Three-dimensional shaping apparatus and roller rotation mechanism

Abstract

Even when dealing with three-dimensional objects of complex shapes, a three-dimensional shaping device and a roller rotation mechanism are provided that can facilitate the wiring process of the rotary roller drive unit and make the device itself compact. 【Solution means】 A three-dimensional shaping device 1 includes a housing 95, a discharge unit 7 disposed in the housing 95 and discharging a curable fluid R from an opening 7a, a rotary roller 5 capable of pressing the fluid R discharged from the discharge unit 7, and a rotary roller revolution drive motor 9 for revolving the rotary roller 5 with respect to the discharge unit 7. In the three-dimensional shaping device 1 that moves the discharge unit 7 and the rotary roller 5 to stack the fluid R discharged from the discharge unit 7 to manufacture a three-dimensional object, a rotary roller rotation drive motor 22 for rotating the rotary roller 5 is provided, and the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 are disposed in the housing 95.

Description

Technical Field

[0001] The present invention relates to a three-dimensional shaping apparatus and a roller rotation mechanism that manufacture a three-dimensional shaped object by laminating while discharging a fluid from an opening of a discharge part.

Background Art

[0002] Conventionally, a three-dimensional shaping apparatus that manufactures a three-dimensional shaped object by laminating while discharging a fluid from an opening of a discharge part has been known.

[0003] For example, in Patent Document 1, an applicator head 43 that discharges a thermoplastic material (hereinafter referred to as "fluid") from an opening of a nozzle 51, and a bead forming roller 59 disposed in the vicinity of the applicator head 43 are provided. In a laminating shaping apparatus 1 that moves the applicator head 43 and laminates the thermoplastic material discharged from the applicator head 43, it is recognized that a laminating shaping apparatus 1 in which the bead forming roller 59 is positioned behind the nozzle 51 in the moving direction of the nozzle 51 is described (see the description in paragraph "0022", FIG. 5, etc.).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the laminating shaping apparatus 1 described in Patent Document 1, since the bead forming roller 59 is positioned behind the nozzle 51 in the moving direction of the nozzle 51, when trying to change the moving direction of the nozzle 51, a subtle difference occurs between the moving direction of the nozzle 51 (hereinafter referred to as "discharge part") and the moving direction of the bead forming roller 59 (hereinafter referred to as "rotating roller"), so there is a problem that unevenness is likely to occur in the laminated fluid.

[0006] In addition, when trying to make a laminating apparatus (hereinafter referred to as a "three-dimensional shaping apparatus") compatible with a laminate having a more complex shape (hereinafter referred to as a "three-dimensional shaped object"), various problems occur, including wiring processing for supplying power to the rotary roller driving unit, and furthermore, there is a problem that the apparatus itself becomes larger.

[0007] The present invention has been made in response to the above-described problems of the prior art, and even when dealing with a three-dimensional shaped object having a complex shape, it is possible to easily perform the wiring process for the rotary roller driving unit, and an object thereof is to provide a three-dimensional shaping apparatus and a roller rotation mechanism that make the apparatus itself compact.

Means for Solving the Problems

[0008] In order to solve the above-described problems, a first aspect of the present invention includes a housing, a discharge unit disposed in the housing and discharging a curable fluid from an opening, a rotary roller capable of pressing the fluid discharged from the discharge unit, and a first driving unit that revolves the rotary roller around the discharge unit. In a three-dimensional shaping apparatus that moves the discharge unit and the rotary roller to laminate the fluid discharged from the discharge unit to manufacture a three-dimensional shaped object, the three-dimensional shaping apparatus is characterized in that it includes a second driving unit that rotates the rotary roller, and the first driving unit and the second driving unit are disposed in the housing.

[0009] In addition, a second aspect of the present invention is the three-dimensional shaping apparatus according to the first aspect, wherein the rotary roller revolves around the discharge unit via a first driven unit that rotates around a first axis in the longitudinal direction of the discharge unit, and independently of the first driven unit, the rotary roller rotates via a second driven unit that rotates around the first axis.

[0010] In addition, a third aspect of the present invention is the three-dimensional shaping apparatus according to the second aspect, characterized in that the rotary roller is disposed below the second driven unit.

[0011] Further, a fourth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the first aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit with respect to the first drive unit.

[0012] Further, a fifth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the second aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit with respect to the first drive unit.

[0013] Further, a sixth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the third aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit with respect to the first drive unit.

[0014] Further, a seventh aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the first aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0015] Further, an eighth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the second aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0016] Further, a ninth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the third aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0017] Further, a tenth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the fourth aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0018] Further, an eleventh aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the fifth aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0019] Further, a twelfth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to the sixth aspect, the first drive unit and the second drive unit are arranged on the same plane.

[0020] Further, a thirteenth aspect of the present invention is characterized in that, in the three-dimensional shaping apparatus according to any one of the first to twelfth aspects, the rotating roller can change its height relative to the discharge unit, and after separating from the fluid, it can return a predetermined distance and start pressing the fluid discharged from the discharge unit.

[0021] Further, a roller rotation mechanism according to a fourteenth aspect of the present invention includes a housing, a first shaft disposed in the housing, a rotating roller rotatably disposed around the first shaft, a first drive unit for revolving the rotating roller around the first shaft, and a second drive unit for rotating the rotating roller, and is characterized in that the first drive unit and the second drive unit are disposed in the housing.

[0022] Further, a fifteenth aspect of the present invention is characterized in that, in the roller rotation mechanism according to the fourteenth aspect, the rotating roller revolves around the first shaft via a first driven part that rotates around the first shaft, and rotates independently of the first driven part via a second driven part that rotates around the first shaft.

[0023] Further, a sixteenth aspect of the present invention is characterized in that, in the roller rotation mechanism according to the fifteenth aspect, the rotating roller is disposed below the second driven part.

[0024] Further, a seventeenth aspect of the present invention is characterized in that, in the roller rotation mechanism according to the fourteenth aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

[0025] Further, an eighteenth aspect of the present invention is characterized in that, in the roller rotation mechanism according to the fifteenth aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

[0026] Further, a nineteenth aspect of the present invention is characterized in that, in the roller rotation mechanism of the sixteenth aspect, the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

[0027] Furthermore, a twentieth aspect of the present invention is characterized in that, in the roller rotation mechanism according to any one of the fourteenth aspect to the nineteenth aspect, the first drive unit and the second drive unit are arranged on the same plane.

Advantages of the Invention

[0028] According to the first aspect of the present invention, in a three-dimensional shaping apparatus including a housing, a discharge unit disposed in the housing and discharging a curable fluid from an opening, a rotating roller capable of pressing the fluid discharged from the discharge unit, and a first drive unit that revolves the rotating roller with respect to the discharge unit, the three-dimensional shaping apparatus further includes a second drive unit that rotates the rotating roller. Since the first drive unit and the second drive unit are arranged in the housing, even when dealing with a three-dimensional shaped object having a complex shape, the wiring process of the first drive unit and the second drive unit can be easily performed, and thus, the three-dimensional shaping apparatus itself can be manufactured in a compact manner.

[0029] Also, according to the second aspect of the present invention, in the three-dimensional shaping apparatus of the first aspect, the rotating roller revolves with respect to the discharge unit via a first driven unit that rotates about a first axis in the longitudinal direction of the discharge unit, and independently of the first driven unit, rotates itself via a second driven unit that rotates about the first axis. Therefore, in addition to the effects of the three-dimensional shaping apparatus of the first aspect, the first drive unit and the second drive unit can be arranged close to each other, and the three-dimensional shaping apparatus itself can be manufactured even more compactly.

[0030] Further, according to the third aspect of the present invention, in the three-dimensional shaping apparatus of the second aspect, since the rotating roller is disposed below the second driven part, in addition to the effect of the three-dimensional shaping apparatus of the second aspect, the distance between the discharge part and the rotating roller can be shortened, the followability of the rotating roller with respect to the discharge part can be improved, and the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0031] Further, according to the fourth aspect of the present invention, in the three-dimensional shaping apparatus of the first aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part by the first driving part, in addition to the effect of the three-dimensional shaping apparatus of the first aspect, the three-dimensional shaping apparatus itself can be surely manufactured more compactly.

[0032] Further, according to the fifth aspect of the present invention, in the three-dimensional shaping apparatus of the second aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part by the first driving part, in addition to the effect of the three-dimensional shaping apparatus of the second aspect, the three-dimensional shaping apparatus itself can be surely manufactured more compactly.

[0033] Further, according to the sixth aspect of the present invention, in the three-dimensional shaping apparatus of the third aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part by the first driving part, in addition to the effect of the three-dimensional shaping apparatus of the third aspect, the three-dimensional shaping apparatus itself can be surely manufactured more compactly.

[0034] Further, according to the seventh aspect of the present invention, in the three-dimensional shaping apparatus of the first aspect, since the first driving part and the second driving part are disposed on the same plane, in addition to the effect of the three-dimensional shaping apparatus of the first aspect, the length of the heater for maintaining the molten state of the fluid can be decreased, the energy required for the operation of the apparatus can be decreased, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0035] Further, according to the eighth aspect of the present invention, in the three-dimensional shaping apparatus of the second aspect, since the first drive unit and the second drive unit are arranged on the same plane, in addition to the effects of the three-dimensional shaping apparatus of the second aspect, the length of the heater for maintaining the molten state of the fluid can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0036] Further, according to the ninth aspect of the present invention, in the three-dimensional shaping apparatus of the third aspect, since the first drive unit and the second drive unit are arranged on the same plane, in addition to the effects of the three-dimensional shaping apparatus of the third aspect, the length of the heater for maintaining the molten state of the fluid can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0037] Further, according to the tenth aspect of the present invention, in the three-dimensional shaping apparatus of the fourth aspect, since the first drive unit and the second drive unit are arranged on the same plane, in addition to the effects of the three-dimensional shaping apparatus of the fourth aspect, the length of the heater for maintaining the molten state of the fluid can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0038] Further, according to the eleventh aspect of the present invention, in the three-dimensional shaping apparatus of the fifth aspect, since the first drive unit and the second drive unit are arranged on the same plane, in addition to the effects of the three-dimensional shaping apparatus of the fifth aspect, the length of the heater for maintaining the molten state of the fluid can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0039] Further, according to the 12th aspect of the present invention, in the three-dimensional shaping apparatus of the 6th aspect, since the first driving unit and the second driving unit are arranged on the same plane, in addition to the effects of the three-dimensional shaping apparatus of the 6th aspect, the length of the heater for maintaining the molten state of the fluid can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0040] Further, according to the 13th aspect of the present invention, in any of the three-dimensional shaping apparatuses of the 1st to 12th aspects, the rotating roller can change its height with respect to the discharge unit, and after separating from the fluid, it can return a predetermined distance and start pressing the fluid discharged from the discharge unit. Therefore, in addition to the effects of any of the three-dimensional shaping apparatuses of the 1st to 12th aspects, the fluid can be laminated more evenly, and thus, the three-dimensional shaped object can be laminated and manufactured better.

[0041] Further, according to the roller rotation mechanism of the 14th aspect of the present invention, it includes a housing, a first shaft disposed in the housing, a rotating roller disposed so as to be revolvable with respect to the first shaft, a first driving unit for revolving the rotating roller with respect to the first shaft, and a second driving unit for rotating the rotating roller. Since the first driving unit and the second driving unit are arranged in the housing, even when the rotation of the rotating roller is made to correspond to a complex shape, the wiring process of the first driving unit and the second driving unit can be easily performed, and thus, the roller rotation mechanism itself can be manufactured compactly.

[0042] Further, according to the 15th aspect of the present invention, in the roller rotation mechanism of the 14th aspect, the rotating roller revolves with respect to the first shaft via a first driven part that rotates around the first shaft, and independently of the first driven part, it rotates via a second driven part that rotates around the first shaft. Therefore, in addition to the effects of the roller rotation mechanism of the 14th aspect, the first driving unit and the second driving unit can be arranged close to each other, and the roller rotation mechanism itself can be manufactured more compactly.

[0043] Further, according to the 16th aspect of the present invention, in the roller rotation mechanism of the 15th aspect, since the rotating roller is arranged below the second driven part, the roller rotation mechanism itself can be manufactured more compactly.

[0044] Also, according to the 17th aspect of the present invention, in the roller rotation mechanism of the 14th aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part with respect to the first drive part, in addition to the effect of the roller rotation mechanism of the 14th aspect, the roller rotation mechanism itself can be surely manufactured compactly.

[0045] Also, according to the 18th aspect of the present invention, in the roller rotation mechanism of the 15th aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part with respect to the first drive part, in addition to the effect of the roller rotation mechanism of the 15th aspect, the roller rotation mechanism itself can be surely manufactured compactly.

[0046] Also, according to the 19th aspect of the present invention, in the roller rotation mechanism of the 16th aspect, since the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge part with respect to the first drive part, in addition to the effect of the roller rotation mechanism of the 16th aspect, the roller rotation mechanism itself can be surely manufactured compactly.

[0047] Furthermore, according to the 20th aspect of the present invention, in any one of the roller rotation mechanisms of the 14th to 19th aspects, since the first drive part and the second drive part are arranged on the same plane, the roller rotation mechanism itself can be manufactured more compactly.

Brief Description of Drawings

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Best Mode for Carrying Out the Invention

[0049] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the drawings used in this embodiment are exaggerated for easy understanding, and their dimensions are different from the actual dimensions. In particular, regarding the rotating roller described later in the first embodiment, although its width is described as narrow, it should be stated in advance that in reality, it is sufficiently wide so that the width of the fluid can be changed (see FIG. 30).

[0050] (First Embodiment) First, the configuration of the three-dimensional modeling apparatus of this embodiment will be described. FIG. 1 is an overall perspective view of the three-dimensional modeling apparatus according to the first embodiment of the present invention.

[0051] As shown in FIG. 1, the three-dimensional modeling apparatus 1 of this embodiment manufactures a three-dimensional modeled object by laminating a curable fluid R (see FIGS. 19 and 20) on a flat modeling table P disposed within an outer frame H. The three-dimensional modeling apparatus 1 includes the outer frame H, a moving table 59 that moves on the outer frame H in the +Y direction and the -Y direction, a head unit 3 having an applicator 3a that discharges and laminates the fluid R on the modeling table P and a processing machine 3b that shapes the modeled object laminated and cured on the modeling table P, a control panel 2 that controls operations of the moving table 59, the head unit 3, etc., an operation panel 8 for an operator M of the three-dimensional modeling apparatus 1 to send commands to the three-dimensional modeling apparatus 1, and a tank 80 for storing the powder before it becomes the fluid R.

[0052] Note that the fluid R used in this embodiment needs to be a material that has fluidity before being discharged from a discharge unit 7 (see FIG. 3) described later and can be cured after being discharged from the discharge unit 7. For example, materials such as ABS resin (acrylonitrile-butadiene-styrene resin), ASA resin (acrylonitrile-styrene-acrylic ester resin), PC-ABS resin (polycarbonate-acrylonitrile-butadiene-styrene resin), PLA (polylactic acid resin), nylon 6, nylon 12, polycarbonate, and polypropylene can be used. Incidentally, the fluid R used in this embodiment is nylon 6 (melting point: 225°C).

[0053] As shown in FIG. 1, the outer frame H has a hollow rectangular parallelepiped shape formed in a substantially square shape by three wall portions 79a, 79b, and 79c and a beam portion 79d. At the upper portions of the wall portions 79a and 79c, there are provided toothed racks 55a and 55b for moving the moving table 59 in the +Y direction and the -Y direction.

[0054] The moving table 59 operates a Y-axis slide motor 37 (see FIG. 10) disposed in the moving table 59 according to a command from a main controller 4 (see FIG. 10) disposed in the control panel 2, and together with the head portion 3 provided with the applicator 3a and the processing machine 3b, moves on the racks 55a and 55b in the +Y direction and the -Y direction.

[0055] Further, the moving table 59 is provided with a toothed rack 57 on its side surface for moving the head portion 3 in the +X direction and the -X direction.

[0056] As described above, the head portion 3 includes an applicator 3a that discharges and laminates the fluid R on the modeling table P, and a processing machine 3b that shapes the fluid R laminated and cured on the modeling table P. According to a command from a main controller 4 (see FIG. 10) disposed in the control panel 2, it operates an X-axis slide motor 35 (see FIG. 10) disposed in the head portion 3 and moves on the rack 57 of the moving table 59 in the +X direction and the -X direction.

[0057] The processing machine 3b includes a processing machine main body 45, a processing machine Z-axis slide motor 27 for moving the processing machine main body 45 in the +Z direction and the -Z direction, a trimmer 41 disposed at the tip of the processing machine main body 45 for trimming a shaped object laminated and cured on the shaping table P, a processing machine rotation motor 29 (see FIG. 10) disposed within the processing machine main body 45 for rotating the trimmer 41 with respect to the arm 47, and a processing machine drive motor 31 for driving the trimmer 41.

[0058] FIG. 2 is a perspective view of the applicator of the first embodiment as viewed obliquely from above, FIG. 3 is a front view of the applicator, FIG. 4 is a diagram for explaining the drive mechanism of the rotary roller in the applicator, FIG. 5 is a right side view of the applicator, and FIG. 6 is a perspective view of the applicator as viewed obliquely from below.

[0059] As shown in FIGS. 1 to 6, the applicator 3a allows the fluid R obtained by melting the powder retained in the tank 80 to flow into the hopper 75 from the inlet 51 via the tube 49, and then is sent out by the extruder 77 and the gear pump 65, and finally is discharged from the opening 7c of the discharge part 7 toward the shaping table P.

[0060] The applicator 3a includes an applicator main body 43 and an applicator Z-axis slide motor 39 for largely moving the applicator main body 43 in the +Z direction and the -Z direction. Further, within the applicator main body 43, there are a housing 95, a discharge part 7 disposed in the housing 95 for discharging the fluid R from the opening 7c, a rotary roller 5 capable of pressing the fluid R discharged from the discharge part 7, a rotary roller revolution drive motor 9 (corresponding to the "first drive part" of the present invention) for revolving the rotary roller 5 with respect to the discharge part 7, a rotary roller rotation drive motor 22 (corresponding to the "second drive part" of the present invention) for rotating the rotary roller 5, a rotary roller vertical movement motor 23 for slightly moving the rotary roller 5 in the +Z direction and the -Z direction, a hopper 75 for storing the fluid R, an extruder 77 for pushing the fluid R stored in the hopper 75 toward the discharge part 7, and a gear pump 65 for more smoothly pushing the fluid R pushed out by the extruder 77 toward the discharge part 7.

[0061] Note that both the revolving drive motor 9 for the rotary roller and the rotation drive motor 22 for the rotary roller in this embodiment are arranged in the housing 95. Although not shown, since the connectors for the electric wires (wiring) for supplying power to the revolving drive motor 9 for the rotary roller and the connectors for the electric wires (wiring) for supplying power to the rotation drive motor 22 for the rotary roller are also arranged in the housing 95, one of the motors (drive units) does not rotate, so wiring can be easily performed.

[0062] Further, the coater 3a heats and melts a powder (not shown) stored in a tank 80 installed outside the outer frame H by a first heater 40 (see FIG. 10), and drives a tank-side pump (not shown) arranged in the tank 80 by a tank-side pump drive motor 33 (see FIG. 10), thereby causing the melted fluid R to flow in from the inlet 51 through the tube 49.

[0063] Then, after storing the fluid R flowing in from the inlet 51 in the hopper 75, it is extruded by an extruder 77, and while maintaining the molten state of the fluid R by a second heater 36 (see FIG. 10) arranged from the inlet 51 to the discharge part 7, the gear pump 65 is driven by a head-side pump drive motor 34 (see FIG. 10), so that the fluid R is discharged from the tip of the discharge part 7.

[0064] Note that an inflow pressure sensor 53 for detecting the pressure of the fluid R flowing in the tube 49 is provided near the inlet 51.

[0065] Note that among the coater main body 43, the housing 95, a discharge part main body 7a (corresponding to the "first shaft" of the present invention) arranged in the housing 95, a rotary roller 5 arranged to be revolvable with respect to the discharge part main body 7a, a revolving drive motor 9 for revolving the rotary roller 5 with respect to the discharge part main body 7a (corresponding to the "first drive unit" of the present invention), and a rotation drive motor 22 for rotating the rotary roller 5 (corresponding to the "second drive unit" of the present invention) constitute the roller rotation mechanism 50 of the present invention.

[0066] The coater 3a includes a first toothed pulley 11 for revolution of the rotating roller connected to the motor shaft of the rotating roller revolution drive motor 9, a toothed belt 20 for revolution of the rotating roller having one end hung on the first toothed pulley 11 for revolution of the rotating roller, a second toothed pulley 13 for revolution of the rotating roller (corresponding to the "first driven part" of the present invention) having the other end of the toothed belt 20 for revolution of the rotating roller hung thereon, a rotating shaft 15 for revolution of the rotating roller integrally formed with the second toothed pulley 13 for revolution of the rotating roller, and a rotating lever 17 integrally formed with the rotating shaft 15 for revolution of the rotating roller and having one end connected to the rotating shaft 15 for revolution of the rotating roller.

[0067] Further, the coater 3a includes a first toothed pulley 24 for rotation of the rotating roller connected to the motor shaft 67 of the rotating roller rotation drive motor 22, a first toothed belt 91 for rotation of the rotating roller having one end hung on the first toothed pulley 24 for rotation of the rotating roller, a two-stage second toothed pulley 26 for rotation of the rotating roller (corresponding to the "second driven part" of the present invention) having the upper stage hung on the other end of the first toothed belt 91 for rotation of the rotating roller, a second toothed belt 89 for rotation of the rotating roller having one end hung on the lower stage of the second toothed pulley 26 for rotation of the rotating roller, and a third toothed pulley 73 for rotation of the rotating roller having the other end of the second toothed belt 89 for rotation of the rotating roller hung thereon.

[0068] Further, the coater 3a is rotatably disposed on the upper surface of the rotary lever 17 and integrally formed coaxially with the rotary shaft 63 of the third toothed pulley 73 for the rotation of the rotary roller, a fourth toothed pulley 69 for the rotation of the rotary roller, a third toothed belt 71 for the rotation of the rotary roller having one end hung on the fourth toothed pulley 69 for the rotation of the rotary roller, a fifth toothed pulley 38 for the rotation of the rotary roller rotatably disposed on the upper surface of the rotary lever 17 and hung on the other end of the third toothed belt 71 for the rotation of the rotary roller, a rotary shaft 30 for the rotation of the rotary roller which is the rotary shaft of the fifth toothed pulley 38 for the rotation of the rotary roller, a rotary guide 28 connected to the lower end of the rotary shaft 30 for the rotation of the rotary roller below the rotary lever 17, and a rotary roller 5 rotatably connected to the rotary guide 28.

[0069] The housing 95 constitutes the base of the coater 3a and includes a first mounting plate 61 having a substantially rectangular shape in plan view for mounting the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22, and three wall portions 88a, 88b, and 88c erected along three sides of the first mounting plate 61.

[0070] The discharge portion 7 has a substantially hollow cylindrical shape and discharges the fluid R from the opening 7c toward the shaping table P as described above. The discharge portion 7 includes a hollow cylindrical discharge portion main body 7a (corresponding to the "first shaft" of the present invention), a discharge tip portion 7b having a hollow tapered shape with a tapered tip, and an opening 7c for discharging the fluid R.

[0071] In the present embodiment, the hollow cylindrical discharge portion main body 7a is described as the "first shaft" of the present invention. However, the "first shaft" of the present invention may be a solid cylindrical shape, or even in a case where the actual object cannot be specified, it may be the "first shaft" as a concept of the center of rotation like the virtual center line C of the discharge portion 7 shown in FIG. 4.

[0072] The rotating roller 5 has a substantially hollow cylindrical shape and is disposed downward within the range of a second toothed pulley 26 for the rotation of the rotating roller which has a two-stage configuration described later. The rotating roller 5 is rotatably mounted about a rotating shaft 25 for the running of the rotating roller on a rotation guide 28 and is configured to be able to press the fluid R discharged from the discharge portion 7.

[0073] Further, the rotating roller 5 includes a rotating roller temperature sensor 21 (see FIGS. 22 to 27) for measuring the temperature of the rotating roller 5 and a temperature adjusting portion 19 for increasing or decreasing the temperature of the rotating roller 5 within the hollow of the rotating roller 5.

[0074] As described above, the rotating roller revolution drive motor 9 is a drive unit for revolving the rotating roller 5 relative to the discharge portion 7 and is connected to the first mounting plate 61 of the housing 95. Note that the rotating roller revolution drive motor 9 used in the present embodiment is a stepping motor, but the present invention is not limited thereto, and ordinary motors such as a DC motor and an AC motor can be used.

[0075] Here, the revolution mechanism of the rotating roller 5 will be described with reference to FIG. 4. As shown in FIG. 4, when a first toothed pulley 11 for the revolution of the rotating roller connected to the motor shaft of the rotating roller revolution drive motor 9 rotates about a first toothed pulley rotating shaft 93 for the revolution of the rotating roller (see FIGS. 23 to 27), the rotational force is transmitted to a toothed belt 20 for the revolution of the rotating roller and a second toothed pulley 13 for the revolution of the rotating roller which is hung at the other end of the toothed belt 20 for the revolution of the rotating roller. Thereafter, the rotational force is transmitted to a rotation lever 17 via a rotating shaft 15 for the revolution of the rotating roller which is integrally formed with the second toothed pulley 13 for the revolution of the rotating roller. When the rotation lever 17 rotates, the rotating roller 5 rotates (revolves) about the discharge portion main body 7a (discharge portion 7).

[0076] Note that FIG. 6 is a perspective view of the coater as seen obliquely from below before driving the rotating roller revolution drive motor 9, and FIG. 7 is a perspective view of the coater as seen obliquely from below after driving the rotating roller revolution drive motor 9.

[0077] The rotary roller rotation drive motor 22 is a drive unit for rotating the rotary roller 5 as described above, and is connected to the first mounting plate 61 of the housing 95 in the same manner as the rotary roller revolution drive motor 9. Note that the rotary roller rotation drive motor 22 used in the present embodiment is also a stepping motor, but is not limited thereto, and ordinary motors such as a DC motor and an AC motor can be used.

[0078] Here, the rotation mechanism of the rotary roller 5 will be described with reference to FIG. 4. As shown in FIG. 4, when the first toothed pulley 24 for rotary roller rotation connected to the motor shaft 67 of the rotary roller rotation drive motor 22 rotates, the rotational force is transmitted to the first toothed belt 91 for rotary roller rotation and the second toothed pulley 26 for rotary roller rotation having a two-stage configuration hung at the other end of the first toothed belt 91 for rotary roller rotation. Then, it is transmitted to the second toothed belt 89 for rotary roller rotation having one end hung at the lower stage of the second toothed pulley 26 for rotary roller rotation and the third toothed pulley 73 for rotary roller rotation. Further, it is transmitted to the fourth toothed pulley 69 for rotary roller rotation formed integrally with the third toothed pulley 73 for rotary roller rotation, the third toothed belt 71 for rotary roller rotation, and the fifth toothed pulley 38 for rotary roller rotation. When the fifth toothed pulley 38 for rotary roller rotation rotates, the rotary shaft 30 for rotary roller rotation and the rotary guide 28 rotate, and the rotary roller 5 rotates about the rotary shaft 30 for rotary roller rotation.

[0079] Note that FIG. 7 is a perspective view of the coater viewed obliquely from below before driving the rotary roller rotation drive motor 22, and FIG. 8 is a perspective view of the coater viewed obliquely from below after driving the rotary roller rotation drive motor 22.

[0080] Note that an intermediate object such as a bearing is inserted between the discharge unit 7 and the rotating shaft 15 for the revolution of the rotating roller, and between the rotating shaft 15 for the revolution of the rotating roller and the second toothed pulley 26 for the rotation of the rotating roller having a two-stage configuration. Therefore, the rotation of the rotating roller revolution drive motor 9 and the rotation of the rotating roller rotation drive motor 22 are independent of each other, and the rotation of the rotating roller rotation drive motor 22 does not affect the rotation of the rotating roller revolution drive motor 9.

[0081] On the other hand, when the rotating roller revolution drive motor 9 rotates and the rotating lever 17 rotates, the rotating roller 5 disposed on the rotating lever 17 automatically rotates around the second toothed pulley 26 for the rotation of the rotating roller that has stopped, and thus rotates via the second toothed belt 89 for the rotation of the rotating roller.

[0082] In this embodiment, since the number of teeth of the fourth toothed pulley 69 for the rotation of the rotating roller and the number of teeth of the fifth toothed pulley 38 for the rotation of the rotating roller are set to be the same, when the number of teeth of the second toothed pulley 26 for the rotation of the rotating roller is Na, the number of teeth of the third toothed pulley 73 for the rotation of the rotating roller is Nb, and the revolution angle displacement value of the rotating roller 5 is Δθ2, the rotation angle correction value α of the rotating roller 5 is as follows. α = Δθ2 × Na / Nb

[0083] Therefore, when the rotating roller 5 revolves, the rotation angle of the rotating roller 5 is constantly corrected by the rotating roller rotation angle correction interrupt process described later.

[0084] In this embodiment, the rotation angle correction value α = Δθ2 × Na / Nb of the rotating roller 5 is used to correct the rotation angle value θ1 of the rotating roller 5. However, the calculation formula for calculating the rotation angle correction value α of the rotating roller 5 naturally differs depending on the transmission path between the rotating roller rotation drive motor 22 and the rotating roller 5, and is not limited to α = Δθ2 × Na / Nb.

[0085] The rotation roller vertical movement motor 23 is, as described above, a drive unit for slightly moving the rotation roller 5 in the +Z direction and the -Z direction, and is connected to the end of a third mounting plate 84 horizontally arranged from the upper end face of a second mounting plate 82 arranged vertically and parallel to the wall portion 88b at a distance from the wall portion 88b of the housing 95.

[0086] In addition, a ball screw 87 for moving the housing 95 and the rotation roller 5 in the +Z direction and the -Z direction by rotation is connected to the second mounting plate 82 so that the longitudinal direction of the ball screw 87 is along the +Z direction and the -Z direction.

[0087] That is, as shown in FIGS. 2 and 5, when the first toothed pulley 81 for the rotation roller vertical movement motor connected to the motor shaft of the rotation roller vertical movement motor 23 rotates, the rotational force is transmitted to the toothed belt 83 for the rotation roller vertical movement motor and the second toothed pulley 85 for the rotation roller vertical movement motor hung on the other end of the toothed belt 83 for the rotation roller vertical movement motor. Then, it is transmitted to a ball screw 87 connected coaxially with the rotation shaft of the second toothed pulley 85 for the rotation roller vertical movement motor. When the ball screw 87 rotates, the housing 95 and the rotation roller 5 move in the +Z direction and the -Z direction.

[0088] FIG. 3 is a front view showing a state where the rotation roller vertical movement motor 23 is driven to move the rotation roller 5 in the +Z direction and raise the rotation roller 5 with respect to the discharge part 7, and FIG. 9 is a front view showing a state where the rotation roller vertical movement motor 23 is driven to move the rotation roller 5 in the -Z direction and lower the rotation roller 5 with respect to the discharge part 7.

[0089] In addition, the coating machine 3a includes a rotation roller temperature sensor 21 arranged on the rotation roller 5 for detecting the temperature of the rotation roller 5, and a rotation roller temperature adjustment unit 19 for adjusting the temperature of the rotation roller 5 based on the detected value of the rotation roller temperature sensor 21. The rotation roller temperature adjustment unit 19 is arranged inside the rotation shaft 25 of the rotation roller 5 although not described in detail in FIGS. 3 to 6.

[0090] Next, the control panel 2 will be described. FIG. 10 is a block diagram of the three-dimensional shaping apparatus according to the first embodiment, and FIG. 11 is a block diagram of the main controller of the three-dimensional shaping apparatus according to the first embodiment.

[0091] In FIG. 10, the control panel 2 is operated by an external power supply 6, and includes a main controller 4, and a first driver circuit 10 that is electrically connected to the main controller 4 and drives a tank-side pump drive motor 33 of the coater 3a, a head-side pump drive motor 34, an X-axis slide motor 35, a Y-axis slide motor 37, a coater Z-axis slide motor 39, a rotary roller vertical movement motor 23, a rotary roller revolution drive motor 9, a rotary roller rotation drive motor 22, a temperature adjustment unit 19, a first heater 40, and a second heater 36. The control panel 2 also includes a second driver circuit 12 that is electrically connected to the main controller 4 and drives a processing machine Z-axis slide motor 27, a processing machine rotation motor 29, and a processing machine drive motor 31 of the processing machine 3b.

[0092] In addition, the main controller 4 is also electrically connected to an operation panel 8 for an operator M of the three-dimensional shaping apparatus 1 to send commands to the three-dimensional shaping apparatus 1, a rotary roller temperature sensor 21 for detecting the temperature of the rotary roller 5, and an inflow pressure sensor 53 for detecting the pressure of the fluid R flowing in the tube 49.

[0093] In addition, in FIG. 11, the main controller 4 includes a CPU (Central Processing Unit) 14, a RAM (Random Access Memory) 16 that is input / output connected to the CPU 14, and a ROM (Read Only Memory) 18 that is input / output connected to the CPU 14.

[0094] The RAM 16 includes a three-dimensional modeling data table 16a that stores the modeling data of the three-dimensional object to be manufactured (the three-dimensional data of the object, the height data of the rotating roller with respect to the discharge part for each layer to be laminated, etc.), a rotating roller height instruction value 16b that stores data for setting the height of the rotating roller 5 with respect to the discharge part 7, a pump rotation instruction value 16c that stores data for setting the rotation speed of the head-side pump drive motor 34, a roller temperature sensor instruction value 16d that stores the detected value of the rotating roller temperature sensor 21, a rotating roller temperature instruction value 16e that stores data for setting the temperature of the rotating roller 5, a discharge part movement angle value 16f that stores the angle by which the discharge part 7 moves, a rotating roller rotation angle value 16g that stores the rotation angle θ1 of the rotating roller 5 with respect to the discharge part 7, and a rotating roller revolution angle value 16h that stores the revolution angle θ2 of the rotating roller 5 with respect to the discharge part 7.

[0095] In this embodiment, the discharge part 7 changes the movement angle from the current movement angle value θn to θn + Δθn based on the discharge part movement angle command value Δθn at any time, and the movement angle value θn + Δθn during the movement of the discharge part 7 is automatically stored in the discharge part movement angle value 16f of the RAM 16 at any time.

[0096] Also, the rotating roller 5 of this embodiment also changes the revolution angle from the current revolution angle value θ2 to θ2 + Δθ2 based on the revolution angle command value Δθ2 at any time, and the revolution angle value θ2 + Δθ2 during the movement of the rotating roller 5 is automatically stored in the rotating roller revolution angle value 16h of the RAM 16 at any time.

[0097] Furthermore, the rotating roller 5 of this embodiment changes the rotation angle from the current rotation angle value θ1 to θ1 + Δθ1 based on the rotation angle command value Δθ1 at any time, and the rotation angle value θ1 + Δθ1 during the movement of the rotating roller 5 is automatically stored in the rotating roller rotation angle value 16g of the RAM 16 at any time.

[0098] However, as described above, the rotating roller 5 of the present embodiment rotates due to the revolution of the rotating roller 5. Therefore, the correction value α calculated by the rotating roller rotation angle correction interrupt process described later is added, and actually, the value of the rotation angle value θ1 + Δθ1 + α is automatically stored in the rotating roller rotation angle value 16g of the RAM16 at any time.

[0099] Further, the ROM18 includes a three-dimensional modeling program 18a that controls the operation of the entire coating machine 3a of the present embodiment, an N-layer coating program 18b that controls the coating operation for each layer of the coating machine 3a, a curved region coating program 18c that controls the operation when the coating machine 3a coats a curved region, a rotating roller rotation angle correction interrupt process program 18d for correcting the rotation angle of the rotating roller 5 due to the revolution of the rotating roller 5 with respect to the discharge part 7, a pump rotation interrupt process program 18e for processing the rotation speed of the head-side pump drive motor 34 by interrupt, and a temperature control part interrupt process program 18f for processing the temperature of the temperature control part 19 by interrupt.

[0100] Next, the operation of the three-dimensional modeling apparatus 1 having the above-described configuration will be described. FIG. 12 is a flowchart of the three-dimensional modeling program in the three-dimensional modeling apparatus of the first embodiment, FIG. 13 is a flowchart of the N-layer coating program in the three-dimensional modeling apparatus, and FIG. 14 is a flowchart of the curved region coating program in the three-dimensional modeling apparatus.

[0101] Further, FIG. 15 is a flowchart of the rotating roller rotation angle correction interrupt process program for correcting the rotation angle of the rotating roller in the three-dimensional modeling apparatus, FIG. 16 is a flowchart of the pump rotation interrupt process program in the three-dimensional modeling apparatus, and FIG. 17 is a flowchart of the temperature control part interrupt process program in the three-dimensional modeling apparatus.

[0102] In FIG. 12, first, after the user M of the three-dimensional shaping apparatus 1 turns on the power switch of the apparatus, and selects a specific three-dimensional shaped object by operating buttons on the operation panel 8 and presses the start button, the three-dimensional shaping apparatus 1 is set to the initial state (S1), and three-dimensional shaping data regarding the shaping position and shaping height for each layer corresponding to the selected three-dimensional shaped object stored in the three-dimensional shaping data table 16a of the RAM 16 is acquired (S3).

[0103] Note that the head unit 3 is set to the position shown in FIG. 1 in the initial state, and the coater 3a and the processing unit 3b are set in a state of being retracted upward from the flat shaping table P for shaping the three-dimensional shaped object (see FIG. 1).

[0104] Then, the parameter N indicating the layer to be shaped by the coater 3a is set to "1" ("1" means the first layer) (S5), the coater 3a and the processing unit 3b are moved to the coating start position (S7), and the N-layer coating program 18b is executed (S9).

[0105] FIG. 18 is a diagram showing a state before the coater 3a is moved to the flat shaping table P with the rotating roller 5 raised and the fluid R is discharged from the discharge unit 7.

[0106] As shown in FIG. 13, in the N-layer coating program 18b, first, the height of the rotating roller 5 is set based on the three-dimensional shaping data stored in the three-dimensional shaping data table 16a (S31), and the fluid R is discharged from the discharge unit 7 to perform coating from the coating start position (S33).

[0107] Note that in the present embodiment, as described above, since the rotating roller 5 is movable in the +Z direction and the -Z direction with respect to the discharge unit 7, it is possible to change the gap between the rotating roller 5 and the shaping table P in various ways while discharging the fluid R from the discharge unit 7 to coat the fluid R with a desired thickness.

[0108] For example, FIG. 19 shows a state in which the fluid R is discharged from the discharge unit 7 while the coating machine 3a is scanned in the +F direction with the gap between the rotating roller 5 and the shaping table P set to D1, and FIG. 20 shows a state in which the fluid R is discharged from the discharge unit 7 while the coating machine 3a is scanned in the +F direction with the gap between the rotating roller 5 and the shaping table P set to D2 (D2 is a distance smaller than D1).

[0109] Incidentally, when the rotating roller 5 is raised so as to be separated from the fluid R discharged from the discharge unit 7, as shown in FIG. 21, the height of the fluid R discharged from the discharge unit 7 is D3 (D3 is a distance larger than D1).

[0110] Note that when the rotating roller 5 is raised so as to be separated from the fluid R discharged from the discharge unit 7, as will be described later, unevenness of the fluid R generated when the moving direction of the discharge unit 7 is changed can be eliminated, and a desired three-dimensional shaped object can be easily manufactured.

[0111] In addition, the three-dimensional shaping apparatus 1 of the present embodiment can easily change the width and height of the fluid R discharged from the discharge unit 7 by making it possible to change the height of the rotating roller 5 with respect to the discharge unit 7, and thus, a desired three-dimensional shaped object can be easily manufactured.

[0112] Almost simultaneously with the execution of the coating, it is determined whether the coating form is a linear region or a curved region (S35). If it is determined that the coating form is a linear region (S35: No), the process directly returns to the three-dimensional shaping program 18a (S39). If it is determined that the coating form is a curved region (S35: Yes), the curved region coating program 18c is executed (S37).

[0113] Note that the determination of whether the application form is a straight line area or a curved area is made by comparing the movement angle value of the discharge unit 7 stored in the discharge unit movement angle value 16f of the RAM16 with the rotation angle value θ1 of the rotating roller 5 stored in the rotating roller rotation angle value 16g and the revolution angle value θ2 of the rotating roller 5 with respect to the discharge unit 7 stored in the rotating roller revolution angle value 16h. When the movement angle value of the discharge unit 7 and the movement angle value of the rotating roller 5 are the same, it is determined that it is a straight line area. When the movement angle value of the discharge unit 7 and the movement angle value of the rotating roller 5 are different, it is determined that it is a curved area.

[0114] FIG. 22 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the first stage when the coating machine of the first embodiment is used in the curved area coating program. FIG. 23 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the second stage. FIG. 24 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the third stage.

[0115] Also, FIG. 25 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the fourth stage. FIG. 26 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the fifth stage. FIG. 27 is an explanatory diagram (bottom view) showing an example of the operating state of the discharge unit and the rotating roller in the final stage.

[0116] In this embodiment, the right side direction on the drawing is set as the movement angle = 0°, the left side direction on the drawing is set as the movement angle = 180° (or -180°), the upper side on the drawing is set as the plus angle, and the lower side on the drawing is set as the minus angle. Also, in FIGS. 22 to 27, the locus of the discharge unit 7 is illustrated as locus A.

[0117] Also, in this embodiment, the discharge unit 7 and the rotating roller 5 will be described by taking the form of moving from a linear movement (movement angle = 0°) to a 90° bend (bending to a movement angle = -90°) as an example. However, the three-dimensional modeling device of the present invention is not limited to this form, and the discharge unit 7 and the rotating roller 5 can correspond to movements in all directions.

[0118] As shown in FIG. 14, in the curved region coating program 18c, first, it is determined whether the rotating roller 5 can follow the movement of the discharge part 7 (S41). If it is determined that the rotating roller 5 can follow the movement of the discharge part 7 (S41: Yes), after the rotating roller 5 is controlled to follow the locus of the discharge part 7 (S43), the process returns to the N-layer coating program 18b (S59). If it is determined that the rotating roller 5 cannot follow the movement of the discharge part 7 (S41: No), the processes of S45 to S57 described later are executed.

[0119] Note that, in this embodiment, the determination of whether the rotating roller 5 can follow the movement of the discharge part 7 is made based on whether the distance between the discharge part 7 and the rotating roller 5 exceeds the distance P1 between the discharge part and the rotating roller (see FIG. 22) in a state where the movement angle value of the discharge part 7 and the movement angle value of the rotating roller 5 are different. If the distance between the discharge part 7 and the rotating roller 5 does not exceed the distance P1 between the discharge part and the rotating roller, it is determined that the rotating roller 5 can follow the movement of the discharge part 7. If the distance between the discharge part 7 and the rotating roller 5 exceeds the distance P1 between the discharge part and the rotating roller, it is determined that the rotating roller 5 cannot follow the movement of the discharge part 7.

[0120] FIG. 22 shows a state where the discharge part 7 and the rotating roller 5 move from the left side of the drawing, the movement angle N of the discharge part 7 is 0°, the movement angle R of the rotating roller 5 is 0°, and then the rotating roller 5 continues to move at the movement angle R = 0°, and the discharge part 7 starts to change its movement angle and move in the direction of N = -90°. In this state, it is determined that the rotating roller 5 can follow the movement of the discharge part 7 (S41: Yes), the rotating roller 5 is controlled to follow the locus of the discharge part 7 (S43), and the process returns to the N-layer coating program 18b (S59).

[0121] FIG. 23 shows the middle of the process where the rotating roller 5 continues to move at the movement angle R = 0° and the discharge part 7 continues to move in the direction of N = -90°. Even in this state, it is determined that the rotating roller 5 can follow the movement of the discharge part 7 (S41: Yes), the rotating roller 5 is controlled to follow the locus of the discharge part 7, and the process returns to the N-layer coating program 18b (S59).

[0122] Furthermore, as a result of the rotating roller 5 continuing to move at a moving angle R = 0° and the discharge unit 7 continuing to move in the direction of N = -90°, when it reaches the state shown in FIG. 24, it is determined that the rotating roller 5 cannot follow the movement of the discharge unit 7 (S41: No), and it is raised to separate the rotating roller 5 from the fluid R (S45, see FIG. 18), and the moving direction of the rotating roller 5 is changed to -90° (S47, see FIG. 25).

[0123] Then, it is determined whether or not it is necessary to return the discharge unit 7 and the rotating roller 5 (S49). If it is determined that it is not necessary to return the discharge unit 7 and the rotating roller 5 (S49: No), the rotating roller 5 is lowered to contact the fluid R at that position (S55). After starting the coating by discharging the fluid R from the discharge unit 7 (S57), it returns to the N-layer coating program 18b (S59).

[0124] On the other hand, if it is determined that it is necessary to return the discharge unit 7 and the rotating roller 5 (S49: Yes), after stopping the discharge of the fluid R from the discharge unit 7 (S51), the discharge unit 7 and the rotating roller 5 are returned by a predetermined length in a predetermined direction (S53), the rotating roller 5 is lowered (S55), and after starting the coating by discharging the fluid from the discharge unit 7 (S57), it returns to the N-layer coating program 18b (S59).

[0125] Note that the reason for determining whether or not it is necessary to return the discharge unit 7 and the rotating roller 5 is that when the fluid R discharged from the discharge unit 7 is widely coated by the rotating roller 5, it returns to the end face of the widened fluid R and is pressed by the rotating roller 5. Also, when the bending angle of the discharge unit 7 is an acute angle, it is to surely press the area that cannot be pressed if the rotating roller 5 is rotated as it is by returning the entire fluid R.

[0126] Further, in the present embodiment, when returning the discharge unit 7 and the rotary roller 5 by a predetermined length in a predetermined direction, the discharge of the fluid R from the discharge unit 7 is stopped. However, when raising the rotary roller 5 (at the time of S45), the discharge of the fluid R from the discharge unit 7 may be stopped. In that case, the fluid R can be laminated more evenly, and by extension, a three-dimensional object can be laminated and manufactured better.

[0127] Note that FIG. 26 is a diagram showing a state in which the discharge unit 7 and the rotary roller 5 are returned by a distance X1 in the +90° direction, and FIG. 27 is a diagram showing a state in which the rotary roller 5 is then lowered and the discharge unit 7 and the rotary roller 5 are moved in the -90° direction for coating.

[0128] When the N-layer coating program 18b (S9) is completed and the process returns to the three-dimensional modeling program 18a, it is determined whether the coating of the entire N layers (initially the first layer) has been completed (S11). If it is determined that the coating of the entire N layers has not been completed (S11: No), the N-layer coating program 18b (S9) is executed until the coating of the entire N layers is completed. If it is determined that the coating of the entire N layers has been completed (S11: Yes), N is incremented by 1 (S13), and the height of the discharge unit 7 is moved one layer upward (S15).

[0129] Then, it is determined whether all the data of the three-dimensional object has been processed (S17). If it is determined that all the data of the three-dimensional object has not been processed (S17: No), the processes from S7 to S17 are repeated. If it is determined that all the data of the three-dimensional object has been processed (S17: Yes), N is set to 1 (meaning the first layer) (S19), the head unit 3 is moved to the initial position (S21), and the process is completed (S23).

[0130] FIG. 28 is a diagram showing an example of a state in which the three-dimensional object is being formed on the forming table P with the rotary roller 5 maintaining a constant distance between each layer (distance = D4), and FIG. 29 is a diagram showing an example of a state in which the three-dimensional object is being formed on the forming table P with the rotary roller 5 changing the distance between each layer (distance = D5, D6, D7, D8, D9 from the first layer upward).

[0131] Next, in the three-dimensional modeling apparatus 1 of the present embodiment, an interrupt process that operates periodically independently of the three-dimensional modeling program 18a will be described.

[0132] First, the rotation roller rotation angle correction interrupt process 18d for correcting the rotation angle of the rotation roller 5 in consideration of the rotation angle of the rotation roller 5 due to the revolution of the rotation roller 5 will be described.

[0133] As described above, in the three-dimensional modeling apparatus 1 of the present embodiment, the rotation roller revolution drive motor 9 and the rotation roller rotation drive motor 22 are arranged in the housing 95 to facilitate the wiring process of the rotation roller revolution drive motor 9 and the rotation roller rotation drive motor 22.

[0134] As one embodiment for achieving the object, the rotation roller 5 of the present embodiment is configured to rotate independently by the rotation roller rotation drive motor 22, and also rotate by the revolution of the rotation roller 5, and at the same time, the rotation angle of the rotation roller 5 is corrected by the revolution angle of the rotation roller 5.

[0135] In the rotation roller rotation angle correction interrupt process 18d, first, it is determined whether the rotation roller 5 has revolved (S61). If it is determined that the rotation roller 5 has not revolved (S61: No), since there is no need to correct the rotation angle, the interrupt process is terminated (S69).

[0136] On the other hand, if it is determined that the rotation roller 5 has revolved (S61: Yes), the movement component Δθ2 is obtained from the revolution angle θ2 + Δθ2 stored in the rotation roller revolution angle value 16h of the RAM 16 (S63), and the rotation roller rotation angle correction value α based on the revolution angle Δθ2 is calculated (S65).

[0137] Then, the calculated correction value α is added to the rotation roller rotation angle value θ1 and stored in the rotation roller rotation angle value 16g (S67), and the interrupt process is terminated (S69).

[0138] Note that, as described above, the arithmetic expression of this embodiment is α = Δθ2 × Na (the number of teeth of the second toothed pulley 26 for the rotation of the rotating roller) / Nb (the number of teeth of the third toothed pulley 73 for the rotation of the rotating roller).

[0139] Next, the pump rotation interrupt process 18e for determining the rotation speed of the head-side pump drive motor 34 will be described.

[0140] In the three-dimensional shaping apparatus 1 of this embodiment, the amount of the fluid R discharged per unit time from the discharge unit 7 is determined by the rotation speed of the head-side pump drive motor 34. And the rotation speed of the head-side pump drive motor 34 is determined based on the data stored in the pump rotation instruction value 16c of the RAM 16.

[0141] On the other hand, in the three-dimensional shaping apparatus 1 of this embodiment, since the thickness of the applied layer is determined by the height of the rotating roller 5 (not the height from the shaping table P, but the height of the fluid applied in the layer), the rotation speed of the head-side pump drive motor 34 is adjusted differently according to the height of the rotating roller 5.

[0142] In the pump rotation interrupt process 18e, first, the height data of the rotating roller 5 (not the height from the shaping table P, but the height of the fluid applied in the layer) is acquired from the rotating roller height instruction value 16b of the RAM 16 (S71). Based on the height data of the rotating roller 5, the rotation speed of the head-side pump drive motor 34 is calculated (S73). The calculated rotation speed is stored in the pump rotation instruction value 16c (S75), and the interrupt process is terminated (S77).

[0143] And as described above, the rotation speed of the head-side pump drive motor 34 will be controlled based on the data stored in the pump rotation instruction value 16c of the RAM 16.

[0144] Therefore, in the three-dimensional shaping apparatus 1 of the present embodiment, when the rotating roller 5 changes its height while the discharge unit 7 is discharging the fluid R, the discharge unit 7 can automatically adjust the discharge amount of the fluid R by the pump rotation interrupt process 18e. Thus, the fluid R can be applied without excess or deficiency, and a desired three-dimensional shaped object can be easily manufactured.

[0145] Next, the temperature adjustment unit interrupt process 18f that controls the temperature control of the temperature adjustment unit 19 will be described.

[0146] In the three-dimensional shaping apparatus 1 of the present embodiment, the temperature of the rotating roller 5 is adjusted by the temperature adjustment unit 19, and the temperature of the fluid R discharged from the discharge unit 7 is also adjusted to improve the bonding strength between the laminated fluids. The temperature of the temperature adjustment unit 19 is determined based on the data stored in the rotating roller temperature indication value 16e of the RAM 16.

[0147] Also, as described above, the three-dimensional shaping apparatus 1 of the present embodiment includes a rotating roller temperature sensor 21, and the temperature of the rotating roller temperature sensor 21 is constantly stored in the roller temperature sensor detection value 16d of the RAM 16.

[0148] In the temperature adjustment unit interrupt process 18f, first, the first indication value data stored in the rotating roller temperature indication value 16e of the RAM 16 is acquired (S81), and the sensor value data stored in the roller temperature sensor detection value 16d of the RAM 16 is acquired (S83).

[0149] Then, it is determined whether the sensor value data is less than or equal to the first indication value data (for example, 230°C) (S85). If it is determined that the sensor value data is not less than or equal to the first indication value data (S85: No), the second indication value data smaller than the first indication value data is stored in the rotating roller temperature indication value 16b, and the temperature of the temperature adjustment unit 19 is controlled to decrease (for example, decrease by 5°C) (S89).

[0150] On the other hand, when it is determined that the sensor value data is equal to or less than the first instruction value data (e.g., 230°C) (S85: Yes), the third instruction value data greater than the first instruction value data is stored in the rotational roller temperature instruction value 16b, and the temperature of the temperature adjustment unit 19 is controlled to increase (e.g., increase by 5°C) (S87).

[0151] Then, it is determined whether the Nth layer is the lowermost layer (S91). If it is determined that the Nth layer is not the lowermost layer (S91: No), the interrupt process is terminated as it is (S99). If it is determined that the Nth layer is the lowermost layer (S91: Yes), it is determined whether to manufacture the three-dimensional shaped object integrally with the building platform (S93).

[0152] Note that the determination of whether to manufacture the three-dimensional shaped object integrally with the building platform is because the three-dimensional shaping apparatus 1 of the present embodiment corresponds to both the case where the manufactured three-dimensional shaped object is used integrally with the building platform and the case where the manufactured three-dimensional shaped object is separated from the building platform and used.

[0153] That is, when manufacturing a three-dimensional shaped object at a fixed location like the building platform P of the present embodiment, the three-dimensional shaping apparatus 1 of the present embodiment makes it easy for the three-dimensional shaped object to be separated from the building platform P. On the other hand, when another second building platform is placed on the building platform P of the present embodiment and the three-dimensional shaped object is manufactured integrally with the second building platform, the three-dimensional shaped object is configured to be integrated with the second building platform.

[0154] In addition, regarding the lowermost layer adjacent to the building platform, the reason for specially controlling the temperature of the temperature adjustment unit 19 is that in the lowermost layer, it is necessary to consider the heat capacity including the building platform in addition to the fluid R and take into account the bonding strength of the fluid R.

[0155] When manufacturing the three-dimensional object integrally with the building platform (S93: Yes), the indicated value data is increased and stored in the rotary roller temperature indicated value 16e, and after instructing to increase the temperature of the temperature adjustment unit 19 (S95), the interrupt process is terminated (S99). When manufacturing the three-dimensional object separately from the building platform (S93: No), the indicated value data is decreased and stored in the rotary roller temperature indicated value 16e, and after instructing to decrease the temperature of the temperature adjustment unit 19 (S97), the interrupt process is terminated (S99).

[0156] According to the three-dimensional shaping apparatus 1 of the present embodiment, the housing 95, the discharge unit 7 disposed in the housing 95 and discharging the curable fluid R from the opening 7a, the rotary roller 5 capable of pressing the fluid R discharged from the discharge unit 7, and the rotary roller revolution drive motor 9 for revolving the rotary roller 5 relative to the discharge unit 7 are provided. Particularly, for an object that manufactures a three-dimensional object by moving the discharge unit 7 and the rotary roller 5 and laminating the fluid R discharged from the discharge unit 7, the rotary roller 5 is provided with a rotary roller rotation drive motor 22 for rotating the rotary roller 5. Since the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 are disposed in the housing 95, even when dealing with a three-dimensional object having a complex shape, the wiring process of the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 can be easily performed, and by extension, the three-dimensional shaping apparatus 1 itself can be manufactured compactly.

[0157] Also, according to the three-dimensional shaping apparatus 1, the rotary roller 5 revolves relative to the discharge unit 7 via a second toothed pulley 13 for rotary roller revolution that rotates about the first axis in the longitudinal direction of the discharge unit 7, and independently of the second toothed pulley 13 for rotary roller revolution, it rotates via a second toothed pulley 26 for rotary roller rotation that rotates about the first axis. Therefore, the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 can be disposed in proximity to each other, and the three-dimensional shaping apparatus itself can be manufactured even more compactly.

[0158] Further, according to the three-dimensional shaping apparatus 1, since the rotating roller 5 is disposed below the second toothed pulley 26 for rotating the rotating roller, the distance between the discharge unit 7 and the rotating roller 5 can be shortened, and the followability of the rotating roller 5 with respect to the discharge unit 7 can be improved, and the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0159] Further, according to the three-dimensional shaping apparatus 1, since the rotation angle of the rotating roller 5 is corrected based on the revolution angle with respect to the discharge unit 7 by the revolution drive motor 9 of the rotating roller, the three-dimensional shaping apparatus itself can be surely manufactured more compactly.

[0160] Further, according to the three-dimensional shaping apparatus 1, since the revolution drive motor 9 of the rotating roller and the rotation drive motor 22 of the rotating roller are disposed on the same plane of the first mounting plate 61, the length of the second heater 36 for maintaining the molten state of the fluid R can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0161] Further, according to the three-dimensional shaping apparatus 1, the rotating roller 5 can change the height with respect to the discharge unit 7, and after separating from the fluid R, it can return a predetermined distance and start pressing the fluid R discharged from the discharge unit 7. Therefore, the fluid R can be laminated more uniformly, and thus, a three-dimensional shaped object can be laminated and manufactured well.

[0162] Further, according to the roller rotation mechanism 50, a housing 95, a first shaft disposed in the housing 95, a rotating roller 5 rotatably disposed around the first shaft, a revolution drive motor 9 of the rotating roller for revolving the rotating roller 5 around the first shaft, and a rotation drive motor 22 of the rotating roller for rotating the rotating roller 5 are provided. Since the revolution drive motor 9 of the rotating roller and the rotation drive motor 22 of the rotating roller are disposed in the housing 95, even when the rotation of the rotating roller 5 is made to correspond to a complex shape, the wiring process of the revolution drive motor 9 of the rotating roller and the rotation drive motor 22 of the rotating roller can be easily performed, and thus, the roller rotation mechanism itself can be manufactured more compactly.

[0163] Further, according to the roller rotation mechanism 50, the rotating roller 5 revolves around the discharge part 7 via the second toothed pulley 13 for revolving the rotating roller which rotates about the first axis, and independently of the second toothed pulley 13 for revolving the rotating roller, rotates about the first axis via the second toothed pulley 26 for rotating the rotating roller. Therefore, the rotating roller revolution drive motor 9 and the rotating roller rotation drive motor 22 can be arranged close to each other, and the roller rotation mechanism itself can be manufactured more compactly.

[0164] Also, according to the roller rotation mechanism 50, since the rotating roller 5 is arranged below the second toothed pulley 26 for rotating the rotating roller, the roller rotation mechanism itself can be manufactured more compactly.

[0165] Further, according to the roller rotation mechanism 50, since the rotation angle of the rotating roller 5 is corrected based on the revolution angle with respect to the discharge part 7 by the rotating roller revolution drive motor 9, the roller rotation mechanism itself can be surely manufactured more compactly.

[0166] Furthermore, according to the roller rotation mechanism 50, since the rotating roller revolution drive motor 9 and the rotating roller rotation drive motor 22 are arranged on the same plane of the first mounting plate 61, the roller rotation mechanism itself can be manufactured more compactly.

[0167] (Second Embodiment) Next, a second embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for easy understanding, and their dimensions are different from the actual dimensions.

[0168] Hereinafter, a second embodiment of the present invention will be described. The three-dimensional shaping apparatus 100 of this embodiment is the same as the three-dimensional shaping apparatus 1 of the first embodiment except for the coater 103a. Also, the coater 103a is the same as the three-dimensional shaping apparatus 1 of the first embodiment except for the rotating roller 105 having a long and drum shape in the major axis direction, the rotating lever 117 associated with the rotating roller 105, and the rotating roller temperature sensor 121, as compared with the rotating roller 5 of the first embodiment.

[0169] FIG. 30 is a diagram corresponding to FIG. 22 when the coater of the second embodiment is used.

[0170] According to the three-dimensional shaping apparatus 100 of this embodiment, it includes a housing 95, a discharge unit 7 disposed in the housing 95 and discharging a curable fluid R from the opening 7a, a rotating roller 105 capable of pressing the fluid R discharged from the discharge unit 7, and a rotating roller revolution drive motor 9 for revolving the rotating roller 105 with respect to the discharge unit 7. In particular, for an object that moves the discharge unit 7 and the rotating roller 105 to stack the fluid R discharged from the discharge unit 7 to manufacture a three-dimensional shaped object, it is provided with a rotating roller rotation drive motor 22 for rotating the rotating roller 105. Since the rotating roller revolution drive motor 9 and the rotating roller rotation drive motor 22 are disposed in the housing 95, even when dealing with a three-dimensional shaped object with a complex shape, the wiring process of the rotating roller revolution drive motor 9 and the rotating roller rotation drive motor 22 can be easily performed. Consequently, the three-dimensional shaping apparatus 1 itself can be manufactured compactly.

[0171] Also, according to the three-dimensional shaping apparatus 100, the rotating roller 105 revolves with respect to the discharge unit 7 via a second toothed pulley 13 for rotating the roller for revolution around the first axis in the longitudinal direction of the discharge unit 7, and independently of the second toothed pulley 13 for rotating the roller for revolution, it rotates via a second toothed pulley 26 for rotating the roller for rotation around the first axis. Therefore, the rotating roller revolution drive motor 9 and the rotating roller rotation drive motor 22 can be disposed close to each other, and the three-dimensional shaping apparatus itself can be manufactured even more compactly.

[0172] Further, according to the three-dimensional shaping apparatus 100, since the rotating roller 105 is disposed below the second toothed pulley 26 for the rotation of the rotating roller, the distance between the discharge unit 7 and the rotating roller 105 can be shortened, and the followability of the rotating roller 105 with respect to the discharge unit 7 can be improved, and the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0173] Further, according to the three-dimensional shaping apparatus 100, since the rotation angle of the rotating roller 105 is corrected based on the revolution angle with respect to the discharge unit 7 by the revolution drive motor 9 of the rotating roller, the three-dimensional shaping apparatus itself can be surely manufactured more compactly.

[0174] Further, according to the three-dimensional shaping apparatus 100, since the revolution drive motor 9 of the rotating roller and the rotation drive motor 22 of the rotating roller are disposed on the same plane of the first mounting plate 61, the length of the second heater 36 for maintaining the molten state of the fluid R can be reduced, the energy required for the operation of the apparatus can be reduced, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0175] Furthermore, according to the three-dimensional shaping apparatus 100, the rotating roller 105 can change the height with respect to the discharge unit 7, and after separating from the fluid R, it can return a predetermined distance and start pressing the fluid R discharged from the discharge unit 7. Therefore, the fluid R can be laminated more evenly, and thus, a three-dimensional shaped object can be laminated and manufactured well.

[0176] As described above, the three-dimensional shaping apparatus according to the embodiment of the present invention has been described. However, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

[0177] For example, in the three-dimensional shaping apparatus of the above-described embodiment, the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 are arranged on the same plane of the first mounting plate 61. However, they are not limited to being arranged on the first mounting plate 61. If they are fixed and arranged at any location on the housing 95, the wiring processing of the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 can be easily performed.

[0178] However, arranging the rotary roller revolution drive motor 9 and the rotary roller rotation drive motor 22 on the same plane of the first mounting plate 61 can further reduce the length of the second heater 36 for maintaining the molten state of the fluid R, reduce the energy required for the operation of the apparatus, and thus, the three-dimensional shaping apparatus itself can be manufactured more compactly.

[0179] Also, for example, in the three-dimensional shaping apparatus of the above-described embodiment, the longitudinal cross-sectional shape of the rotary roller is not limited. The longitudinal cross-sectional shape of the rotary roller may be an inverted crown shape in which the central portion is set smaller than both end portions, or may be a trapezoid with a flat central portion similar to the inverted crown shape.

Explanation of Reference Numerals

[0180] 1,100... Three-dimensional shaping apparatus 2... Control panel 3... Head portion 3a, 103a... Coater 3b... Processing machine 4... Main controller 5, 105... Rotary roller 6... Power supply 7... Discharge portion 7a... Discharge portion main body (first axis) 7c... Opening 8... Operation panel 9... Rotary roller revolution drive motor 10... First driver circuit 11... First toothed pulley for rotary roller revolution 12 ··· Second driver circuit 13 ··· Second pulley with teeth for the revolution of the rotating roller (first driven part) 14 ··· CPU 15 ··· Rotating shaft for the revolution of the rotating roller 16 ··· RAM 17, 117 ··· Rotating lever 18 ··· ROM 19 ··· Temperature adjustment part of the rotating roller 20 ··· Toothed belt for the revolution of the rotating roller 21, 121 ··· Temperature sensor of the rotating roller 22 ··· Rotating roller rotation drive motor 23 ··· Up and down movement motor of the rotating roller 24 ··· First pulley with teeth for the rotation of the rotating roller 25 ··· Running rotating shaft of the rotating roller 26 ··· Second pulley with teeth for the rotation of the rotating roller (second driven part) 27 ··· Z-axis slide motor of the processing machine 28 ··· Rotating guide 29 ··· Rotation motor of the processing machine 30 ··· Rotating shaft for the rotation of the rotating roller 31 ··· Drive motor of the processing machine 33 ··· Tank side pump drive motor 34 ··· Head side pump drive motor 35 ··· X-axis slide motor 36 ··· Second heater 37 ··· Y-axis slide motor 38 ··· Fifth pulley with teeth for the rotation of the rotating roller 39 ··· Z-axis slide motor of the coater 40 ··· First heater 41 ··· Trimmer 43 ··· Coater body 45 ··· Processing machine body 47 ··· Arm 49 ··· Tube 50 ··· Roller rotation mechanism 51 ··· Inlet 53 ··· Inflow pressure sensor 55a, 55b ··· Rack 57 ··· Rack 59 ··· Moving table 61 ··· First mounting plate 63 ··· Rotating roller self-rotation third toothed pulley rotation shaft 65 ··· Gear pump 67 ··· Rotating roller self-rotation drive motor shaft 69 ··· Rotating roller self-rotation fourth toothed pulley 71 ··· Rotating roller self-rotation third toothed belt 73 ··· Rotating roller self-rotation third toothed pulley 75 ··· Hopper 77 ··· Extruder 79a, 79b, 79c ··· Wall part 79d ··· Beam part 80 ··· Tank 81 ··· Rotating roller vertical movement motor first toothed pulley 82 ··· Second mounting plate 83 ··· Rotating roller vertical movement motor toothed belt 84 ··· Third mounting plate 85 ··· Rotating roller vertical movement motor second toothed pulley 87 ··· Ball screw 88a, 88b, 88c ··· Wall part (housing) 89 ··· Rotating roller self-rotation second toothed belt 91 ··· Rotating roller self-rotation first toothed belt 93 ··· Rotating roller revolution first toothed pulley rotation shaft 95 ··· Housing A ··· Trajectory of the discharge part C ··· Virtual center line H ··· Outer frame body P ··· Shaping table R ··· Fluid

Claims

1. A housing, a discharge unit disposed in the housing and discharging a curable fluid from an opening, a rotating roller capable of pressing the fluid discharged from the discharge unit, a first drive unit for revolving the rotating roller around the discharge unit, and in a three-dimensional shaping apparatus for producing a three-dimensional shaped object by moving the discharge unit and the rotating roller to stack the fluid discharged from the discharge unit, a second drive unit for rotating the rotating roller is provided, and the three-dimensional shaping apparatus is characterized in that the first drive unit and the second drive unit are disposed in the housing.

2. The rotating roller revolves around the discharge unit via a first driven unit that rotates around a first axis in the longitudinal direction of the discharge unit, and independently of the first driven unit, rotates via a second driven unit that rotates around the first axis. The three-dimensional shaping apparatus according to claim 1, characterized by this.

3. The three-dimensional shaping apparatus according to claim 2, characterized in that the rotating roller is disposed below the second driven unit.

4. The three-dimensional shaping apparatus according to claim 1, characterized in that the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit by the first drive unit.

5. The three-dimensional shaping apparatus according to claim 2, characterized in that the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit by the first drive unit.

6. The three-dimensional shaping apparatus according to claim 3, characterized in that the rotation angle of the rotating roller is corrected based on the revolution angle of the discharge unit by the first drive unit.

7. The three-dimensional shaping apparatus according to claim 1, characterized in that the first drive unit and the second drive unit are disposed on the same plane.

8. The three-dimensional shaping apparatus according to claim 2, characterized in that the first drive unit and the second drive unit are disposed on the same plane.

9. The three-dimensional shaping apparatus according to claim 3, characterized in that the first drive unit and the second drive unit are disposed on the same plane.

10. The three-dimensional shaping apparatus according to claim 4, characterized in that the first drive unit and the second drive unit are disposed on the same plane.

11. The three-dimensional shaping apparatus according to claim 5, characterized in that the first drive unit and the second drive unit are disposed on the same plane.

12. The three-dimensional shaping apparatus according to claim 6, wherein the first drive unit and the second drive unit are arranged on the same plane.

13. The three-dimensional shaping apparatus according to any one of claims 1 to 12, wherein the rotating roller can change its height relative to the discharge unit, and after separating from the fluid, it can return a predetermined distance and start pressing the fluid discharged from the discharge unit.

14. A housing, a first shaft disposed in the housing, a rotating roller disposed so as to be revolvable relative to the first shaft, a first drive unit for revolving the rotating roller relative to the first shaft, a second drive unit for rotating the rotating roller, comprising: A roller rotation mechanism, wherein the first drive unit and the second drive unit are arranged in the housing.

15. The roller rotation mechanism according to claim 14, wherein the rotating roller revolves relative to the first shaft via a first driven part that rotates about the first shaft, and independently of the first driven part, rotates via a second driven part that rotates about the first shaft.

16. The roller rotation mechanism according to claim 15, wherein the rotating roller is disposed below the second driven part.

17. The roller rotation mechanism according to claim 14, wherein the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

18. The roller rotation mechanism according to claim 15, wherein the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

19. The roller rotation mechanism according to claim 16, wherein the rotation angle of the rotating roller is corrected based on the revolution angle of the first shaft by the first drive unit.

20. The roller rotation mechanism according to any one of claims 14 to 19, wherein the first drive unit and the second drive unit are arranged on the same plane.

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