JP2020131699A - Shaping apparatus - Google Patents

Abstract

To provide a shaping apparatus capable of suppressing twisting of continuous fibers.SOLUTION: A shaping apparatus 10 comprises: a receiving portion 14 to receive a linear-shaped shaping material 100 including a bundle 110 of continuous fibers impregnated with a resin; and a discharging mechanism 12 configured to move relative to the receiving portion in a curved shape and discharge the shaping material on the receiving portion while twisting the shaping material in a range of less than 180 degrees to an opposite side to a bending direction with respect to the receiving portion, and the apparatus can suppress twisting of continuous fibers in comparison with a configuration in which the shaping material is discharged while twisting the material at 180 degrees or more.SELECTED DRAWING: Figure 1

Description

The present invention relates to a modeling apparatus.

Patent Document 1 discloses a configuration in which a three-dimensional modeling apparatus twists a modeling material by 180 degrees when forming a curve with the modeling material.

U.S. Pat. No. 1,0046511

Here, in a configuration in which the discharge mechanism moves relative to the discharged portion such as a table in a curved line and discharges the molding material to the discharged portion while rotating the molding material by 180 degrees or more, the continuous fibers may be twisted.

An object of the present invention is to suppress twisting of continuous fibers as compared with a configuration in which a molding material is discharged to a discharged portion while being rotated by 180 degrees or more.

In the first aspect, a linear molding material in which a bundle of continuous fibers is impregnated with a resin is discharged, and the portion is moved relative to the discharged portion in a curved shape and is bent with respect to the discharged portion. A discharge mechanism for discharging the molding material to the discharged portion while rotating the molding material in a range of less than 180 degrees is provided on the side opposite to the direction.

In the second aspect, the discharge mechanism discharges the molding material to the discharged portion while rotating the modeling material at a rotation angle corresponding to a bending angle of the discharge mechanism with respect to the discharged portion.

In the third aspect, the discharge mechanism discharges the modeling material to the discharged portion while rotating the modeling material at a rotation angle larger than the bending angle.

In the fourth aspect, the discharge mechanism discharges the molding material to the discharged portion while rotating the molding material at a rotation angle larger than the bending angle and 90 degrees or less.

In the fifth aspect, the discharge mechanism discharges the modeling material to the discharged portion while rotating the modeling material to the opposite side in a state where tension is applied to the modeling material.

In the sixth aspect, the discharge mechanism includes a discharge unit that discharges the model material to the discharge unit, a transport unit that transports the model material to the discharge unit while rotating the model material to the opposite side, and a transport unit. It has an imparting portion that applies tension to the modeling material on the upstream side of the transport portion.

In the seventh aspect, the discharge mechanism includes a discharge unit that discharges the modeling material to the discharge unit, a supply mechanism that supplies the modeling material, and the modeling material from the supply mechanism to the discharge unit. It has a transport unit for transporting the material, and the supply mechanism and the transport portion rotate to the opposite side to transport the model material to the discharge unit while rotating the model material to the opposite side. ..

In the eighth aspect, the supply mechanism includes a supply unit that supplies the bundle and an impregnation unit that impregnates the bundle supplied from the supply unit with resin, and the supply unit, the impregnation unit, and the impregnation unit. By rotating the transport unit to the opposite side, the molding material is transported to the discharge portion while rotating the modeling material to the opposite side.

In the ninth aspect, the discharge mechanism changes at least one setting of the rotation angle and the rotation speed of the modeling material according to the ratio of the continuous fibers to the modeling material.

In the tenth aspect, the setting of the modeling condition is changed according to the rotation angle and the rotation speed of the modeling material in the discharge mechanism.

In the eleventh aspect, the discharge mechanism discharges the modeling material to the discharged portion while rotating the molding material in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion, and then discharges the molding material to the discharged portion in the order along the bending direction. While rotating in the direction, the discharged portion is discharged.

In the twelfth aspect, when the discharge mechanism moves relative to the discharged portion in a curved shape, the molding material is rotated in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion. After discharging to the discharged portion, the operation of discharging to the discharged portion while rotating in the forward direction along the bending direction is repeated.

In the thirteenth aspect, the discharge mechanism has a twist angle as a rotation angle of the shape material of θ _tw, and is the most along the direction perpendicular to the traveling direction of the discharge mechanism among the plurality of continuous fibers of the shape material. The distance between the continuous fibers that are separated is d [mm], the elongation at break of the continuous fibers is Ef, and the unit movement distance when the discharge mechanism moves linearly relative to the discharged portion. The twist angle is ω _tw [rad / mm], and when the discharge mechanism moves relative to the discharged portion in a curved line, the _bending angle of the discharge mechanism with respect to the discharged portion is set to θ _dp [rad]. When the radius of curvature is R [mm] and the ratio of the bending angle θdp and the twist angle θtw is k _tw , the shaped material moves linearly with respect to the discharged portion to the discharged portion. When discharging, the following conditions 1 and 2a are satisfied, and when the modeling material is discharged to the discharged portion by moving relative to the discharged portion in a curved line, the following conditions 1 and 2b are satisfied. Fulfill.
Condition 1: | θ _tw | ≤ π / 2
Condition 2a: | dω _tw | ≤Ef
Condition 2b: | d (1 + _ktw ) / R | ≤Ef

In the fourteenth aspect, a plurality of the discharge mechanisms are provided, and the curvature when one of the discharge mechanisms moves relative to the discharged portion in a curved shape is larger than the curvature of the other discharge mechanisms. , The rotation angle of the one discharge mechanism is made larger than the rotation angle of the other discharge mechanism.

In a fifteenth aspect, the other discharge mechanism rotates the molding material when the curvature exceeds a predetermined threshold.

In the 16th aspect, the discharged portion in which the linear modeling material impregnated with the resin in the bundle of continuous fibers is discharged and the discharged portion moves relative to the discharged portion, and the inner peripheral side of the molding material is said to be said. A discharge mechanism for discharging the shape material to the discharge portion in a curved shape is provided so that the continuous fibers and the continuous fibers on the outer peripheral side of the shape material come close to each other.

According to the configuration of the first aspect, the twisting of the continuous fibers is suppressed as compared with the configuration in which the modeling material is discharged to the discharged portion while being rotated by 180 degrees or more.

According to the configuration of the second aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration in which the rotation angle of the modeling material is constant regardless of the bending angle of the discharging mechanism with respect to the discharged portion.

According to the configuration of the third aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration in which the modeling material is discharged to the discharged portion while rotating the modeling material at a rotation angle equal to or less than the bending angle.

According to the configuration of the fourth aspect, the twist of the continuous fiber and the curved portion of the molding material are compared with the configuration in which the molding material is discharged to the discharged portion while rotating the molding material at a rotation angle larger than the bending angle and exceeding 90 degrees. Cracking is suppressed.

According to the configuration of the fifth aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration in which the modeling material in a state where tension is not applied is discharged to the discharged portion.

According to the configuration of the sixth aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration in which tension is applied to the modeling material on the downstream side of the transport portion.

According to the configuration of the seventh aspect, the twisting of the continuous fibers is suppressed as compared with the configuration in which only the transport portion rotates.

According to the configuration of the eighth aspect, the twisting of the continuous fiber is suppressed as compared with the configuration in which only one of the supply portion and the impregnation portion and the transport portion rotate.

According to the configuration of the ninth aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration in which the rotation angle and the rotation speed of the modeling material in the discharge mechanism are constant regardless of the ratio of the continuous fibers to the modeling material. To.

According to the configuration of the tenth aspect, poor modeling of the modeled object is suppressed as compared with the configuration in which the modeling conditions are constant regardless of the rotation angle and the rotation speed of the modeling material in the discharge mechanism.

According to the configuration of the eleventh aspect, the twisting of the continuous fibers is suppressed as compared with the configuration in which the molding material is rotated only in the direction opposite to the bending direction with respect to the discharged portion.

According to the configuration of the twelfth aspect, the molding material is discharged to the discharged portion while rotating in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion, and then rotated in the forward direction along the bending direction. Compared to a configuration in which the operation of discharging to the discharged portion is performed only once, cracking at the curved portion of the molding material is suppressed.

According to the configuration of the thirteenth aspect, cracking at the curved portion of the modeling material is suppressed as compared with the configuration satisfying only condition 1.

According to the configuration of the fourteenth aspect, the twisting of the continuous fibers is suppressed as compared with the configuration in which the rotation angles of the plurality of discharge mechanisms are always the same.

According to the configuration of the fifteenth aspect, the twisting of the continuous fibers is suppressed as compared with the configuration in which the modeling material is constantly rotated by the plurality of discharge mechanisms.

According to the configuration of the 16th aspect, the modeling material is discharged to the discharged portion in a curved shape so that the distance between the continuous fibers on the inner peripheral side of the modeling material and the continuous fibers on the outer peripheral side of the modeling material is constant. Compared to the configuration, cracking at the curved portion of the modeling material is suppressed.

It is the schematic which shows the structure of the modeling apparatus which concerns on this embodiment. It is sectional drawing of the bundle of continuous fibers used in the modeling apparatus which concerns on this embodiment. It is sectional drawing of the modeling material used for the modeling apparatus which concerns on this embodiment. It is the schematic which shows the state which the support of the modeling apparatus shown in FIG. 1 is rotated by 90 degrees. It is a block diagram which shows the structure of the control part of the modeling apparatus which concerns on this embodiment. It is a figure which shows the U-shaped part of the modeled object which is modeled by the modeling apparatus which concerns on this embodiment. It is the schematic which shows the operation of the modeling unit which concerns on this embodiment. It is a figure which showed the relationship between the bending angle of the modeling unit and the rotation angle of a modeling material which concerns on this embodiment. It is a figure which shows the cross section of the modeling material which constitutes the U-shaped part of the modeling object which concerns on this embodiment. It is a figure which shows the path of the continuous fiber in the U-shaped part of the shaped object which concerns on this embodiment. It is the schematic which shows the operation of the modeling unit which concerns on a comparative example. It is a figure which shows the path of the continuous fiber in the U-shaped part of the shaped object which concerns on a comparative example. It is sectional drawing of the shaping material deformed into a flat shape. It is a figure which shows the posture when the shaping material deformed into a flat shape is discharged. It is the schematic which shows the structure of the modeling apparatus which concerns on 3rd modification. It is the schematic which shows the operation of the modeling unit which concerns on 4th modification. It is a figure which shows the path of the continuous fiber in the U-shaped part of the shaped object which concerns on 4th modification. It is a schematic diagram which shows the mechanism which rotates the shaping material which concerns on a modification. It is a schematic diagram which shows the rotation mechanism when the cross section of a shaping material is a non-circular shape. It is a figure which shows the cross section of a shaping material. It is a figure which shows the path length of the innermost fiber and the path length of the outermost fiber. It is a figure which shows the path at the time of straight line modeling. It is a schematic diagram which shows the operation when there are a plurality of modeling units. It is the schematic which shows the structure of the modeling apparatus which has a plurality of modeling units. It is a figure which shows the control of the modeling unit when there are a plurality of modeling units.

An example of the embodiment according to the present invention will be described below with reference to the drawings. The arrow H shown in the figure indicates the device vertical direction (vertical direction), the arrow W indicates the device width direction (horizontal direction), and the arrow D indicates the device depth direction (horizontal direction).

(Modeling device 10)
First, the modeling apparatus 10 will be described. FIG. 1 shows a schematic configuration of the modeling apparatus 10.

The modeling device 10 shown in FIG. 1 is a device for modeling a modeled object. Specifically, the modeling apparatus 10 is a three-dimensional modeling apparatus (so-called 3D printer) of a so-called fused deposition modeling method (also referred to as an FDM (Fused Deposition Modeling) method). More specifically, the modeling device 10 is an device that forms a modeled object by forming each layer with the modeling material 100 based on the layer data of the plurality of layers.

As shown in FIG. 1, the modeling device 10 according to the present embodiment includes a modeling unit 12, a base 14, a moving mechanism 18, and a control unit 16. The modeling material 100 (see FIG. 3) used in the modeling apparatus 10 is a linear modeling material in which a bundle 110 of continuous fibers 120 (hereinafter referred to as a fiber bundle 110) is impregnated with a resin 112.

(Table 14, moving mechanism 18)
The table 14 shown in FIG. 1 is an example of a discharged portion. Specifically, the table 14 is a table on which the modeling material 100 is discharged. More specifically, the table 14 is a table on which the modeling material 100 discharged from the table 14 is placed. Furthermore, it is a table on which a modeled object is modeled by the modeling material 100.

The base 14 is arranged below the modeling unit 12, as shown in FIG. The table 14 has a surface to be discharged 14A from which the modeling material 100 is discharged. It can be said that the discharged surface 14A is a surface on which the modeling material 100 is placed. The discharged surface 14A faces the modeling unit 12 side. That is, the platform 14 faces upward. More specifically, the discharged surface 14A is a horizontal plane.

The moving mechanism 18 shown in FIG. 1 is a mechanism for moving the base 14. Specifically, the moving mechanism 18 is, for example, a mechanism for moving the base 14 in the vertical direction of the device, the width direction of the device, and the depth direction of the device. In other words, the moving mechanism 18 can be said to be a mechanism for moving the modeling unit 12 in the vertical direction of the device, the width direction of the device, and the depth direction of the device relative to the base 14.

More specifically, the moving mechanism 18 is capable of moving the base 14 to arbitrary positions in the device vertical direction, the device width direction, and the device depth direction. As a result, the moving mechanism 18 can move the base 14 in a curved shape. In other words, the modeling unit 12 is configured to be movable on a curve along the discharge surface 14A relative to the table 14.

As the moving mechanism 18, for example, a triaxial robot that can move the base 14 to arbitrary positions in the device vertical direction, the device width direction, and the device depth direction is used.

(Modeling unit 12)
The modeling unit 12 shown in FIG. 1 is an example of a discharge mechanism. Specifically, the modeling unit 12 is a unit that discharges the modeling material 100 to the table 14. More specifically, the modeling unit 12 includes a support 60, a supply mechanism 20, a transport unit 40, a discharge unit 50, a pressure roll 56, and a rotation mechanism 62.

(Support 60)
The support 60 is a support that supports each part of the supply mechanism 20 and the transport part 40.

(Supply mechanism 20)
The supply mechanism 20 is a mechanism for supplying the linear modeling material 100 in which the fiber bundle 110 is impregnated with the resin 112. Specifically, the supply mechanism 20 includes a supply unit 21, a winding roll 22, and an impregnation unit 24.

(Supply unit 21)
The supply unit 21 has a function of supplying the fiber bundle 110 to the winding roll 22. Specifically, the supply unit 21 is composed of a reel around which the fiber bundle 110 is wound. The supply unit 21 is rotatably supported with respect to the support 60.

The supply unit 21 rotates the fiber bundle 110 in the counterclockwise direction of FIG. 1 to feed the fiber bundle 110 in the device width direction (left side in FIG. 1).

The fiber bundle 110 is a bundle of a plurality of continuous fibers 120 without being twisted. In the present embodiment, as an example, carbon fibers having a diameter of 0.005 [mm] are used as the continuous fibers 120, and 1000 or more of the continuous fibers 120 are bundled. Then, in the bundled state, as shown in FIG. 2, the cross section of the fiber bundle 110 has a circular shape having a diameter (D1 in the figure) of 0.3 [mm] or more and 0.4 [mm] or less. .. In FIG. 2, the cross section is shown by reducing the number of fibers.

(Roll 22)
As shown in FIG. 1, the winding roll 22 is arranged on one side (left side in FIG. 1) of the supply unit 21 in the device width direction, and is rotatably supported by the support 60. ing. Then, the fiber bundle 110 unwound from the supply unit 21 is wound around the winding roll 22.

The fiber bundle 110 unwound from the supply unit 21 in the width direction of the apparatus is wound around the winding roll 22 to change its direction downward and be sent downward. Therefore, the winding roll 22 has a function of guiding the fiber bundle 110 downward.

(Immersion part 24)
The impregnated portion 24 is an impregnated portion in which the fiber bundle 110 is impregnated with a resin to form a linear modeling material 100. As shown in FIG. 1, the impregnation portion 24 is arranged on the downstream side with respect to the winding roll 22 in the feed direction in which the modeling material 100 is sent from the supply portion 21. Specifically, the impregnated portion 24 is arranged on the lower side with respect to the winding roll 22.

The impregnated portion 24 has a passing portion 26 through which the fiber bundle 110 passes and a resin sending portion 28 that sends the resin to the passing portion 26.

A resin is housed inside the resin delivery part 28, and the resin sending part 28 has a heater 28A for heating the housed resin and a screw 28B for sending the heated resin to the passing part 26. ing. In the present embodiment, as an example, a polypropylene resin is contained as a resin inside the resin delivery unit 28, and the heater 28A lowers the contained polypropylene resin to, for example, 200 [° C.] or more and 300 [° C.] or less. It is melted by heating.

The passing portion 26 is arranged so that the fiber bundle 110 sent out from the supply portion 21 passes through. Further, the passing portion 26 has a cylindrical shape extending in the vertical direction, and surrounds the receiving port 26A for receiving the fiber bundle 110 unwound from the supply portion 21 and the fiber bundle 110 passing through the inside from the circumferential direction. As described above, it has a columnar retention portion 26B in which the resin is retained. Further, the passing portion 26 includes a discharge head 26C for discharging the molding material 100 in which the resin has invaded the fiber bundle 110, and a heater 26D attached to the peripheral wall to heat the resin staying in the staying portion 26B. are doing. The receiving port 26A, the retaining portion 26B, and the discharging head 26C are arranged in this order from above to below. In the present embodiment, as an example, the heater 26D heats the polypropylene resin retained in the retaining portion 26B to 200 [° C.] or more and 300 [° C.] or less.

In the impregnation section 24, the resin delivery section 28 sends the heated resin to the retention section 26B of the passing section 26. Further, the passing portion 26 impregnates the fiber bundle 110 that receives from the receiving port 26A and passes through the retaining portion 26B with the resin. Further, the passing portion 26 discharges the linear modeling material 100 in which the resin has invaded the fiber bundle 110 from the discharge head 26C. Further, as shown in FIG. 3, the gaps between the fibers are impregnated with resin in the state of being discharged from the discharge head 26C, and the cross section of the modeling material 100 has a diameter of 0.3 [mm]. It has a circular shape of 0.4 [mm] or less. In FIG. 3, the cross section is shown by reducing the number of fibers.

By impregnating the fiber bundle 110 with the resin in this way, the fibers are adhered to each other by the resin. As a result, the impregnated portion 24 functions as an adhesive means for adhering the fibers to each other.

(Transport section 40)
The transport unit 40 has a function of transporting the modeling material 100 from the supply mechanism 20 to the discharge unit 50. As shown in FIG. 1, the transport unit 40 is arranged on the downstream side with respect to the impregnation unit 24 in the feed direction in which the modeling material 100 is sent from the supply unit 21. Specifically, the transport unit 40 is arranged on the lower side with respect to the impregnation unit 24.

The transport unit 40 has, for example, a pair of transport rolls 42 and 44. The transport roll 44 is arranged on the opposite side of the transport roll 42 with the modeling material 100 interposed therebetween.

The transport rolls 42 and 44 are rotatably supported by the support 60. The transport rolls 42 and 44 are rotated in the circumferential direction by transmitting a driving force from a driving means (not shown). In the transport unit 40, the rotating transport rolls 42, 44 are adapted to sandwich and transport the modeling material 100, for example, at a speed of 30 [mm / sec]. The transport speed of the modeling material 100 is not limited to 30 [mm / sec].

The pair of transport rolls 42 and 44 may have a heating portion for heating the modeling material 100. Further, the transport unit 40 may have a transport belt instead of the transport roll.

(Discharge unit 50)
The discharge unit 50 has a function of discharging the modeling material 100 to the table 14. As shown in FIG. 1, the discharge unit 50 is arranged on the downstream side with respect to the transport unit 40 in the feed direction in which the modeling material 100 is sent from the supply unit 21. Specifically, the discharge unit 50 is arranged on the lower side with respect to the transport unit 40.

Further, the discharge unit 50 includes an inflow port 50C into which the modeling material 100 sent from the transport unit 40 flows in, and a discharge port 50B in which the modeling material 100 flowing in from the inflow port 50C is discharged to the discharged surface 14A of the base 14. ,have. The discharge unit 50 may have a heating unit that heats the modeling material 100.

(Pressurized roll 56)
The pressure roll 56 functions as a pressure unit that pressurizes the modeling material 100 discharged from the discharge unit 50. Specifically, the pressurizing roll 56 presses the modeling material 100 against the discharge surface 14A of the table 14 to press the modeling material 100 between the table 14 and the table 14. When the pressure roll 56 pressurizes the modeling material 100, the heights of the modeling material 100 discharged to the table 14 are made uniform.

The pressure roll 56 may have a heating portion for heating the modeling material 100. As the heating unit, for example, a heating source provided inside the pressure roll 56 is used. Further, the heating unit may be a heating device that heats the pressure roll 56 from the outside. Examples of the heating source and the heating device include a heater using a heating wire or a halogen lamp.

(Rotating mechanism 62)
As shown in FIG. 4, the rotation mechanism 62 is a mechanism for rotating the support 60 around the axis of the modeling material 100 discharged downward from the discharge unit 50 toward the base 14. Specifically, the rotation mechanism 62 is a mechanism for rotating the support 60 around an axis along the vertical direction. Further, the rotation mechanism 62 is a mechanism for rotating and reversing the support 60 that supports the supply mechanism 20 and the transport portion 40 around the axis along the direction perpendicular to the discharge surface 14A of the base 14.

In other words, the rotation mechanism 62 has a function of rotating the supply mechanism 20 and the transport unit 40. Specifically, the rotation mechanism 62 has a function of rotating the supply unit 21, the winding roll 22, the impregnation unit 24, and the transport unit 40. Note that FIG. 4 is a diagram showing a state in which the support 60 is rotated by 90 degrees.

The rotation mechanism 62 has a function of rotating the modeling material 100 around an axis along the vertical direction by rotating the support 60. Specifically, when the modeling unit 12 moves relative to the table 14 in a curved line, the rotation mechanism 62 causes the modeling unit 12 with respect to the table 14 to move in the opposite direction SB (FIG. 7) on the side opposite to the bending direction RA. (See), rotate the modeling material 100 within a range of less than 180 degrees. The rotation in the opposite direction SB is the rotation in which the modeling material 100 is rotated, and the movement in the bending direction RA is the movement in which the modeling material 100 is revolved. The specific rotation operation of the rotation mechanism 62 will be described later. Further, in FIG. 7, for convenience of explanation, the discharge unit 50 is shown away from the movement center PA of the discharge unit 50 that moves in the bending direction RA.

(Control unit 16)
The control unit 16 controls the operation of each unit of the modeling device 10. Specifically, the control unit 16 has a storage unit composed of a ROM (rom), a storage, or the like in which the program is stored, and a processor that operates according to the program, and the program stored in the storage unit. The operation of each part of the modeling apparatus 10 is controlled by reading and executing.

As shown in FIG. 5, the control unit 16 has a movement mechanism control unit 16A that controls the drive of the movement mechanism 18, an impregnation unit control unit 16B that controls the drive of the impregnation unit 24, and a transport unit 40 as functional configurations. It has a transport unit control unit 16C for controlling the drive of the rotation mechanism 62 and a rotation mechanism control unit 16D for controlling the operation of the rotation mechanism 62. Specifically, the impregnation unit control unit 16B controls the drive of the heater 28A, the screw 28B, and the heater 26D of the impregnation unit 24.

The control unit 16 of the moving mechanism 18, the supply mechanism 20, the transporting unit 40, and the rotating mechanism 62 so that the following modeling operations are executed based on the plurality of layer data created from the three-dimensional data of the modeled object. Control the operation.

(Modeling operation of modeling device 10)
Here, a modeling operation for modeling a modeled object including a curved portion will be described based on a plurality of layer data created from three-dimensional data of the modeled object. Specifically, as shown in FIG. 6, a modeling operation for modeling a modeled object including a U-shaped portion 200 having a linear portion 202 and a curved portion 203 will be described based on the layer data.

When modeling the U-shaped portion 200, the moving mechanism 18 moves the table 14 to move the modeling unit 12 relative to the table 14 in a U-shape. Specifically, first, the modeling unit 12 moves relative to the first direction M1 (see FIG. 7) in a straight line in a plan view along, for example, the discharge surface 14A of the table 14 (hereinafter, the first straight line). (Called movement). The first direction M1 is, for example, the device width direction W shown in FIG.

Next, the modeling unit 12 moves relative to the discharge surface 14A of the table 14 in a curved shape (hereinafter, referred to as curved movement). Next, the modeling unit 12 moves relative to the discharge surface 14A of the base 14 in a straight line in a plan view in a direction M2 (see FIG. 7) opposite to the first direction M1 (hereinafter, second). Linear movement).

Specifically, as shown in FIG. 7, the modeling unit 12 bends in the bending direction RA (see the arrow RA direction) along the discharge surface 14A (see FIG. 1) of the table 14 in the curved movement. Move relative to each other. Furthermore, the modeling unit 12 relatively moves in an arc shape in a plan view in the curved movement. The bending direction RA is the direction in which the modeling unit 12 advances in the curve movement. The bending direction RA is the clockwise direction (that is, the direction toward the right) on the paper of FIG. 7.

As shown in FIG. 7, the modeling unit 12 moves relative to each other with the front portion 50A of the discharge portion 50 facing the downstream side (traveling direction) in the moving direction. Further, in FIG. 7, the discharge port 50B of the discharge unit 50 and the modeling material 100 discharged from the discharge port 50B are shown through. Further, in the first linear movement, the portion of the modeling material 100 that faces the traveling direction of the discharge portion 50 is indicated by a point 100A. It can be said that the point 100A indicates a portion of the modeling material 100 that faces the traveling direction of the discharge portion 50 at the start of the curve movement.

Then, in the curved movement of the modeling unit 12, the rotation mechanism 62 rotates the support 60 around the axis along the vertical direction in the opposite direction SB (see the arrow SB direction) opposite to the bending direction RA. The bending direction RA is the clockwise direction (that is, the direction toward the right) on the paper surface of FIG. 7, whereas the point 100A is the counterclockwise direction (that is, the left direction) on the paper surface of FIG. 7 in the opposite direction SB. (Direction toward).

Then, in the modeling apparatus 10 according to the present embodiment, in the curved movement of the modeling unit 12, the modeling material 100 is discharged to the table 14 while rotating in a range of less than 180 degrees in the opposite direction SB.

Specifically, the rotating mechanism 62 discharges the modeling material 100 to the table 14 while rotating the modeling material 100 at a rotation angle θX corresponding to the bending angle θA with respect to the table 14 of the modeling unit 12 in the curved movement of the modeling unit 12.

More specifically, in the range where the bending angle θA is less than 90 degrees (the range of NA in FIG. 7), the rotation angle θX is set to be a rotation angle larger than the bending angle θA. More specifically, the rotation angle θX is a rotation angle larger than the bending angle θA and 90 degrees or less.

Therefore, in the range where the bending angle θA is less than 90 degrees, as shown in FIGS. 7 and 8, the rotation angle θX of the modeling material 100 increases as the bending angle θA increases. The angle θB shown in FIG. 7 is the same as the bending angle θA. Further, FIG. 8 is a diagram showing the relationship between the bending angle θA and the rotation angle θX.

Further, when the bending angle θA is 90 degrees, the rotation angle θX is 90 degrees, which is the same as the bending angle θA of the modeling unit 12. Further, in the range where the bending angle θA exceeds 90 degrees and is less than 180 degrees (the range of NB in FIG. 7), the rotation angle θX of the modeling material 100 becomes smaller as the discharge portion 50 moves relative to each other. Specifically, in the range where the bending angle θA exceeds 90 degrees and is less than 180 degrees (the range of NB in FIG. 7), the bending angle θA is in the range of 0 degrees to less than 90 degrees (the range of NA in FIG. 7). The reverse operation is performed on the modeling material 100 (see FIG. 8). That is, in the range where the bending angle θA exceeds 90 degrees and is less than 180 degrees (the range of NB in FIG. 7), the rotation mechanism 62 moves the support 60 around the axis along the vertical direction along the bending direction RA. By rotating the modeling material 100 in the forward direction SA (see the arrow SA direction), the modeling material 100 is twisted back.

Then, in the present embodiment, at the start of the curve movement of the modeling unit 12, the continuous fibers 128 (see FIG. 9) on the inner peripheral side (that is, the bending direction RA side) of the modeling material 100 and the outer peripheral side of the modeling material 100. The continuous fiber 129 (see FIG. 9) in the bending direction RA (that is, the side opposite to the bending direction RA) follows the path as shown by the broken line in FIG.

That is, the continuous fiber 128 advances on the inner peripheral side of the modeling material 100 so as to approach the continuous fiber 129. In other words, the continuous fiber 128 advances on the inner peripheral side of the modeling material 100 so that the bending radius becomes large. On the other hand, the continuous fiber 129 advances on the outer peripheral side of the modeling material 100 so as to approach the continuous fiber 128. The continuous fiber 129 advances on the outer peripheral side of the modeling material 100 so that the bending radius becomes smaller.

As described above, in the modeling apparatus 10 according to the present embodiment, the modeling material 100 is curved so that the continuous fibers 128 on the inner peripheral side of the modeling material 100 and the continuous fibers 129 on the outer peripheral side of the modeling material 100 are close to each other. Discharge to the table 14. The bending angle θA is an angle with the start position of the curve movement as 0 degree. The rotation angle θX is an angle with respect to the traveling path 12S of the line HA connecting the portion (point 100A) of the modeling material 100 facing the traveling direction of the discharge portion 50 and the modeling material 100 at the start of the curve movement.

Here, in the curve movement of the modeling unit 12, the configuration shown in FIG. 11 in which the modeling material 100 is discharged to the table 14 without rotating in the opposite direction SB (hereinafter, this configuration is referred to as a first comparative example) is shown in FIG. As shown in the above, the continuous fiber 128 and the continuous fiber 129 do not come close to each other and proceed while maintaining a certain distance. Therefore, the continuous fiber 129 traveling on the outer peripheral side of the modeling material 100 has a longer traveling distance than the continuous fiber 128 traveling on the inner peripheral side of the modeling material 100, and is easily pulled and cut. As a result, the modeling material 100 is easily cracked on the outer peripheral side. On the other hand, the continuous fiber 128 traveling on the inner peripheral side of the modeling material 100 has a shorter traveling distance than the continuous fiber 129 traveling on the outer peripheral side of the modeling material 100, so that the continuous fibers 128 tend to shrink and overlap each other. As a result, the modeling material 100 is easily cracked even on the inner peripheral side. Therefore, in the first comparative example, cracks are likely to occur in the curved portion of the modeling material 100.

Further, in the configuration in which the modeling material 100 is discharged to the table 14 while rotating the modeling material 100 in the bending direction RA (hereinafter, this configuration is referred to as a second comparative example), the continuous fiber 128 and the continuous fiber 129 are separated from each other, and the modeling material is separated. Cracks are likely to occur in the curved portion of 100.

On the other hand, in the modeling apparatus 10 according to the present embodiment, the modeling material 100 is curved so that the continuous fibers 128 on the inner peripheral side of the modeling material 100 and the continuous fibers 129 on the outer peripheral side of the modeling material 100 are close to each other. Discharge to the stand 14.

Therefore, the continuous fiber 129 traveling on the outer peripheral side of the modeling material 100 is difficult to cut because the traveling distance is shorter than that of the first comparative example and the second comparative example. As a result, the modeling material 100 is less likely to crack on the outer peripheral side. Further, since the continuous fiber 128 traveling on the inner peripheral side of the modeling material 100 has a longer traveling distance as compared with the first comparative example and the second comparative example, it is difficult for the respective portions to overlap each other on the inner peripheral side. As a result, the modeling material 100 is less likely to crack even on the inner peripheral side. Therefore, cracking at the curved portion of the modeling material 100 is suppressed. In FIG. 10, in the first comparative example, the positions where the continuous fibers 128 and the continuous fibers 129 advance are indicated by the alternate long and short dash lines.

Further, in the modeling device 10, as described above, in the curved movement of the modeling unit 12, the modeling material 100 is discharged to the table 14 while rotating in a range of less than 180 degrees. Here, in the configuration in which the modeling material 100 is discharged to the table 14 while rotating 180 degrees or more (hereinafter, this configuration is referred to as a third comparative example), the continuous fibers 120 are easily twisted. When the continuous fiber 120 is twisted, the modeling material 100 constituting the U-shaped portion 200 of the modeled object is undulated or the continuous fiber 120 is damaged.

On the other hand, in the modeling apparatus 10, in the curve movement of the modeling unit 12, the modeling material 100 is discharged to the table 14 while rotating in a range of less than 180 degrees, so that the continuous fiber 120 is twisted as compared with the third comparative example. This is suppressed.

Further, in the modeling device 10, in the curved movement of the modeling unit 12, the modeling material 100 is discharged to the table 14 while rotating the modeling material 100 at a rotation angle θX corresponding to the bending angle θA with respect to the table 14 of the modeling unit 12. Specifically, in the range where the bending angle θA is less than 90 degrees, the rotation angle θX of the modeling material 100 increases as the bending angle θA increases. As a result, the bending angle θA is 90 degrees as compared with the configuration in which the rotation angle θX of the modeling material 100 is constant (hereinafter, this configuration is referred to as the fourth comparative example) regardless of the bending angle θA of the modeling unit 12 with respect to the base 14. In the range of less than, the continuous fiber 128 and the continuous fiber 129 gradually approach each other. Therefore, as compared with the fourth comparative example, cracking at the curved portion of the modeling material 100 is suppressed.

Further, in the modeling apparatus 10, the rotation angle θX is set to be larger than the bending angle θA in the range where the bending angle θA is less than 90 degrees.

For this reason, the continuous fiber 128 and the continuous fiber 129 are closer to each other than the configuration in which the modeling material is rotated to a rotation angle equal to or less than the bending angle and discharged to the discharged portion (hereinafter, this configuration is referred to as a fifth comparative example). .. Therefore, as compared with the fifth comparative example, cracking at the curved portion of the modeling material 100 is suppressed.

Further, in the modeling apparatus 10, the rotation angle θX is set to a rotation angle of 90 degrees or less in the range where the bending angle θA is less than 90 degrees. Therefore, the twisting of the continuous fiber 120 is suppressed as compared with the configuration in which the modeling material 100 is rotated at a rotation angle exceeding 90 degrees. As a result, the breakage of the continuous fiber 120 and the cracking at the curved portion of the modeling material 100 due to the breakage are suppressed.

That is, according to the modeling apparatus 10, cracks in the curved portion of the modeling material 100 are suppressed as compared with a configuration in which the modeling material 100 is discharged to the table 14 while rotating the modeling material 100 at a rotation angle θX larger than the bending angle θA and exceeding 90 degrees. Will be done.

Further, in the modeling device 10, the rotation mechanism 62 rotates the supply mechanism 20 and the transport unit 40 in the opposite direction SB, thereby rotating the modeling material 100 in the opposite direction SB. Therefore, the twisting of the continuous fiber 120 is suppressed as compared with the configuration in which only the transport portion 40 rotates.

More specifically, in the modeling apparatus 10, the rotating mechanism 62 rotates the supply unit 21, the winding roll 22, the impregnation unit 24, and the transport unit 40 in the opposite direction SB, thereby moving the modeling material 100 to the opposite direction SB. Rotate. Therefore, the twisting of the continuous fiber 120 is suppressed as compared with the configuration in which only the supply unit 21, the winding roll 22, and a part of the impregnation unit 24 and the transport unit 40 rotate.

Further, in the modeling apparatus 10, in the range where the bending angle θA exceeds 90 degrees and is less than 180 degrees (the range of NB in FIG. 7), the rotating mechanism 62 bends the support 60 around the axis along the vertical direction. By rotating the modeling material 100 in the forward direction SA (see the arrow SA direction) along the direction RA, the modeling material 100 is twisted back. Therefore, the twisting of the continuous fiber 120 is suppressed as compared with the configuration in which the rotation mechanism 62 rotates the support 60 only in the opposite direction SB. As described above, in the present embodiment, the rotation mechanism 62 forcibly rotates the modeling material 100 by rotating the support 60 in the forward direction SA. For example, the modeling material 100 is rotated in the opposite direction SB. After that, by releasing the binding force that restrains the modeling material 100 (that is, by making the modeling material 100 unconstrained), the modeling material 100 may be rotated in the forward direction SA.

In the modeling unit 12, when a layer is formed on the discharge surface 14A, the moving mechanism 18 moves the table 14 downward, repeats the above-mentioned steps, and stacks a plurality of layers to form a modeled object. Will be done.

(First modification)
The modeling device 10 may be configured to discharge the modeling material 100 having a circular cross section to the table 14 in a state of being deformed into a flat cross section (see FIG. 13).

Here, the flat cross section means a pair of planes (hereinafter, "" It is a cross section in which a flat plane 100D ”) is formed. That is, the flat plane 100D is a pair of flat planes facing in the lateral direction.

The deformation of the modeling material 100 into a flat cross section is performed, for example, by pressurizing and heating with a pair of transport rolls 42 and 44 of the transport portion 40. In this case, at least one of the pair of transport rolls 42 and 44 is provided with a heating portion for heating the modeling material 100.

Also in this deformation, as shown in FIG. 14, in the curve movement of the modeling unit 12, the modeling material 100 is moved around the axis along the vertical direction, and the direction SB opposite to the bending direction RA (see the arrow SB direction). ).

(Second modification)
The modeling unit 12 may be configured to change at least one setting of the rotation angle and the rotation speed of the modeling material 100 according to the ratio of the continuous fibers to the modeling material 100.

Here, when the ratio of continuous fibers to the modeling material 100 increases, the rigidity of the modeling material 100 increases, so that the modeling material 100 becomes difficult to rotate. In other words, if the ratio of continuous fibers to the modeling material 100 increases, the rotation amount of the modeling material 100 may decrease with respect to the rotation amount of the support 60 by the rotating mechanism 62. Further, the responsiveness of the modeling material 100 rotating in the discharge unit 50 may decrease with respect to the rotation of the support 60 by the rotation mechanism 62.

Therefore, for example, when the ratio of continuous fibers to the modeling material 100 increases, the control unit 16 increases the rotation angle and rotation of the modeling material 100 so that at least one of the rotation angle and the rotation speed of the modeling material 100 increases. Change at least one setting for speed.

As a result, the rotation of the modeling material 100 is compared with the configuration in which the rotation angle and the rotation speed of the modeling material in the discharge mechanism are constant (hereinafter, this configuration is referred to as the sixth comparative example) regardless of the ratio of the continuous fibers to the modeling material. Defects (not rotating to the target rotation angle) are suppressed. As a result, cracking at the curved portion of the modeling material 100 is suppressed as compared with the sixth comparative example.

The ratio of continuous fibers to the modeling material 100 is changed by the amount of resin supplied to the fiber bundle 110 in the impregnated portion 24. Specifically, as the amount of resin supplied to the fiber bundle 110 in the impregnated portion 24 increases, the ratio of continuous fibers to the modeling material 100 decreases, and the amount of resin supplied to the fiber bundle 110 in the impregnated portion 24 increases. As the amount decreases, the ratio of continuous fibers to the modeling material 100 increases. The control unit 16 changes at least one setting of the rotation angle and the rotation speed of the modeling material 100 based on the ratio of the continuous fibers to the modeling material 100 obtained from the amount of resin with respect to the modeling material 100.

Further, the control unit 16 determines the rotation angle and rotation speed of the modeling material 100 so that at least one of the rotation angle and rotation speed of the modeling material 100 becomes smaller when the ratio of the continuous fibers to the modeling material 100 becomes smaller. At least one setting may be changed.

Further, the setting of the modeling conditions may be changed according to the rotation angle and the rotation speed of the modeling material 100 in the modeling unit 12. The modeling conditions include the heating temperature of the heater 28A of the impregnating portion 24, the heating time of the resin by the heater 28A, and the like.

Here, when at least one of the rotation angle and the rotation speed of the modeling material 100 is increased, the twist of the continuous fiber 120 is increased, and the modeling material 100 constituting the U-shaped portion 200 of the modeled object is likely to be undulated.

Therefore, when at least one setting of the rotation angle and the rotation speed of the modeling material 100 is changed so that at least one of the rotation angle and the rotation speed of the modeling material 100 becomes large, for example, the heater 28A of the impregnation portion 24 At least one of the heating temperature and the heating time of the resin by the heater 28A is increased.

As a result, the undulations of the modeling material 100 constituting the U-shaped portion 200 of the modeled object are reduced as compared with the configuration in which the modeling conditions are constant regardless of the rotation angle and the rotation speed of the modeling material 100 in the modeling unit 12. Poor modeling of the modeled object is suppressed.

(Third variant)
Further, as shown in FIG. 15, the modeling unit 12 may be configured to discharge the modeling material 100 to the table 14 while rotating the modeling material 100 in the opposite direction SB while applying tension to the modeling material 100.

Specifically, in the configuration shown in FIG. 15, an imparting portion 90 that applies tension to the modeling material 100 is provided on the upstream side of the transport portion 40. Specifically, the granting portion 90 is composed of a tension spring that pulls the winding roll 22 to the opposite side (left side in FIG. 15) of the winding roll 22 from the supply portion 21. The applying portion 90 applies tension to the modeling material 100 by pulling the winding roll 22. As a result, the modeling unit 12 discharges the modeling material 100 to the table 14 while rotating the modeling material 100 in the opposite direction SB while applying tension to the modeling material 100. The tension applied to the modeling material 100 is, for example, 500 gf (that is, 4.9 N). The tension applied to the modeling material 100 is not limited to this.

Here, in the configuration in which the modeling material 100 in a state where tension is not applied is discharged to the table 14 (hereinafter, this configuration is referred to as a seventh comparative example), the modeling material 100 is loosened, resulting in poor rotation of the modeling material 100 (hereinafter, this configuration is referred to as a seventh comparative example). (Do not rotate to the target rotation angle) may occur.

In this modification, the modeling unit 12 discharges the modeling material 100 to the table 14 while rotating the modeling material 100 in the opposite direction SB in a state where tension is applied to the modeling material 100. Therefore, as compared with the seventh comparative example, the modeling material 100 Rotational defects (not rotating to the target rotation angle) are suppressed. As a result, cracking at the curved portion of the modeling material 100 is suppressed as compared with the seventh comparative example.

Further, in the configuration in which tension is applied to the modeling material 100 on the downstream side of the conveying unit 40 (hereinafter, this configuration is referred to as the eighth comparative example), the modeling material 100 is loosened, resulting in poor transportation of the modeling material 100 (targeted transportation). It may not be possible to transport the quantity).

In this modified example, since tension is applied to the modeling material 100 on the upstream side of the transport unit 40, the transport defect of the modeling material 100 (the target transport amount cannot be transported) is suppressed as compared with the eighth comparative example. ..

(Fourth modification)
In the above-mentioned example shown in FIG. 7, in the range where the bending angle θA is less than 90 degrees (the range of NA in FIG. 7), the bending angle θA exceeds 90 degrees after rotating the modeling material 100 in the opposite direction SB. In the range of less than 180 degrees (the range of NB in FIG. 7), the modeling material 100 was rotated in the forward direction SA, but the present invention is not limited to this.

For example, in a range where the bending angle θA is 180 degrees or less, the operation of rotating the modeling material 100 in the opposite direction SB and then rotating the modeling material 100 in the forward direction SA may be repeated. Specifically, as an example, as shown in FIG. 16, the rotational operation of the modeling material 100 is executed. In the example shown in FIG. 16, in the range where the bending angle θA is 45 degrees or less (the range of MA in FIG. 16), after rotating the modeling material 100 in the opposite direction SB, the bending angle θA exceeds 45 degrees and 90 degrees. In the following range (the range of MB in FIG. 16), the modeling material 100 is twisted back by rotating the modeling material 100 in the forward direction SA.

In the range where the bending angle θA is 45 degrees or less (the range of MA in FIG. 16), specifically, the rotation angle θX is a rotation angle equal to or larger than the bending angle θA. More specifically, the rotation angle θX is the same as the bending angle θA. Therefore, in the range where the bending angle θA is 45 degrees or less, as shown in FIG. 16, the rotation angle θX of the modeling material 100 increases as the bending angle θA increases. In the range where the bending angle θA is 45 degrees or less (the range of MA in FIG. 16), the rotation angle θX may be a rotation angle larger than the bending angle θA and 90 degrees or less.

Further, in the range where the bending angle θA exceeds 45 degrees and is 90 degrees or less (the range of MB in FIG. 16), the rotation angle θX of the modeling material 100 decreases as the bending angle θA increases. When the bending angle θA is 90 degrees, the rotation angle θX is 0 degrees.

Further, in the example shown in FIG. 16, in the range where the bending angle θA exceeds 90 degrees and is 135 degrees or less (the range of MC in FIG. 16), after rotating the modeling material 100 in the opposite direction SB, the bending angle θA is In the range of more than 135 degrees and less than 180 degrees (the range of MD in FIG. 16), the modeling material 100 is twisted back by rotating the modeling material 100 in the forward direction SA.

In the range where the bending angle θA exceeds 90 degrees and is 135 degrees or less (the range of MC in FIG. 16), as shown in FIG. 16, the rotation angle θX of the modeling material 100 increases as the bending angle θA increases. It will become. When the bending angle θA is 135 degrees, the rotation angle θX is, for example, 45 degrees.

Further, in the range where the bending angle θA exceeds 135 degrees and is 180 degrees or less (the range of MD in FIG. 16), the rotation angle θX of the modeling material 100 decreases as the bending angle θA increases. When the bending angle θA is 180 degrees, the rotation angle θX is 0 degrees.

In this way, by repeating the operation of rotating the modeling material 100 in the opposite direction SB and then rotating the modeling material 100 in the forward direction SA, the rotation angle θX in the opposite direction SB in one operation is reduced. Also, as shown in FIG. 17, the continuous fibers 128 on the inner peripheral side of the modeling material 100 (see FIG. 9) and the continuous fibers 129 on the outer peripheral side of the modeling material 100 (see FIG. 9) are close to each other. The material 100 is discharged to the table 14 in a curved shape.

As a result, the path length difference between the continuous fiber 128 and the continuous fiber 129 becomes small. Therefore, after rotating the modeling material 100 in the opposite direction SB, the operation of rotating the modeling material 100 in the forward direction SA is performed only once. In comparison with the above, cracking at the curved portion of the modeling material 100 is suppressed.

In the example shown in FIG. 16, the rotation direction of the modeling material 100 is changed every 45 degrees, but for example, the rotation direction of the modeling material 100 may be changed every 30 degrees.

(Modification example of the configuration in which the modeling material 100 is rotated)
In the example shown in FIG. 1, the rotation mechanism 62 rotates the support 60 to rotate the modeling material 100 around its axis, but the present invention is not limited to this. For example, as shown in FIG. 18, the rotation mechanism 62 may rotate the transport portion 40 independently to rotate the modeling material 100 around its axis. In this configuration, as shown in FIG. 18, the support member 47 that rotatably supports the transport portion 40 is rotated around the axis along the vertical direction by the rotation mechanism 62, so that the modeling material 100 is rotated around the axis. Rotate to.

Further, when the cross section of the modeling material 100 is non-circular, as shown in FIG. 19, the axis line of the rotating mechanism 62 along the vertical direction of the guide 49 as a through portion through which the modeling material 100 is passed. By rotating it around, the modeling material 100 may be rotated around its axis. In this configuration, the guide 49 is arranged, for example, between the transport unit 40 and the discharge unit 50 shown in FIG.

A stress sensor may be provided on the support member 47 or the guide 49 to detect the stress (torsional force) accumulated in the modeling material 100. Further, the rotation angle θX of the modeling material 100 may be controlled based on the detection result.

(Allowable twist angle of modeling material 100)
Here, the allowable twist angle of the modeling material 100 will be described.

Of the plurality of continuous fibers 120 existing in the modeling material 100, the distance between the continuous fibers 120 most distant along the direction perpendicular to the modeling direction is defined as the interfiber distance d [mm] (see FIG. 20). When the modeling material 100 has a circular cross section, it is the distance between the continuous fibers 120 arranged on one end side and the other end side in the vertical direction of the modeling material 100. The modeling direction is the direction in which the modeling unit 12 (specifically, the discharge unit 50) advances (see arrows M1, arrow M2, and arrow RA in FIG. 7).

Assuming that the inter-fiber distance d [mm] does not change during modeling and is a fixed value, a curve with a radius of curvature R [mm] and a modeling angle θ _dp [rad] is always formed with the modeling material 100 oriented in the modeling direction. In this case, the difference between the path length of the innermost fiber (10 L in FIG. 21) and the path length of the outermost fiber (12 L in FIG. 21) is as follows (see FIG. 21). The modeling angle θ _dp corresponds to the bending angle θA in FIG. 7.

Path length difference = (R + 1 / 2d) θ _dp − (R-1 / 2d) θ _dp = dθ _dp [mm]

At this time, since the path length at the center of the modeling material 100 is Rθ _dp [mm], the elongation rate of the continuous fiber 120 is d / R.

In general, carbon fibers have a characteristic value of elongation at break, which breaks when pulled further. For example, when the breaking elongation rate Ef = 1%, a 100 mm fiber is stretched beyond 101 mm to break. Therefore, when d / R> Ef during curve forming, the continuous fiber 120 is broken and the strength is lowered.

In order to avoid breakage of the continuous fiber 120, it is necessary to reduce the interfiber distance d or increase the radius of curvature to keep the condition d / R ≦ Ef, but if the interfiber distance d is reduced, modeling is required. There is a demerit that the time increases, and if the radius of curvature R is increased, there arises a problem that fine modeling cannot be performed.

Here, the elongation rate of the continuous fiber when the curve is formed while keeping the twist angle θ _tw [rad] obtained by twisting the modeling material 100 from the modeling direction is dcos θ _tw / R, and the elongation rate is obtained by twisting. Can be reduced (see FIG. 22). The twist angle θ _tw corresponds to the rotation angle θX in FIG. 7.

Further, when the modeling material 100 is twisted, a path length difference occurs in the continuous fibers 120. For the sake of brief explanation, first, considering the case where the modeling material 100 is twisted at the time of linear modeling, it is as follows.

As shown in FIG. 22, when the modeling material 100 is twisted by Δθ _tw [rad] during L [mm] modeling, the components perpendicular to the modeling direction are canceled in the opposite directions at both ends of the continuous fiber 120, and the modeling direction is formed. The difference in the components parallel to is the path length difference.

Therefore, the elongation rate is (dsin Δθ _tw ) / L.

When the above calculation is extended at the time of curve modeling, it becomes as follows. L is Rθ _dp [mm].

When Δθ _tw coincides with the opposite direction of the modeling angle θ _dp , that is, −θ _dp , the elongation rate _tw due to twisting is as follows.

rate _tw = (dsin Δθ _tw ) / Rθ _dp = (dsin (−θ _dp )) / Rθ _dp
Since x is sinx / x≈1 at the minimum value where x is close to 0, set x = θdp.
rate _tw = -d / R

The elongation rate _dp due to the curve modeling is equivalent to d / R and the inverse sign. This is because the fiber elongation rate when the modeling material 100 is twisted in the opposite direction to form a curve is offset by the curve modeling and the twisting, and the rate _tw + rate _dp = 0, and the overall fiber elongation rate becomes zero. , The utility that can avoid breakage is expressed by a mathematical formula.

Therefore, damage (specifically, breakage) of the continuous fiber 120 is avoided by always satisfying the condition of | rate _tw + rate _dp | <Ef at the time of modeling.

Then, in the present embodiment, the twist angle as the rotation angle of the modeling material 100 is set to θ _tw, and among the plurality of continuous fibers 120 of the modeling material 100, the farthest from each other along the direction perpendicular to the traveling direction of the modeling unit 12. The distance between the continuous fibers is d [mm], the elongation at break of the continuous fibers 120 is Ef, and the twist angle per unit movement distance when the modeling unit 12 moves linearly is ω _tw [rad / mm]. When the modeling unit 12 moves in a curve, the bending angle is θ _dp [rad], the radius of curvature is R [mm], and the ratio of the bending angle θ _dp to the twist angle θ _tw is k _tw. When the unit 12 moves linearly, the following conditions 1 and 2a are satisfied, and when the modeling unit 12 moves curvedly, the following conditions 1 and 2b are satisfied.

Condition 1: | θ _tw | ≤ π / 2
Condition 2a: | dω _tw | ≤Ef
Condition 2b: | d (1 + _ktw ) / R | ≤Ef

According to this configuration, as compared with the configuration satisfying only condition 1, damage (specifically, breakage) of the continuous fiber 120 is avoided, so that cracking at the curved portion of the modeling material 100 is suppressed.

(Modification example in which a plurality of modeling units 12 are provided)
As shown in FIGS. 23 and 24, the modeling device 10 may have a configuration having a plurality of modeling units 12. In the example shown in FIGS. 23 and 24, four modeling units 12A, 12B, 12C, and 12D are provided. In this modification, the modeling apparatus 10 has a support portion 19 extending in a direction (Y1 direction in FIG. 23) perpendicular to the traveling direction (X1 direction in FIG. 23) of the four modeling units 12A, 12B, 12C, and 12D. There is. The modeling units 12A, 12B, 12C, and 12D are supported by the support portion 19, and when the support portion 19 moves in the traveling direction, the modeling units 12A, 12B, 12C, and 12D move integrally in the traveling direction.

Specifically, the respective supports 60 (see FIGS. 1 and 4) of the modeling units 12A, 12B, 12C, and 12D are rotatably supported with respect to the support portion 19, and the modeling units 12A, 12B, The rotation angle θX (twisting angle) of the modeling material 100 can be changed in each of 12C and 12D.

In this modification, in each of the four modeling units 12, the feed rate of the modeling material 100 discharged from the discharge unit 50 (specifically, the transport speed of the modeling material 100 by the transport unit 40) and the rotation angle of the modeling material 100. θX (twist angle) is controlled.

Specifically, for example, in the curve movement of the modeling unit 12 (movement indicated by the arrow ZB in FIG. 23), in the modeling units 12B, 12C, and 12D arranged outside the modeling unit 12A arranged on the innermost side. , The transport speed of the modeling material 100 by the transport unit 40 is increased. Specifically, the transport speed of the transport unit 40 is controlled so that the speed gradually increases in the order of the modeling units 12A, 12B, 12C, and 12D. In the curve movement indicated by the arrow ZD in FIG. 23, the transport speed of the transport unit 40 is controlled so that the speed gradually increases in the order of the modeling units 12D, 12C, 12B, and 12A.

As a result, in the curved movement of the modeling unit 12, the feeding speed of the modeling material 100 becomes faster on the outer peripheral side where the path length is longer than that on the inner peripheral side.

Further, in the curved movement of the modeling unit 12, the rotation angle θX (twisting angle) is made smaller in the modeling unit 12 arranged on the outer side than in the modeling unit 12 arranged on the innermost side.

For example, when the modeling units 12A, 12B, 12C, and 12D are moved including the curved movement as shown in FIG. 23, the rotation angles θX (torsion angles) of the modeling units 12A, 12B, 12C, and 12D are , As shown in the graph of FIG. 25.

In FIG. 25, the "overall modeling curvature" indicates the modeling curvature of the entire modeling material 100 formed by the modeling units 12A, 12B, 12C, and 12D. In FIG. 23, the case of turning to the right (that is, clockwise) is indicated by “positive”, and in FIG. 23, the case of turning to the left (that is, counterclockwise) is indicated by “negative”.

In FIG. 25, the “moving direction angle of the support portion” indicates the traveling direction of the support portion 19 (that is, the modeling units 12B, 12C, 12D). The case where the traveling direction is the upward direction in FIG. 23 is indicated by "0 °", the case where the traveling direction is the downward direction in FIG. 23 is indicated by "180 °", and the case where the traveling direction is the right direction in FIG. 23 is indicated by "positive". It is shown, and the case of the left direction in FIG. 23 is indicated by "negative". In FIG. 23, the traveling direction is indicated by an arrow X1. Further, the movement ranges indicated by the arrows ZA, ZB, ZC, ZD, and ZE in FIG. 25 correspond to the movement ranges indicated by the same arrows in FIG. 23.

Then, as shown in the graph of FIG. 25, the twist angle of the modeling units 12A, 12B, 12C, and 12D is controlled according to the curvature (radius of curvature) in each curve movement. Specifically, in the movement range indicated by the arrow ZA, the rotation angle θX (twist angle) is increased so that the rotation angle θX (twist angle) gradually increases in the order of the modeling units 12D, 12C, 12B, and 12A. Is controlled. When the curvature in the curve movement is small (that is, when the radius of curvature is large), the elongation rate of the modeling material 100 is small, so that the modeling unit 12 has a curvature equal to or less than a predetermined threshold value (specifically, a limit value). Does not perform a rotation operation. In other words, the modeling unit 12 rotates the modeling material 100 when the curvature exceeds a predetermined threshold value.

Further, in the movement range indicated by the arrow ZD, the rotation angle θX (twisting angle) is controlled so that the rotation angle θX (twisting angle) is larger in the modeling unit 12D than in the modeling units 12A, 12B, 12C. Will be done.

As described above, in the curved movement of the modeling unit 12, the rotation angle θX (twisting angle) of the modeling material 100 becomes smaller on the outer peripheral side where the curvature is smaller than that on the inner peripheral side. As a result, the twist of the continuous fiber 120 is suppressed as compared with the configuration in which the rotation angles of the modeling units 12A, 12B, 12C, and 12D are always the same. Further, in this modification, since the modeling unit 12 rotates the modeling material 100 when the curvature exceeds a predetermined threshold value, the modeling material 100 is constantly rotated by the plurality of modeling units 12 regardless of the threshold value. In comparison, the twist of the continuous fiber 120 is suppressed.

(Other variants)
In the present embodiment, the base 14 is moved with respect to the modeling unit 12, but the present invention is not limited to this. For example, the modeling unit 12 may be moved with respect to the table 14, or the modeling unit 12 may be moved relative to the table 14 by moving at least one of the modeling unit 12 and the table 14. Just do it.

Further, in the present embodiment, the modeling apparatus 10 includes the impregnated portion 24, but the impregnated portion 24 may not be provided. In this case, for example, the fiber bundle 110 may be supplied from the supply unit 21 with the linear modeling material 100 in which the resin 112 is impregnated in advance.

Further, in the present embodiment, the rotation angle θX is larger than the bending angle θA and is 90 degrees or less, but the rotation angle is not limited to this. For example, the rotation angle θX may be smaller than the bending angle θA. Further, the rotation angle θX may be an angle exceeding 90 degrees as long as it is in the range of less than 180 degrees.

10 Modeling device 12 Modeling unit (an example of discharge mechanism)
14 units (example of discharged part)
20 Supply mechanism 21 Supply part 24 Impregnation part 40 Transport part 50 Discharge part 90 Grant part 100 Modeling material

Claims (16)

A discharged part where a linear molding material impregnated with resin in a bundle of continuous fibers is discharged,
A discharge mechanism that moves relative to the discharged portion in a curved line and discharges the molding material to the discharged portion while rotating the molding material in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion.
A modeling device equipped with. The discharge mechanism
The modeling apparatus according to claim 1, wherein the modeling material is discharged to the discharged portion while rotating the modeling material at a rotation angle corresponding to a bending angle of the discharging mechanism with respect to the discharged portion. The discharge mechanism
The modeling apparatus according to claim 2, wherein the modeling material is rotated to a rotation angle larger than the bending angle and discharged to the discharged portion. The discharge mechanism
The modeling apparatus according to claim 3, wherein the modeling material is discharged to the discharged portion while rotating the modeling material at a rotation angle larger than the bending angle and 90 degrees or less. The modeling device according to any one of claims 1 to 4, wherein the discharge mechanism discharges the modeling material to the discharged portion while rotating the modeling material to the opposite side in a state where tension is applied to the modeling material. The discharge mechanism
A discharge part that discharges the molding material to the discharge part and
A transport unit that transports the model material to the discharge unit while rotating the model material to the opposite side, and a transport unit.
An imparting portion that applies tension to the modeling material on the upstream side of the transport portion,
The modeling apparatus according to claim 5. The discharge mechanism
A discharge part that discharges the molding material to the discharge part and
The supply mechanism that supplies the modeling material and
A transport unit that transports the model material from the supply mechanism to the discharge unit, and a transport unit.
Have,
The item according to any one of claims 1 to 6, wherein the supply mechanism and the transport unit rotate the shape material to the opposite side to transport the shape material to the discharge unit while rotating the shape material to the opposite side. Modeling equipment. The supply mechanism
The supply unit that supplies the bundle and
An impregnated part that impregnates the bundle supplied from the supply part with resin,
Have,
The modeling apparatus according to claim 7, wherein the supply unit, the impregnation unit, and the transport unit rotate to the opposite side to transport the model material to the discharge unit while rotating the model material to the opposite side. .. The discharge mechanism
The modeling apparatus according to any one of claims 1 to 8, wherein at least one setting of the rotation angle and the rotation speed of the modeling material is changed according to the ratio of continuous fibers to the modeling material. The modeling apparatus according to claim 8 or 9, wherein the setting of the modeling conditions is changed according to the rotation angle and the rotation speed of the modeling material in the discharge mechanism. The discharge mechanism
The modeling material is discharged to the discharged portion while rotating in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion, and then is rotated in the forward direction along the bending direction to the discharged portion. The modeling apparatus according to any one of claims 1 to 10. The discharge mechanism
When moving relative to the discharged portion in a curved shape,
The molding material is discharged to the discharged portion while rotating in a range of less than 180 degrees in the direction opposite to the bending direction with respect to the discharged portion, and then is rotated in the forward direction along the bending direction to the discharged portion. The modeling apparatus according to claim 11, wherein the operation of discharging is repeated. The discharge mechanism
The twist angle as the rotation angle of the modeling material is set to θ _tw .
The distance between the continuous fibers farthest from the plurality of continuous fibers of the molding material along the direction perpendicular to the traveling direction of the discharge mechanism is d [mm], and the breaking elongation rate of the continuous fibers is Ef.
The twist angle per unit movement distance when the discharge mechanism moves linearly relative to the discharged portion is set to ω _tw [rad / mm].
When the discharge mechanism moves relative to the discharged portion in a curved shape, the bending angle of the discharging mechanism with respect to the discharged portion is set to θ _dp [rad], the radius of curvature is set to R [mm], and the bending angle is set. When the ratio of θ _dp and twist angle θ _tw is k _tw ,
When the modeling material is discharged to the discharged portion by linearly moving relative to the discharged portion, the following conditions 1 and 2a are satisfied.
The modeling according to any one of claims 1 to 12, which satisfies the following conditions 1 and 2b when the modeling material moves relative to the discharged portion in a curved line and is discharged to the discharged portion. apparatus.
Condition 1: | θ _tw | ≤ π / 2
Condition 2a: | dω _tw | ≤Ef
Condition 2b: | d (1 + _ktw ) / R | ≤Ef A plurality of the discharge mechanisms are provided.
When the curvature when one of the discharge mechanisms moves relative to the discharged portion in a curved shape is larger than the curvature of the other discharge mechanism, the rotation angle of the one discharge mechanism is set to the other. The modeling apparatus according to any one of claims 1 to 13, which is made larger than the rotation angle of the discharge mechanism. The modeling device according to claim 14, wherein the other discharge mechanism rotates the modeling material when the curvature exceeds a predetermined threshold value. A discharged part where a linear molding material impregnated with resin in a bundle of continuous fibers is discharged,
The modeling material is curved so as to move relative to the discharged portion so that the continuous fibers on the inner peripheral side of the modeling material and the continuous fibers on the outer peripheral side of the modeling material approach each other. Discharge mechanism that discharges to the part and
A modeling device equipped with.