as a modeling unit, and an annealing area  101 B as an annealing unit. Specifically, the housing  101  is divided into two areas, one of which is a modeling area (modeling chamber)  101 A for performing additive manufacturing, and the other of which is an annealing area (annealing chamber)  101 B where heat treatment (annealing) is performed on the manufactured three-dimensional modeled object MO at a temperature equal to or higher than a predetermined temperature. 
     Here, annealing means a treatment for performing heat treatment on the three-dimensional modeled object MO at a temperature equal to or higher than a predetermined temperature to eliminate (remove) distortions caused by a residual stress. When the modeling material has a glass transition temperature, annealing is a heat treatment at a temperature equal to or higher than the glass transition temperature. 
     The three-dimensional modeled object MO is placed on the placement board  102 . The placement board  102  on which the three-dimensional modeled object MO is placed can be moved between the two areas  101 A,  101 B by a conveying unit  103 . The placement board support  110  is integrated with the placement board  102 , and supports the placement board  102 . The term “conveying unit  103 ” herein means the motor, the slider  105 , and the placement board support  110 , collectively. The placement board  102  is conveyed via the placement board support  110 . 
     The slider  105  is disposed in the horizontal direction with respect to the conveying unit  103  so that the placement board  102  can be conveyed between the two areas  101 A,  101 B. 
     The annealing area  101 B has a space in which a plurality of placement boards  102  can be stacked (housed), and is provided with the elevator unit  106  capable of driving the placement board  102  in vertical directions. 
     The shutter  104  is a heat-insulating member for adjusting the heat by being opened and closed. The shutter  104  is provided between the two areas  101 A,  101 B. When the placement board  102  is to be moved, the shutter  104  is opened to ensure the passage, and then the shutter  104  is closed. In this manner, these two areas  101 A,  101 B are thermally insulated from each other. Therefore, it is possible to maintain the annealing atmosphere in the annealing area  101 B. 
     The modeling apparatus illustrated in  FIG. 1  is a modeling apparatus in which the modeling area  101 A is integrated with the annealing area  101 B, but the modeling area  101 A and the annealing area  101 B may be separate bodies. Specifically, the modeling apparatus may be implemented as a modeling system including the modeling area  101 A as a three-dimensional modeling apparatus, and the annealing area  101 B as an annealing apparatus. 
     The shutter  104  is a heat-insulating member for adjusting the heat by being opened and closed. The shutter  104  is provided between the two areas  101 A,  101 B. When the placement board  102  is to be moved, the shutter  104  is opened to ensure the passage, and then the shutter  104  is closed. In this manner, these two areas  101 A,  101 B are thermally insulated from each other. Therefore, it is possible to maintain the annealing atmosphere in the annealing area  101 B. 
     The modeling area  101 A and the annealing area  101 B illustrated in  FIG. 1  will now be explained with reference to  FIGS. 2 and 3 . 
       FIG. 2  is a schematic front view illustrating an internal structure of the modeling area. Explanations of the structures assigned with the same reference numerals as those in  FIG. 1  will be omitted as appropriate. Explanations will be provided denoting the up-and-down direction in  FIG. 2  as a Z-axis direction, denoting the right-to-left direction of the apparatus as an X-axis direction, and denoting the depth direction of the apparatus as a Y-axis direction. 
     In the modeling area  101 A, the placement board support  110  is provided inside of a treatment space of the housing  101 , and the three-dimensional modeled object MO is modeled on the placement board  102  supported on the placement board support  110 . The modeling area  101 A includes the housing  101 , the placement board  102 , the placement board support  110 , an modeling module  10 , a modeling head  20 , a nozzle  21 , a heating block  22 , a cooling block  24 , an extruder  25 , local heaters  27 ,  29 , a reel  31 , a supporting member  28 , a Z-axis driving motor  41 , a Z-axis feed screw  42 , a Z-axis coordinate detecting mechanism  43 , placement board guide shafts  44 , a heating unit  400 , an X-axis driving motor  51 , an X-axis feed screw  52 , an X-axis coordinate detecting mechanism  53 , an X-axis guide shaft  54 , a Y-axis driving motor  61 , a feed screw holding unit  61   a , a Y-axis feed screw  62 , a Y-axis coordinate detecting mechanism  63 , a Y-axis guide shaft  64 , a nozzle cleaning unit  70 , a brush  71 , a brush motor  72 , a collection box  73 , a rotating table  82 , a table rotating motor  83 , and a motor gear  83 A. 
     The placement board guide shafts  44  penetrate through the placement board support  110 , near the respective ends of the placement board support  110  in the X-axis direction. The Z-axis feed screw  42  penetrates through the placement board  102 , near one end of the placement board  102  in Y-axis direction. The placement board support  110  has a female screw on the inner circumferential surface of a through-hole through which the Z-axis feed screw  42  is passed. The Z-axis feed screw  42  is then screwed onto the placement board support  110 . 
     The bottom end of the Z-axis feed screw  42  is connected to the Z-axis driving motor  41  provided on the bottom surface of the housing  101 . The Z-axis coordinate detecting mechanism  43  for detecting the position of the placement board  102  on the placement board support  110  in the Z-axis direction is also provided to the bottom surface of the housing  101 . 
     As the Z-axis feed screw  42  is driven in rotation by the driving force of the Z-axis driving motor  41 , the placement board support  110  screwed onto the Z-axis feed screw  42  moves in the Z-axis direction, by being guided along the pair of the placement board guide shafts  44 , thereby moving the placement board  102  supported on the placement board support  110  in the Z-axis direction. The Z-axis driving motor  41  is controlled based on the detection result of the Z-axis coordinate detecting mechanism  43 . 
     The board heating unit  400  heats the placement board  102 . The board heating unit  400  heats a surface of the placement board  102 , the surface being a surface where the three-dimensional modeled object MO is placed, to a specified temperature. 
     By heating the placement board  102  to a specified temperature, cooling of the modeling material layers of the three-dimensional modeled object MO placed on the placement board  102  is suppressed. In this manner, shrinkage due to the cooling of the modeling material layer is suppressed, so that deformation such as warpage of the three-dimensional modeled object MO can be suppressed. 
     The reel  31  having a winding of a filament F that has a thin and long wire shape, which is one example of the modeling material, is rotatably attached to the outer surface of the housing  101 . The wound filament F is taken out of the reel  31  by being drawn and rotated by the extruder  25  that sends out the filament F. 
     The modeling module  10  is provided, as a discharging unit, above the placement board  102 , inside of the modeling area  101 A. The modeling module  10  includes the modeling head  20 , the rotating table  82  serving as a holding unit, and the supporting member  28 . 
     The modeling head  20  includes the extruder  25  serving as an introducing unit for sending out the filament F, the cooling block  24  serving as a cooling unit that cools the filament F, the heating block  22  that heats and causes the filament F to melt, and the nozzle  21  serving as a pushing unit through which the melted filament F is pushed out. 
     The modeling head  20  models the three-dimensional modeled object MO by pushing out and discharging the melted filament F through the nozzle  21 , thereby laminating layers made of the modeling material one after another on the placement board  102 , and by solidifying the laminated layers. A local heater  27  and a local cooler  29  are installed near the nozzle  21 . The local heater  27  locally heats the three-dimensional modeled object MO while the three-dimensional modeled object MO is being modeled. The local cooler  29  locally cools the three-dimensional modeled object MO while the three-dimensional modeled object MO is being modeled. 
     In the modeling module  10 , two modeling heads  20  are provided side by side along the Y-axis direction, and these two modeling heads  20  are integrated, except for their nozzles  21 . 
     The rotating table  82  holds the modeling head  20 , and the rotating table  82  is mounted rotatably on the supporting member  28 . 
     Among the two modeling heads  20  provided, the nozzle  21  of one of the two modeling heads  20  discharges the melted filament F of the modeling material, with which the three-dimensional modeled object is modeled, and the nozzle  21  of the other modeling head  20  discharges the melted filament F of the support material. 
     The support material is a modeling-support material that is usually made of a material different from the filament F of the modeling material with which the three-dimensional modeled object is modeled, and is removed from the three-dimensional modeled object upon completion of the three-dimensional modeled object. The melted filament F of the support material discharged from the other nozzle  21  is also laminated in layers one after another, in the same manner as the melted filament F of the modeling material. 
     The rotating table  82  is provided rotatably on the supporting member  28 . The table rotating motor  83  for rotating the rotating table  82  is attached to the supporting member  28 . Outer teeth are provided to the outer circumferential surface of the rotating table  82 , for example, and are engaged with the motor gear  83 A of the table rotating motor  83 . With this structure, the driving force from the table rotating motor  83  is transferred to the rotating table  82 , and causes the rotating table  82  to rotate. 
     The X-axis guide shaft  54  and the X-axis feed screw  52  both of which extend in X-axis direction penetrate through the supporting member  28 . The supporting member  28  has a female screw on the inner circumferential surface of a through-hole through which the X-axis feed screw  52  is passed. The X-axis feed screw  52  is then screwed onto the supporting member  28 . 
     The Y-axis guide shaft  64  is provided to one end (the left side in the drawing) of the upper part of the housing  101  in the X-axis direction, and the Y-axis feed screw  62  is provided to the other end (the right side in the drawing) of the upper part of the housing in the X-axis direction. A member-to-be-guided  66  is mounted on the Y-axis guide shaft  64 , in a movable manner along the Y-axis direction. A moving member  65  is screwed onto the Y-axis feed screw  62 . 
     The member-to-be-guided  66  holds one end of the X-axis guide shaft  54  and one end of the X-axis feed screw  52 . The member-to-be-guided  66  holds the X-axis feed screw  52  rotatably. The moving member  65  holds the other end of the X-axis guide shaft  54 , the X-axis driving motor  51 , and the X-axis coordinate detecting mechanism  53  for detecting the position of the modeling module  10  in the X-axis direction. The other end of the X-axis feed screw  52  is connected to the X-axis driving motor  51 . With this structure, the Y-axis feed screw  62  and the Y-axis guide shaft  64  hold the supporting member  28 , supporting elements such as the modeling head  20  in a manner suspended on the X-axis guide shaft  54  and the X-axis feed screw  52 . 
     One end of the Y-axis feed screw  62  is rotatably supported by the feed screw holding unit  61   a , and the other end is connected to the Y-axis driving motor  61  provided on a side surface of the housing  101 . On the feed screw holding unit  61   a , the Y-axis coordinate detecting mechanism  63  for detecting the position of the modeling module  10  in the Y-axis direction is mounted. 
     As the Y-axis feed screw  62  is driven in rotation by the Y-axis driving motor  61 , the Y-axis feed screw  62  screwed on the moving member  65  is moved in the Y-axis direction. With this movement, the modeling module  10  held on the moving member  65  via the X-axis guide shaft  54  and the X-axis feed screw  52  is moved in the Y-axis direction, by being guided along the Y-axis guide shaft  64 . The Y-axis driving motor  61  is controlled based on the detection result of the Y-axis coordinate detecting mechanism  63 . 
     When the X-axis feed screw  52  is driven in rotation by receiving the driving force of the X-axis driving motor  51 , the modeling module  10  is moved in the X-axis direction, together with the supporting member  28  screwed onto the X-axis feed screw  52 , by being guided by the X-axis guide shaft  54 . The X-axis driving motor  51  is controlled based on the detection result of the X-axis coordinate detecting mechanism  53 . 
     The nozzle cleaning unit  70  for cleaning the nozzle  21  of the modeling head  20  is provided inside of the housing  101 . When the melted filament F is kept being discharged continuously, the filament may become accumulated around the nozzle  21 , due to the melted filament dripping or residual filament attached to the nozzle  21 , and proper discharging operations may be obstructed thereby. Therefore, the nozzle needs to be cleaned regularly. 
     The nozzle cleaning unit  70  is provided on one end of the placement board  102  in the X-axis direction, and mainly includes the brush  71  for removing foreign substances such as the residual filament from the nozzle  21 , the brush motor  72  for rotating the brush  71 , and the collection box  73  in which the foreign substance removed by the brush  71  is collected. 
     The nozzle  21  is cleaned in the manner described below. To begin with, the placement board  102  placed on the placement board support  110  and the modeling module  10  are moved so that the nozzle  21  is brought into contact with the brush  71 . The foreign substances such as the residual filament attached on the nozzle  21  are then removed by causing the brush motor  72  to rotate the brush  71 . 
     It is preferable to perform cleaning before the temperature of residual filament attached on the nozzle  21  drops completely, from the viewpoint of adhesion. It is also preferable to use a heat-resistant resin as the brush  71 . 
     The foreign substances removed from the nozzle  21  fall into the collection box  73 , and collected into the collection box  73 . The collection box  73  is provided removably from the placement board support  110 , and the foreign substances housed in the collection box  73  removed from the placement board support  110  are regularly discarded by a worker. Although the collection box  73  is provided inside of the housing  101  in this modeling area  101 A, it is also possible for the collection box  73  to be provided outside of the housing  101 , and for the foreign substances removed from the nozzle  21  by the brush  71  to be conveyed into the collection box  73  provided outside of the housing  101 , using a suction device or the like. 
       FIG. 3  is a schematic front view illustrating an internal structure of the annealing area. Explanations of structures assigned with the same reference numerals as those in  FIGS. 1 and 2  will be omitted as appropriate. The annealing area  101 B includes the placement board  102 , the slider  105 , the elevator unit  106 , rods  121 , a heated-air unit  122 , an air intake port  123 , and an exhaust port  124 . 
     The placement board support  110  with the placement board  102  placed thereon is conveyed from the modeling area  101 A into the annealing area  101 B via the slider  105 . 
     In the annealing area  101 B, the elevator unit  106  becoming engaged with the placement board  102  and sliding the placement board  102  upwards is provided so that a plurality of the placement boards  102  are stored. 
     The rods  121  that are extendable and contractible are provided on both sides of the apparatus so that the placement boards  102  can be stored in the annealing area  101 B sequentially from the highest level. When the placement board  102  is elevated by the elevator unit  106  to a Z coordinate at which the placement board  102  is able to be stored, the rods  121  are extended, and the placement board  102  is placed on the rods  121 . 
     An annealing mechanism will now be explained. 
     The heated-air unit  122  that is a heat source air source is provided. In the annealing area  101 B, the heated-air unit  122  serving as a heat source as well as a blower air source is disposed. The heated-air unit  122  is provided as a cartridge, and a predetermined number of the cartridges (only two are illustrated in  FIG. 3 ) are disposed on the bottom of the apparatus. In this configuration, it is preferable to give a consideration to positioning of the heated-air units  122  in such a manner that the heated air does not strike the modeled objects directly. 
     The air intake port  123  and the exhaust port  124  are also disposed, as a slow-cooling mechanism. In this configuration, too, it is preferable to determine how these ports are disposed, through airflow designing, in such a manner that the cooling air does not strike the modeled objects directly, in the same manner as the heated-air unit  122 . 
     Crystallization of a modeled object is promoted by designing the airflow through annealing area  101 B, the air intake port  123 , and the exhaust port  124 , and performing control variably in such a manner that the modeled object can go through a temperature change sufficiently gradually. In addition, to detect the temperature inside of the chamber, a temperature sensor (thermocouple) is provided at a plurality of locations, and the amount of air to be supplied by the heated-air unit  122  and the air intake port  123 , and the amount of air to be exhausted from the exhaust port  124  are controlled based on the detection results. 
     The modeling head  20  inside of the modeling area  101 A will now be explained.  FIG. 4  is a schematic for explaining a general structure of a modeling head. Explanations of structures assigned with the same reference numerals as those in  FIG. 2  will be omitted as appropriate. 
     The modeling head  20  includes the extruder  25  that sends out the filament F toward the nozzle  21 , the cooling block  24  that cools the filament F, the heating block  22  that heats and causes the filament F to melt, and the nozzle  21  that discharges the melted filament F. A guide block  23  for guiding the filament F having passed through the cooling block  24  to the heating block  22  is disposed between the cooling block  24  and the heating block  22 . A transfer channel  26  for transferring the filament F sent out of the extruder  25  into the nozzle  21  is provided inside of the heating block  22 , the guide block  23 , the cooling block  24 . 
     The heating block  22  includes a heat source (heater)  22   a  that functions as a heating unit for heating the filament F, and a thermocouple  22   b  serving as a temperature detecting unit that detects the temperature of the filament F heated by the heat source  22   a.    
     The thermocouple  22   b  is positioned on the opposite side of where the heat source  22   a  is disposed, with the transfer channel  26  through which the filament F is transferred interposed therebetween. The heating block  22  heats and causes the filament F in the transfer channel  26  to melt. The melted filament Fa is then transferred to the nozzle  21 . 
     It is unfavorable for the heat from the heating block  22  to propagate to the filament F upstream in the transfer channel  26  and to cause the filament F to melt, in addition to the filament F inside of the transfer channel  26 . 
     Specifically, when the heating block  22  stops heating, or when the heating operation thereof is interrupted, the melted filament F in the transfer channel  26  solidifies in the transfer channel  26 . When the heating by the heating block  22  is then restarted, the filament F having a history of having melted and solidified in the transfer channel  26  quickly becomes melted again. 
     If the filament F has melted and solidified on the upstream side of the transfer channel  26  in the transfer direction, however, it takes some time for this part of the filament F to become melted again when the heating is restarted. 
     As a result, the filament F becomes clogged, without being transferred into the nozzle  21 . 
     Hence, it is desirable to suppress such clogging of the filament F by preventing the heat of the heating block  22  from being propagated to the upstream filament F in the transfer channel  26  in the transfer direction, as much as possible. 
     To address this point, the cooling block  24  is provided on the upstream side of the transfer channel  26  of the heating block  22 , in the transfer direction. 
     The cooling block  24  is made of a highly thermally conductive material, such as aluminum, and a channel  24   a  through which coolant flows is provided around the transfer channel  26  in the cooling block  24 . The cooling block  24  cools the filament F by allowing the heat of the filament F in the transfer channel  26  to transfer to the coolant flowing through the channel  24   a.    
     As a result, the filament F in the upstream section of the transfer channel  26  in the heating block  22  in the transfer direction is prevented from melting by the heat propagated from the heating block  22 . 
     The guide block  23  disposed between the heating block  22  and the cooling block  24  is made of a heat-insulating material, and suppresses propagation of the heat from the heating block  22  to the filament on the upstream side in the transfer direction. The guide block  23  further suppresses melting of the filament F in the upstream section in the transfer direction of the transfer channel  26  in the heating block  22  by the heat propagated from the heating block  22 . In addition, by suppressing the propagation of the heat from the heating block  22  to a section of the filament F other than the section in the transfer channel  26 , the filament F in the transfer channel  26  can be heated efficiently. 
     A pair of feeder rollers  25   a  are provided to the extruder  25 , and feed the filament F into the transfer channel  26 . The melted filament Fa having been heated in the heating block  22  and become melted is discharged from the nozzle  21 , by receiving the feeding force of the extruder  25 . 
       FIG. 5  is a block diagram illustrating an overall structure of a driving control system for the modeling head. As driving control of the modeling head  20 , at least a heating temperature control unit  202 , an extrusion amount control unit  203 , a driving control unit  204 , a local heating/cooling control unit  205 , a coordinate detecting unit  80 , a driving unit  90 , a modeled object surface temperature detecting unit  81 , and the driving unit  90  are provided. 
       FIG. 6  is a block diagram illustrating an overall structure of a control system for the modeling apparatus. As a control device  200  for the modeling apparatus  100 , at least a data generating unit  201 , the heating temperature control unit  202 , the extrusion amount control unit  203 , the driving control unit  204 , the local heating/cooling control unit  205 , the coordinate detecting unit  80 , the driving unit  90 , the modeled object surface temperature detecting unit  81 , and the driving unit  90 , a micro-processing unit (MPU)  402 , a random access memory (RAM)  404 , a read-only memory (ROM)  406 , and a non-volatile memory  408  are provided. The structures assigned with the same reference numerals in  FIGS. 5 and 6  are common elements, so these elements will now be explained with reference to  FIGS. 5 and 6 . 
     The control device  200  functioning as a control unit is configured as what is called a micro-computer, and includes the MPU  402  functioning as a processing unit, the RAM  404 , the ROM  406 , and the non-volatile memory  408  functioning as a data storage unit. The control device  200  then performs various operations and executes control programs. 
     The driving unit  90  includes the X-axis, Y-axis, and Z-axis driving motors  41 ,  51 ,  61 , the table rotating motor  83 , and the X-axis, Y-axis, and Z-axis coordinate detecting mechanisms  43 ,  53 ,  63 . 
     The data generating unit  201  generates data that is broken up into multiple layers in the up-and-down direction (slice data for modeling a modeled object) based on modeled object data received from an external device such as a personal computer that is data-communicatively connected to the modeling apparatus  100  over the wire or wirelessly. 
     The slice data corresponding to each layer corresponds to a layer formed with the filament F discharged from the modeling head  20 , and the thickness of each layer is set as appropriate, depending on the capacity of the modeling apparatus  100 . It is also possible to configure an external device to generate slice data, and to input the slice data to the modeling apparatus  100 . 
     The slice data is described as G-code text data having an extension “.gcode”, for example. 
     The text data with an extension “.gcode” basically includes descriptions of the following three types of data, excluding a preparation operation and an ending operation of the main unit: 
     (1) data specifying the coordinates of the vertices of the modeled object; 
     (2) data specifying the speed at which the nozzle  21  of the modeling head  20  is moved to each vertex of the modeled object; and 
     (3) data specifying the rate at which the filament F is fed. 
     In this example, the data specifying the filament feed rate includes data related to the timing to start feeding, and timing to stop feeding. 
     The data generating unit  201  also generates data of heating temperature, for example, in addition to the slice data. 
     The data generating unit  201  transmits the data specifying the heating temperature to the heating temperature control unit  202 . 
     As a result of this, the heating temperature control unit  202  feedback-controls the heat source  22   a  of the heating block  22  based on the temperature detection result of the thermocouple  22   b  so that the heating temperature is adjusted to the specified heating temperature received from the data generating unit  201 . 
     In order to ensure the temperature stability of the nozzle  21  in the modeling head  20 , it is preferable for the heating temperature control unit  202  to start its operation before the filament feeding operation is started, so that the heating block  22  has been heated to the specified heating temperature before the filament feed operation is started. Specifically, it is preferable to predict the timing at which the filament feed operation is to be started based on data for causing feeding of the filament F to be started and the data representing the vertices of the modeled object, and to perform feed-forward control to control the heat source  22   a . It is also possible to use a feedback operation to start a modeling operation when the thermocouple  22   b  detects that the temperature has reached the specified heating temperature. 
     The filament feed rate data generated by the data generating unit  201  is sent to the extrusion amount control unit  203 . In response, the extrusion amount control unit  203  controls the extruder  25  so that the filament feed rate is adjusted to the filament feed rate received from the data generating unit  201 . 
     Before stopping discharging the filament F from the nozzle  21  (before stopping driving the extruder  25 ), the extrusion amount control unit  203  drives the extruder  25  to be rotated reversely to perform an operation for drawing the filament F back into the nozzle  21 . By performing such a sucking operation, it is possible to suppress dripping of the filament F from the nozzle  21 , and to improve the precision of the shape of the three-dimensional modeled object MO. 
     The data specifying the coordinate of the vertices of the modeled object and the speed data specifying the speed for moving the nozzle  21  of the modeling head  20  to each of the modeled object vertices, generated by the data generating unit  201 , are also sent to the driving control unit  204 . In response, the driving control unit  204  controls the motors  41 ,  51 ,  61 ,  83  based on these pieces of data. The driving control unit  204  also performs feedback control for moving the nozzle  21  to the target coordinate point based on the detection result of the coordinate detecting mechanisms  43 ,  53 ,  63 , so as not to result in an improper operation. 
     The extrusion amount control unit  203  is synchronized with the driving control unit  204 , and the amount of the filament F to be extruded (feed rate) and starting/stopping of feeding of the filament F are controlled in accordance with the operation of the modeling head  20 . 
     A surface treatment control unit  205  is also synchronized with the driving control unit  204 , and controls the local heater  27  that locally heats the three-dimensional modeled object MO, and the local cooler  29  that locally cools the three-dimensional modeled object MO in accordance with the movement of the modeling head  20 , while the three-dimensional modeled object MO is being modeled, the local heater  27  and the local cooler  29  being provided internal of the modeling head  20 . 
     In other words, the surface treatment control unit  205  suppresses a huge volume change of the modeling material by suppressing crystallization of the melted crystalline material, and allowing the material to amorphize (to go through glass transition), by controlling the local heater  27  locally heating the three-dimensional modeled object MO while the three-dimensional modeled object MO is being modeled. 
     An example of a possible specific structure of the local heater  27  includes a device irradiating a position to be heated with a laser beam, using a laser diode (LD). 
     The surface treatment control unit  205  can alleviate the residual stress generated while the layers are being laminated, by controlling the local cooler  29  for locally cooling the three-dimensional modeled object MO while the three-dimensional modeled object MO is being modeled, and by cooling the modeling material quickly after the modeling material is discharged. 
     As an example of a specific structure of the local cooler  29 , it is possible to use a device that sprays compressed air toward a position to be cooled, via an air nozzle. 
     However, if the three-dimensional modeled object MO is kept in an amorphous state, properties inherent to crystalline materials cannot be achieved. Therefore, in this embodiment, the three-dimensional modeled object MO having been modeled is transferred to and annealed in the annealing area  101 B, so that the three-dimensional modeled object MO is crystallized and the properties inherent to crystalline materials (such as mechanical characteristics and chemical resistance thereof) are achieved. 
     An operation according to the embodiment will now be explained. 
     When a modeling operation is started in response to an instructing operation performed by a user, to begin with, the control unit  200  starts conducting current to the heat source  22   a  of the heating block  22 , and heats the heating block  22  to a heating temperature based on modeled object data generated by the data generating unit  201 . 
     The Z-axis driving motor  41  is controlled by the driving control unit  204  to elevate the placement board support  110  supporting the placement board  102  to a modeling position, from a predetermined standby position (e.g., the lowest level). 
     Upon detecting that the placement board  102  has reached the modeling position, the Z-axis coordinate detecting mechanism  43  stops the Z-axis driving motor  41 , and the control is shifted to a modeling process. 
     In the modeling process, to begin with, a modeling material layer corresponding to the bottom layer is created on the surface of the placement board  102 , based on the slice data of the bottom layer (first layer). Specifically, the X-axis driving motor  51  and the Y-axis driving motor  61  are controlled by the driving control unit  204  based on the slice data of the bottom layer (first layer), and detection results of the X-axis coordinate detecting mechanism  53  and the Y-axis coordinate detecting mechanism  63 . As a result, the tip of the nozzle  21  in the modeling head  20  is moved sequentially to target positions (target positions on the X-Y plane). 
     In synchronization with the driving control of the driving control unit  204 , the extruder  25  is controlled by the extrusion amount control unit  203  so that the filament F is fed via the nozzle  21  based on the slice data. As a result, as the tip of the nozzle  21  of the modeling head  20  is moved sequentially to the target positions, the filament is discharged from the nozzle  21 , and a modeling material layer is formed on the placement board  102  in accordance with the slice data of the bottom layer (first layer). The support material, which does not constitute the three-dimensional modeled object, may be created at the same time. 
     In synchronization with the driving control of the driving control unit  204 , the surface treatment control unit  205  also control the local heater  27  for locally heating the three-dimensional modeled object MO, and to control the local cooler  29  for locally cooling the three-dimensional modeled object MO, to suppress crystallization and to alleviate the residual stress in laminating. 
     Upon completion of the process of modeling the bottom layer in accordance with the slice data of the bottom layer (first layer) (unit layer modeling process), the driving control unit  204  controls the Z-axis driving motor  41  based on the detection result of the Z-axis coordinate detecting mechanism  43 , and descends the placement board  102  by a distance corresponding to the one layer of the modeling material layers. 
     The X-axis driving motor  51  and the Y-axis driving motor  61  are then controlled by the driving control unit  204  based on the slice data of the second layer, so that the tip of the nozzle  21  of the modeling head  20  is moved sequentially to the target positions. At the same time, the extruder  25  is controlled by the extrusion amount control unit  203  so that the filament F is fed via the nozzle  21 . As a result, a second layer is formed, in accordance with the slice data, on top of the bottom layer having been formed on the placement board  102 . 
     Once modeling of the layers is completed, the surface temperature is obtained, using a modeled object surface temperature detecting unit  81  such as a thermal camera or a thermography. As a result, even when a modeled object is a piece having an intended thickness deviation, it is possible to recognize the temperature deviation of the modeled object at the time of measurement. Furthermore, by feeding this information back to the local heating/cooling control unit  205 , it is possible to control the heating and cooling initially planned to be output, in such a manner that the outputs can be maintained at an appropriate level. 
     If a temperature deviation is resultant of a thickness deviation, as mentioned above, feedforward control can be performed based on the modeled object data entered by a user. However, because the modeling apparatus  100  according to the embodiment does not have any means for controlling the ambient temperature, such as that inside the chamber, it is necessary to consider the ambient temperature/humidity as an error factor. 
     Therefore, it is preferable to perform the feedback control using the modeled object surface temperature detecting unit  81  at the same time, in order to ensure a stable quality. 
     In the manner described above, by repeating the operation of laminating the layers of the modeling material, sequentially from the bottom layer, while controlling the Z-axis driving motor  41  to descend the placement board support  110 , thereby causing the placement board  102  be lowered sequentially, the three-dimensional modeled object MO is modeled on the placement board  102 , in accordance with the three-dimensional modeled object data. 
     When modeling of the three-dimensional modeled object MO is completed, the Z-axis driving motor  41  is controlled to descend the placement board support  110  and the placement board  102  to the standby position. 
     When a shutter  103  is then opened, the placement board support  110  on which the placement board  102  is placed is conveyed from the modeling area  101 A into the annealing area  101 B via the slider  105 . 
     Once the placement board support  110  on which the placement board  102  is placed is conveyed into the annealing area  101 B, the placement board  102  becomes engaged with the elevator unit  106 , and the elevator unit  106  conveys the placement board  102  upwards by sliding. 
     The placement board support  110  is then returned to the modeling area  101 A via the slider  105 , and the shutter  103  is closed. 
     When the elevator unit  106  elevates the placement board  102  to a Z coordinate where there is an available storage space, the rods  121  are extended, and the placement board  102  is placed on top of the rods  121 , and annealed for predetermined time so that the crystallization of the three-dimensional modeled object MO is promoted. 
     As a result, according to the embodiment, even when a crystalline or semi-crystalline material is used as the modeling material of the three-dimensional modeled object MO, the three-dimensional modeled object MO can be brought to the state inherent to the modeling material (crystallized or semi-crystallized state). Therefore, a high mechanical strength and chemical resistance can be ensured. 
     Explained above is an example of the modeling apparatus  100  having a modeling area (modeling chamber) and an annealing area (annealing chamber), but it is also possible to use a modeling system in which a modeling apparatus having a modeling area is connected to an annealing apparatus having an annealing area (annealing chamber) via a conveyor apparatus having a heat-insulating mechanism, and in which the three-dimensional modeled object MO having been modeled in the modeling apparatus is conveyed into the annealing apparatus via the conveyor apparatus, in a manner insulated from the heat, and then annealed in the annealing apparatus. Even when the conveyor apparatus does not have any heat-insulating mechanism, as long as the conveyor apparatus is capable of transferring the three-dimensional modeled object MO before the temperature goes out of a predetermined temperature range, such a structure is also usable, likewise. 
     Explained above is an example of the fused deposition modeling, but even with another three-dimensional modeling method, it is possible to achieve a three-dimensional modeled object exhibiting even higher performance, with the internal stress reduced. 
     EXAMPLES 
     More specific examples will now be explained. 
     Modeling conditions inside of the modeling area  101 A and evaluations of samples of the modeled three-dimensional modeled object MO will now be explained. 
       FIG. 7  is a schematic for explaining modeling conditions and results of qualitative evaluations of the examples and some comparative examples. As an evaluation of warpage, the warpage and the lamination strength were evaluated for each example. 
     Modeling Apparatus 
     The modeling apparatus having performed the manufacture according to the examples and the comparative examples has a structure illustrated in  FIGS. 2, 4, 5, and 6 , with additional structures described below. 
     As the extruder  25 , two rollers having a diameter of 12 [mm] and manufactured by SUS304 were used side by side. 
     As the nozzle  21 , a nozzle made of brass and having an opening with a size of 0.5 [mm] at the tip was used. 
     As the filament passage in the modeling head  20 , a passage having a diameter of 2.5 [mm] was used. The diameter of the transfer channel  26  in the heating block  22  was also set to 2.5 [mm]. 
     Modeling Material 
     In the examples and the comparative examples, as the modeling material, either PLA (polylactic acid manufactured by Polymaker, under the product name PolyLite PLA, model number: PolyLite PLA11-natural) or PEEK (polyetherketone manufactured by Victrex, with a model number 381G, and ISO11357 compliant glass transition temperature of 143 degrees Celsius) was used. As the modeling material, a filament having a diameter of ϕ1.75 was used. 
     Temperature Condition 
     As the cooling block  24 , a cooling block manufactured by SUS304 and having a conduit pipe was used, and the cooling water circulation device was connected to the conduit pipe. The temperature setting of the cooling water circulation device was set to 10 [° C.]. As the heating block  22 , a heat block having the same structure as the cooling block  24  was used, and a fluid circulation device was connected to the conduit pipe. A cartridge heater was then disposed inside of the conduit pipe of the heating block  22 , and power supply to the cartridge heater was controlled in such a manner that the cartridge heater was turned ON/OFF based on the detection result of the thermocouple  22   b.    
     The temperature setting of the cartridge heater was configured to 200 [° C.] when PLA was used as the modeling material, and set to 400 [° C.] when PEEK was used as the modeling material. 
     In all of these tests, the modeling speed was set to 20 mm/sec. 
     Cooling Condition 
     In the examples and the comparative examples, experiments were carried out with and without cooling by the local cooler  29 , and the results were compared. In the experiments with the cooling, 12 kPa was used as a cooling condition. As the local cooler  29 , a precision regulator (cooling nozzle) installed in a piping route was used. 
     Heating Condition 
     In the examples and the comparative examples, experiments were carried out with and without the heating by the local heater  27 , and the results were compared. The heating condition was set to 4 W to 12 W, and this condition was changed for each of the experimental examples and the comparative examples. As the local heater  27 , a semiconductor laser (LD) was used. The wavelength of the LD was set to 780 nm. 
     The examples and the comparative examples were then evaluated qualitatively, in views of warpage of a cuboid, and the strength in the lamination direction. 
     Three-Dimensional Modeled Object MO and Evaluation Method Used in Qualitative Evaluations of Warpage of Cuboid 
     As a three-dimensional modeled object MO used in the qualitative evaluation of warpage in a cuboid, a cuboid-shaped modeled object having a size of W30×D30×H7.5 (mm) was used. While the amount of warpage can be measured with a height gauge as long as the warpage is in the order of a few millimeters or so, but it is also possible to use a contactless 3D scanner or the like and to obtain a cross-sectional profile of the modeled object. When a 3D scanner is to be used, the amount of warpage can be measured easily by calculating a difference with respect to the modeled object data entered by a user. 
     Three-Dimensional Modeled Object MO and Evaluation Method Used in Qualitative Evaluations of Strength in Lamination Direction 
       FIGS. 8A and 8B  are schematics for explaining three-dimensional modeled objects used in evaluating the strength in the lamination direction. 
     From the viewpoint of modeling a three-dimensional modeled object, a cuboid modeled object, such as that illustrated in  FIG. 8A , is easy to manufacture. However, as a standard for tensile tests, it is preferable for the modeled object to have a dumbbell shape, as illustrated in  FIG. 8B . 
     When a dumbbell shape is to be modeled in the lamination direction, the part above the constricted portion has an overhanging shape, so this part generally requires a support region. 
     Therefore, to avoid formation of very small notches on the surficial shape as much as possible when the support region was removed, the inventors of the present invention obtained a three-dimensional modeled object MO that is a sample having the dumbbell shape illustrated in  FIG. 8B , by modeling the cuboidal three-dimensional modeled object MO illustrated in  FIG. 8A , and then cutting the modeled object into the cuboidal three-dimensional modeled object MO, and used the resultant three-dimensional modeled object MO in the evaluation of the strength in the lamination direction. The evaluation of the strength in the lamination direction was carried out using the method compliant to ASTM-D638. 
     First Comparative Example/Second Comparative Example 
     In a first comparative example and a second comparative example, PLA was used. 
     In the first comparative example, only the local cooler  29  was used, among the local heater  27  and the local cooler  29 . 
     In the second comparative example, only the local heater  27  was used, among the local heater  27  and the local cooler  29 . The heating condition was set to 8 W. 
     Third Comparative Example/Fourth Comparative Example/Fifth Comparative Example/Sixth Comparative Example 
     In a third to a sixth comparative examples, PEEK was used. 
     In the third comparative example, only the local cooler  29  was used, among the local heater  27  and the local cooler  29 . 
     In the fourth comparative example, only the local heater  27  was used, among the local heater  27  and the local cooler  29 . The heating condition was set to 8 W. 
     In the fifth comparative example and the sixth comparative example, the local heater  27  and the local cooler  29  were both used. In the fifth comparative example and the sixth comparative example, different heating conditions were used for the local heater  27 . In the fifth comparative example, the heating condition was set to 4 W. In the sixth comparative example, the heating condition was set to 12 W. 
     First Example/Second Example/Third Example 
     In a first to a third examples, PEEK (polyetheretherketone) was used, in the same manner as in the third to the sixth comparative examples, and the local heater  27  and the local cooler  29  were both used. In the first to the third examples, different heating conditions were used for the local heater  27 . In the first example, the heating condition was set to 6 W. In the second example, the heating condition was set to 8 W. In the third example, the heating condition was set to 10 W. 
     Results of Qualitative Evaluations of Warpage of Cuboid and Results of Qualitative Evaluations of Strength in Lamination Direction 
     Evaluation results of the comparative examples and the examples will now be explained. 
     First Comparative Example/Second Comparative Example 
     In both of the first and the second comparative examples, warpage was well-controlled. 
     However, in the first comparative example in which only the local cooler  29  was used, a desirable level of interfacial strength in the lamination direction was not achieved, and the strength remained at a level where the sample could be easily destroyed with hands. Therefore, a high lamination strength was not achieved. 
     Third Comparative Example 
     In the third comparative example, the modeled object warped extensively. 
     Not only the warpage was extensive, many cracks were found on the ends of the modeled object. In addition, an interfacial peeling phenomena, in which the layers peel off from one another along the cracks, were observed along the interface between the layers. It can be said that heating by the local heater  27  was required. 
     Fourth Comparative Example 
     In the fourth comparative example, the samples exhibited a high lamination strength but warped extensively, with the surface of the brim warping highly extensively. It can be said that cooling by the local cooler  29  was required. 
     Fifth Comparative Example 
     In the fifth comparative example, the sample warped extensively. Not only the sample warped extensively, two cracks were found on the ends of the modeled object. In addition, the interfacial peeling phenomena, in which the layers peel off from one another along the cracks, were observed along the interface between the layers. Therefore, it can be said that the heating by the local heater  27  was not strong enough. 
     First Example, Second Example, Third Example 
     In the first to the third examples, not only the warpage was well-controlled, but also the samples exhibited a high strength in the lamination direction. 
     Sixth Comparative Example 
     In the sixth comparative example, the sample was burnt, and neither the warpage was well-controlled, nor the sample exhibited a high strength in the lamination direction. It can be said that the heating by the local heater  27  was too strong. 
     As explained above, in the first to the third examples, conditions achieving a well-balanced combination of the warpage and the lamination strength were found within the range of 6 W to 10 W as the output settings of the LD that is the local heater  27 . It can be concluded that, when the cooling is relatively stronger, the lamination strength is not ensured, and when the cooling is weaker, conversely, a deterioration such as burning is promoted. Therefore, in the example illustrated in  FIG. 7 , when the heating condition of the local heater  27  was set equal to or higher than 6 W and equal to and lower than 10 W and the cooling condition of the local cooler  29  was set to 12 kPa, a modeled object with satisfactory levels of warpage and lamination strength was obtained, successfully. 
     However, these examples are provided by way of examples only, and it should be clear that the appropriate heating and cooling conditions vary, depending on the thermal capacity of the modeled object and the feed rate. Furthermore, when the modeled object has a complex shape, it is preferable to perform feedback-control of the means for heating and for cooling, using a surficial temperature profile obtained using a thermal camera, instead of using a fixed output, as did in these examples. 
       FIG. 9  is a schematic for explaining quantitative evaluations of the amount of warpage in three-dimensional modeled objects achieved with a fixed laser output. 
     In  FIG. 9 , evaluations were carried out with the LD output fixed to 6 W, as the heating condition of the local heater  27 . 
     In the evaluations, PEEK 381G was used as the modeling material, and, as the same other conditions, such as the modeling apparatus and the temperature condition, were used as those explained with  FIG. 7 . No measurement was collected with a cooling condition of 20 kPa, because it was highly likely for the sample to break. The measurements were collected under the cooling conditions of 0, 6, 8, 10, 12, 14, and 16 kPa, respectively. 
     In the same manner as in the comparative example illustrated in  FIG. 7 , when there was no cooling by the local cooler  29  (with the cooling condition of 0 kPa), the sample exhibited the largest amount of warpage. The obtained results were very different depending on the air-cooling condition of the local cooler  29 , and this evaluation indicated that the warpage was reduced when the cooling condition is equal to or more than 10 kPa. Specifically, a range equal to or higher than 10 kPa and lower than 20 kPa is preferable, and a range equal to or higher than 10 kPa and equal to and lower than 16 kPa is more preferable. 
     It has been also confirmed that the actually modeled three-dimensional modeled object MO had an opaque color, indicating that the modeled object went through a glass transition. 
       FIG. 10  is a schematic for explaining evaluation results of breaking stress when tensile tests were carried out with a regulator pressure setting fixed. 
     In the example illustrated in  FIG. 10 , the regulator pressure setting is fixed to 10 kPa, as a cooling condition of the local cooler  29 . 
     In this evaluation, PEEK 381G was used as the modeling material, and the same other conditions, such as the modeling apparatus and the temperature conditions, as those explained with reference to  FIG. 7 , were used. 
     Without the heating by the local heater  27  (with a heating condition of 0 W), the breaking stress was 0 W. 
     As illustrated in  FIG. 10 , it was confirmed that, as the output of the LD serving as the local heater  27  (laser PW) was increased, the breaking strength improved further. In other words, when the heating condition by the local heater  27  was changed from 2 W to 10 W, the breaking strength improved. 
     An experiment was also carried out by setting the heating condition of the local heater  27  to LD output=12 W, but this result was excluded from the evaluation, because the three-dimensional modeled object MO was burnt. Based on the above, from the viewpoint of the breaking strength, it is preferable for the heating condition by the local heater  27  to be set to a level greater than 0 W and equal to or lower than the 12 W, and it is more preferable to be set to a level equal to or higher than 2 W and equal to or lower than 10 W. Furthermore, it is preferable for the cooling condition to be set to 10 kPa, and for the heating condition by the local heater  27  to be set to a level greater than 0 W and equal to or lower than 12 W, and it is more preferable be set to a level equal to or higher than 2 W and equal to or lower than 10 W. 
     As illustrated in  FIGS. 9 and 10 , the effects achieved by cooling and heating are in the trade-off relation, but it is possible to find a condition in which both of a warpage reduction and a high lamination strength are achieved. 
     Annealing conditions in the annealing area  101 B, and evaluations of the resultant samples of the three-dimensional modeled object MO will now be explained. 
       FIG. 11  is a schematic for explaining annealing conditions, and evaluation results of tensile elasticities of the resultant three-dimensional modeled objects. 
     Samples of Three-Dimensional Modeled Object MO 
     In the first example, a first example A, and a first example C illustrated in  FIG. 11 , the three-dimensional modeled object MO according to the first example illustrated in  FIG. 7  was annealed under the annealing conditions described below. 
     In the second example, a second example A, and a second example C illustrated in  FIG. 11 , the three-dimensional modeled object MO according to the second example illustrated in  FIG. 7  was annealed under the annealing conditions described below. 
     In the third example, a third example A, and a third example C illustrated in  FIG. 11 , the three-dimensional modeled object MO according to the third example illustrated in  FIG. 7  was annealed under the annealing conditions described below. 
     The samples illustrated in  FIG. 11  were provided with a dumbbell shape, in the same manner as that illustrated in  FIG. 8B , and were used in evaluating the strength in the lamination direction. Because the samples of the three-dimensional modeled object MO achieved by performing the local heating and local cooling in  FIG. 7  were those having gone through glass transition, the tensile elasticity in the crystallized condition, which is inherent to PEEK 381G, was not indicated in the tensile test. 
     Annealing Conditions 
     In the first example 1 to the third example 3, the samples were not annealed at all. By contrast, the samples according to the first to the third examples A, the samples according to the first to the third examples B, and the samples according to the first to the third examples C were classified into these three groups, and each of these group was annealed under the same condition. The samples were annealed and crystallized by controlling the heated-air unit  122 , the air intake port  123 , and the exhaust port  124  in the annealing area  101 B illustrated in  FIG. 3 . For all of the samples, the evaluations were carried out by setting the heating-starting temperature to 30 degrees Celsius, the highest attainment temperature to 180 degrees Celsius, and the temperature after the cooling to 30 degrees Celsius. 
     In the first to the third examples A, the temperature increase rate was set to 1° C./min, the temperature sustained time was set to 30 minutes, and the cooling rate was set to 1° C./min. 
     In the first to the third examples B, the temperature increase rate was set to 1° C./min, the temperature sustained time was set to 1 minute, and the cooling rate was set to 1° C./min. 
     In the first to the third examples C, the temperature increase rate was set to 3° C./min, the temperature sustained time was set to 1 minute, and the cooling rate was set to 3° C./min. 
     The highest attainment temperature for the annealing was set to 180 degrees Celsius. This temperature was set considering a temperature sufficiently exceeding the glass transition temperature of the modeling material, and at which the shape of the three-dimensional modeled object MO can be maintained. 
     Evaluations of Tensile Elasticity 
     In the tensile elasticity evaluations, the tensile elasticities were calculated using the least-squares method within a load range of 10-20 N. 
     Results of Tensile Elasticity Evaluations 
     The tensile elasticity achieved in the tensile test of the sample of the three-dimensional modeled object MO in the first example was 0.49 GPa. The tensile elasticity achieved in the tensile test of the sample of the three-dimensional modeled object MO in the second example was 0.35 GPa. The tensile elasticity achieved in the tensile test of the sample of the three-dimensional modeled object MO in the third example was 0.4 GPa. Because the samples were not annealed in the first to the third examples, the samples failed to exhibit a sufficient tensile elasticity. 
     By contrast, because the samples were annealed in the first example A to the third example 3C, the tensile elasticity was improved successfully. The samples exhibited tensile elasticities equal to or higher than 1.00 and equal to or lower than 2.50, and high levels of strength and durability was achieved, successfully. 
     In the first example A to the third example 3C, although the samples were annealed, no deformations were observed in the three-dimensional modeled objects MO. 
     As explained above, by annealing a three-dimensional modeled object having been applied with local heating and local cooling, warpage and deformation of a three-dimensional modeled object can be suppressed using a simple structure, and a high-quality three-dimensional modeled object can be achieved. 
     In particular, when a crystalline material (resin) or a semi-crystalline material (resin) is used as the modeling material, a high-quality three-dimensional modeled object can be manufactured. 
     According to an embodiment, it is possible to obtain a high-quality three-dimensional modeled object with warpage and deformation suppressed, using a simple structure. 
     The above-described embodiments are illustrative and do not limit the present invention. Thus, numerous additional modifications and variations are possible in light of the above teachings. For example, at least one element of different illustrative and exemplary embodiments herein may be combined with each other or substituted for each other within the scope of this disclosure and appended claims. Further, features of components of the embodiments, such as the number, the position, and the shape are not limited the embodiments and thus may be preferably set. It is therefore to be understood that within the scope of the appended claims, the disclosure of the present invention may be practiced otherwise than as specifically described herein. 
     The method steps, processes, or operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance or clearly identified through the context. It is also to be understood that additional or alternative steps may be employed. 
     Further, any of the above-described apparatus, devices or units can be implemented as a hardware apparatus, such as a special-purpose circuit or device, or as a hardware/software combination, such as a processor executing a software program. 
     Further, as described above, any one of the above-described and other methods of the present invention may be embodied in the form of a computer program stored in any kind of storage medium. Examples of storage mediums include, but are not limited to, flexible disk, hard disk, optical discs, magneto-optical discs, magnetic tapes, nonvolatile memory, semiconductor memory, read-only-memory (ROM), etc. 
     Alternatively, any one of the above-described and other methods of the present invention may be implemented by an application specific integrated circuit (ASIC), a digital signal processor (DSP) or a field programmable gate array (FPGA), prepared by interconnecting an appropriate network of conventional component circuits or by a combination thereof with one or more conventional general purpose microprocessors or signal processors programmed accordingly. 
     Each of the functions of the described embodiments may be implemented by one or more processing circuits or circuitry. Processing circuitry includes a programmed processor, as a processor includes circuitry. A processing circuit also includes devices such as an application specific integrated circuit (ASIC), digital signal processor (DSP), field programmable gate array (FPGA) and conventional circuit components arranged to perform the recited functions.