JP2006153668A - Solid form recording device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily and quickly measure solid form with high accuracy also applying to a moving object. <P>SOLUTION: Slide resistors 118 to 120 arranged on each side of a triangle for converting mechanical displacement to electrical displacement and a controller acquiring the electric displacements detected by the slide resistors 118 to 120 and recording them are provided. The triangle having the slide resistors are arranged side by side in mesh, and is made a cloth-like displacing part, so that the free solid form is measured. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a three-dimensional shape recording apparatus capable of measuring and recording a three-dimensional free-form surface shape simply and accurately.

  Conventionally, there is a method of measuring a three-dimensional free-form surface, for example, a three-dimensional measuring machine, a three-dimensional digitizer, or the like is used. In recent years, devices for recognizing a shape using pressure detection, motion capture using the device, and the like have been proposed as means for detecting a shape change of a moving object (see Patent Document 1). On the other hand, a data glove and a shape recognition method using the data glove have also been proposed (see Patent Document 2).

JP 2000-321013 A JP 2000-329511 A

  However, with the above-described conventional three-dimensional measuring machine and three-dimensional digitizer, it is difficult to measure a moving object because a large apparatus must be installed near the object to be measured.

  Moreover, what was described in patent document 1 is a thing which measures a solid shape indirectly based on the relationship between pressure distribution and an original shape, and there existed a problem that the error of a measurement shape was easy to produce. .

  Further, what is described in Patent Document 2 is to measure the bending state of a joint of a data glove as a resistance value change, and has a wide measurement range of one resistance value change, and is described in Patent Document 1. Similar to the above, the three-dimensional shape is obtained on the basis of an indirect change such as a change in resistance value.

  The present invention has been made in view of the above, and is applicable to a moving object, and provides a three-dimensional shape recording apparatus that can easily and quickly measure a three-dimensional shape with high accuracy. Objective.

  In order to solve the above-described problems and achieve the object, a three-dimensional shape recording apparatus according to the present invention is provided on each side of a triangle, and includes a detection element that converts a mechanical displacement amount into an electrical displacement amount, And a control means for acquiring and recording the amount of electrical displacement detected by the detection element.

  In addition, the three-dimensional shape recording apparatus according to the present invention is arranged on each side of a triangle, acquires a detection element that converts a mechanical displacement amount into an electrical displacement amount, and an electrical displacement amount detected by each detection element. A surface detecting means in which the recording control means is continuously arranged in a plane, and an overall control means for performing a control instruction for giving a detection instruction to each control means and acquiring the detection result of each detection element. It is characterized by that.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the control means is connected by a control signal line extending in the same side direction of the triangle.

  In addition, in the above-described invention, the three-dimensional shape recording apparatus according to the present invention is formed by stacking layers for each same side direction of the triangle, and detecting a potential difference between the layers at the apex position of each triangle. The control means determines whether or not it is a detection instruction for the detection element controlled by the self-control means based on a signal from the control signal line and a value of the potential difference detection element. To do.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the overall control means acquires the electrical displacement amount using an address for each control means.

  Further, in the three-dimensional shape recording apparatus according to the present invention, in the above invention, a memory for storing the detection result detected by the detection element is provided corresponding to each control means, and the overall control means is stored in each memory. A detection result is obtained.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the detection element and the control means are covered with a flexible member.

  Further, in the above-described invention, the three-dimensional shape recording apparatus according to the present invention is characterized in that the inner region surrounded by the triangle is compared with the rigidity of the regions in the vicinity of each side and each vertex that are the bone portions forming the triangle. It is characterized by low rigidity.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the internal region is formed by a space.

  Further, in the three-dimensional shape recording apparatus according to the present invention, in the above invention, the surface detecting means is a plurality, and each surface detecting means is coupled by a connecting member that mechanically interlocks each surface detecting means. It is characterized by.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the surface detection means and the overall control means are wirelessly connected.

  In the three-dimensional shape recording apparatus according to the present invention as set forth in the invention described above, the detection element is a differential transformer.

  According to the present invention, it can be applied to a moving object, and an effect is obtained that a highly accurate three-dimensional shape can be measured easily and quickly.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a three-dimensional shape recording apparatus according to the present invention will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by this embodiment.

(Embodiment 1)
FIG. 1 is a schematic view of a schematic configuration of a three-dimensional shape recording apparatus 101 according to the first embodiment of the present invention as viewed obliquely. In FIG. 1, in this three-dimensional shape recording apparatus 101, both ends of links 102 to 110 are rotatably connected by spherical joints 111 to 116. The spherical joints 114 to 116 are fixedly arranged on the pedestal 117, respectively. The sliding resistors 118 to 120 are embedded with the links 102 to 104 separated and embedded in the vicinity of the center of the links 102 to 104 forming a triangular side, and detect a change in resistance value by expanding and contracting. Each sliding resistor 118 to 120 is connected to the control device 122, and the resistance value change detected by each sliding resistor 118 to 120 is sent to the control device 122. The control device 122 is connected to an input / output device 123 that performs input / output with respect to the control device 122.

  The control device 122 stores the input resistance value change in the storage unit 122a, and records the shape change by the stored resistance value change. FIG. 2 is a diagram illustrating an example of a shape change. When the shape change as shown in FIG. 2 occurs, the resistance values of the sliding resistors 118 to 120 change. For example, the sliding resistor 118 shows a change in which the resistance value becomes smaller as it extends.

  Such a shape change can be grasped as, for example, an inclination change of an axis perpendicular to a triangular plane formed by the sliding resistors 118 to 120 and the spherical joints 111 to 113. For example, if the axis perpendicular to the plane of the triangle is regarded as the movement of the joystick mechanism, this three-dimensional shape recording device functions as an input device.

  In the first embodiment, a simple triangular structure is provided, and sliding resistors 118 to 120 as detection elements are provided on the respective sides, and the expansion / contraction change of each side of the triangle is detected as the change of the triangular surface. I have to.

(Embodiment 2)
Next, a second embodiment will be described. In the first embodiment described above, the links 105 to 110 and the spherical joints 114 to 116 supporting the triangle are provided in order to obtain the shape change of one triangle and thereby detect the change of the surface of the triangle. In the second embodiment, a plurality of triangles are arranged adjacent to each other in a mesh shape while sharing each side, the links 105 to 110 and the spherical joints 114 to 116 are not provided, and the minimum element of the surface forming a free solid shape is a triangle. I try to catch it as

  FIG. 3 is a schematic diagram showing a schematic configuration of a three-dimensional shape recording apparatus according to Embodiment 2 of the present invention. In FIG. 3, the three-dimensional shape recording device 201 includes a deforming unit 202, a control device 222, and an input / output device 223. In the deformable portion 202, the triangles formed by the sliding resistors 118 to 120 and the spherical joints 111 to 113 as the detection elements shown in the first embodiment are continuously arranged in a mesh shape adjacent to each other while sharing each side. Yes. In other words, it can be said that regular hexagons formed by six regular triangles are densely formed in a honeycomb shape. The deformable portion 202 is covered with an insulating material 204 such as flexible elastomer.

  Here, with reference to FIG. 4 and FIG. 5, the structure of the specific deformation | transformation part 202 is demonstrated. 4 is a plan view showing a part of the deforming portion of the three-dimensional shape recording apparatus 201, and FIG. 5 is a cross-sectional view taken along line AA of the deforming portion shown in FIG. 4 and 5, the deforming portion 202 includes a back insulating layer 234, an insulating layer 233b, a third conductor pattern layer 233a, an insulating layer 232b, a second conductor pattern layer 232a, an insulating layer 231b, a first conductor pattern layer 231a, The surface insulating layer 230 has a stacked structure.

  Each of the first to third conductor pattern layers 231a, 232a, 233a is formed with a conductor pattern that is parallel to each other and has the same line width. The conductor pattern of the first conductor pattern layer 231a and the conductor pattern of the second conductor pattern layer 232a have an angle of 60 degrees, and the conductor pattern of the first conductor pattern layer 231a and the conductor pattern of the third conductor pattern layer 233a are They are arranged at an angle of −60 degrees to each other. Therefore, the conductor pattern of the second conductor pattern layer 232a and the conductor pattern of the third conductor pattern layer 233a have an angle of 60 degrees. Since the conductor pattern of each layer is formed in each layer, it does not cross. However, as shown in FIG. 4, the through holes formed at the intersections CL1, CL2, CL3,.

  DC segments D11, D12, D21, D22, D31, D32,... (D) as detection elements are provided in the segments that are conductive patterns between the intersections of the first to third conductor pattern layers 231a to 233a. It is done. The DC differential transformer D generates a voltage corresponding to the expansion and contraction of the segment.

  Interlayer voltage detecting elements VD11, VD12, VD21, VD22,... (VD) for detecting voltages between the upper and lower layers of the insulating layers 231b and 232b are provided at the intersections CL of the insulating layers 231b and 232b. Further, the insulating layers 231b to 233b include segment control units C11, C12, C13, C21, C22 connected to the DC differential transformer D provided in the first to third conductor pattern layers 231a to 233a. C31, C32,... (C) are provided. Each segment control unit C is connected with memories M11, M12, M13, M21, M22, M31, M32,... (M), and in parallel with the upper conductor pattern, control signal lines L11, L12, L21, L22. , L31, L32,... (L) are provided. Further, the control unit C is connected to an interlayer voltage detection element VD provided at both ends of the upper layer segment, and acquires a voltage value detected by the interlayer voltage detection element VD.

  The control device 222 connects the pattern line groups P1 to P3 connected to each conductive pattern of each layer, and connects the control signal line groups L1 to L3 of each layer. In addition, the control device 222 includes a storage unit 222a that stores a detection value acquired therein. Further, the control device 222 is connected to an input / output device 223 for inputting various instructions and outputting detection results.

  Here, with reference to the sequence diagram shown in FIG. 6, the operation processing procedure of the three-dimensional shape recording apparatus 201 will be described. In FIG. 6, first, the control device 222 determines whether or not there is a detection instruction for acquiring a three-dimensional shape (step S101). This determination process is repeated when there is no detection instruction (step S101, No), and when there is a detection instruction (step S101, Yes), this detection instruction is sent to each segment via the control signal lines L1 to L3. The data is sent to the control unit C (step S102).

  On the other hand, each segment control unit C determines whether or not this detection command has been received (step S111). When the detection command is not received (step S111, No), this determination process is repeated. When the detection command is received (step S111, Yes), the direct current difference that is a detection element controlled by each segment control unit C The motion detector D is differentiated (step S112), and a detection value that is an electrical change amount corresponding to the current mechanical change (expansion / contraction) amount is obtained from each DC differential detector D, and this detection value is obtained. Store in each memory M (step S113). At this time, each detected value that is an analog amount may be converted into a digital value and stored.

  On the control device 222 side, thereafter, a read command for reading the detection value of a predetermined segment is sent to the segment control unit C (step S103). When the detection value is sent from the segment control unit C, the control device 222 stores the detection value in the storage unit 222a (step S104). Thereafter, it is determined whether or not there is a detected value of the segment to be read, that is, whether or not the reading is finished (step S105). If the reading is not finished (No in step S105), the process proceeds to step S103. A process for obtaining a detection value of the next segment is performed by sending a read command. When the reading is completed (Yes in step S105), an end command is sent to each segment control unit C (step S106). ), The process proceeds to step S101, and the above-described processing is repeated.

  On the other hand, each segment control unit C determines whether or not the read command is a read command for its own segment (step S114). For example, in the case of a read command for a segment having the DC differential voltage detector D12, the control device 222 applies a pattern line positioned above the control signal line L11 in the pattern line group P1, as shown in FIG. A voltage is applied, and a voltage is applied to each pattern line located above each control signal line L21, L22 in each pattern line group P2, P3. By applying a voltage to these pattern lines, the voltage of the interlayer voltage detecting elements VD11 and VD21 is increased, and only the segment control unit C12 that detects that the voltages of the interlayer voltage elements VD11 and VD21 at both ends have become equal to or higher than a predetermined value. It is determined that this is a read command for its own segment.

  If it is not a read command for its own segment (step S114, No), the process proceeds to step S116, and if it is a read command for its own segment (step S114, Yes), the memory M connected to its own segment control unit C The detected value is taken out from the control signal line L1 to L2 and sent to the control device 222 side (step S115).

  Thereafter, each segment control unit C determines whether or not an end command has been received from the control device 222 side (step S116). If it is not the end command (step S116, No), the process proceeds to step S114. The process described above is repeated by determining whether or not it is a read command for a segment. When the command is an end command (Yes in step S116), the operation of the DC differential voltage detector D that is a corresponding detection element is stopped. Is performed (step S117), and then the process proceeds to step S111 to repeat the above-described processing.

  By such a processing procedure, detection values of all segments or detection values of desired segments can be acquired.

  Here, since the insulating layer of the cloth-like deformable portion 202 is formed of a polymer material such as a flexible and insulating elastomer as described above, it is placed on an object having a free three-dimensional shape. Thus, the three-dimensional shape measurement can be performed quickly and with high accuracy.

  Further, since there is no segment control unit C, memory M, and various wirings in the central region of each triangle, a material having lower rigidity than the material used for the sides and vertex regions of the triangle is used for this region 210. As a result, the cloth-shaped deformed portion 202 can be more easily fitted to the object, and the three-dimensional shape measurement can be performed more easily and accurately. In addition, by forming a cavity, that is, a space in the region 210, it is possible to perform a three-dimensional shape measurement more easily and with high accuracy.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. In the second embodiment described above, the segment is specified based on the access of each conductive pattern and the interlayer potential difference. However, in this third embodiment, each segment is specified using the address, or all segments are specified. And so on.

  FIG. 8 is a plan view showing a part of the deformation portion of the three-dimensional shape recording apparatus according to Embodiment 3 of the present invention. FIG. 9 is a cross-sectional view taken along line BB shown in FIG. The three-dimensional shape recording apparatus 301 shown in FIGS. 8 and 9 has a configuration in which there is no through hole provided in the insulating layers 331b, 332b, and 333b in the deformable portion 302, and the interlayer voltage detection element VD is deleted. . Further, the operation processes of the control device 322 and the segment control unit C are different from those of the control device 222 and the segment control unit C shown in the second embodiment.

  That is, the detection command by the control device 222 shown in step S102 is performed by sending a common address to all the segment control units C from the control device 322, and all the segment control units C that have received this common address The DC differential voltage detectors D of all the segments are operated, and the detection result by this operation is stored in the corresponding memory M.

  The determination by the segment control unit C in step S114 gives a unique address to each segment control unit C, holds this unique address in each memory, and the control device 322 side controls this unique address. It is sent to all the segment control units C via the signal line groups L4 to L6, and only the segment control unit C that matches the own address is determined to have received the read command for the own address. Other configurations are almost the same as those of the second embodiment.

  In the third embodiment, since a desired segment is accessed using an address, the configuration of the deforming unit is further simplified.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, a plurality of the deforming parts 202 and 302 described above are stacked so that the deformation direction of the deforming part can be determined.

  FIG. 10 is a schematic diagram showing a schematic configuration of a three-dimensional shape recording apparatus according to Embodiment 4 of the present invention. In FIG. 10, the deforming unit 402 of the three-dimensional shape recording apparatus 401 has a configuration in which the deforming units 202 a and 202 b corresponding to the deforming unit 202 or the deforming unit 302 are two-tiered as described above. Between the deforming portions 202a and 202b, there are provided connecting members 130 that mechanically connect the intersections that are both ends of the corresponding segments. The connecting member 130 prevents the correspondence between the segment positions or the intersection positions of the deforming portions 202a and 202b from deviating.

  As shown in FIG. 11, when the deformed portion 402 has a convex curve on the deformed portion 202a side, the segment length La in the outer deformed portion 202a is equal to the segment length Lb in the inner deformed portion 202b. Longer than Therefore, the control device 222 can determine to which side the deformed portion 402 has been deformed based on the difference in deformation amount between the two DC differential transformers D12a and D12b for this segment. For example, when the deformation amount of the DC differential transformer D12a is larger than the deformation amount of the DC differential transformer D12b, it is determined that the segment portion has undergone deformation that protrudes toward the deformation portion 202a. be able to.

  In the fourth embodiment, the ambiguous directions on the front and back sides, which are caused by the cloth-like two-dimensional shape, can be easily distinguished.

(Embodiment 5)
Next, a fifth embodiment of the present invention will be described. In the first to fourth embodiments described above, the deformation of each segment is detected, but in this fifth embodiment, a three-dimensional shape is reproduced using a configuration similar to the first to fourth embodiments described above. It is something to try. Here, a configuration corresponding to the third embodiment will be described.

  FIG. 12 is a plan view showing a schematic configuration of a three-dimensional shape reproducing apparatus according to Embodiment 5 of the present invention, and FIG. 13 is a cross-sectional view taken along line CC shown in FIG. 12 and 13, this three-dimensional shape reproducing device 501 has electromagnetic plungers A41, A42, as drive elements disposed at the same position as the DC differential transformer D arranged in the deformable portion 302 of the third embodiment. A43, A51, A52, A61, A62,... (A) are provided instead. The layers 530 to 534 correspond to the layers 330 to 334 shown in the third embodiment. The segment control unit C performs processing instructed by the control device 522. The memory M holds a unique address and a common address corresponding to its own segment, and holds deformation amounts such as drive information.

  Here, the control processing procedure of the control device 522 and the segment control unit C will be described with reference to the sequence diagram shown in FIG. First, the control device 522 determines whether or not there is a transfer instruction from the input / output device 523 (step S201). When there is no transfer instruction (step S201, No), this determination process is repeated, and when there is a transfer instruction (step S201, Yes), an address for the instructed segment is specified, and the drive deformation amount is set. The drive information shown is sent to the segment controller C via the control signal line groups L4 to L6 (step S202).

  Thereafter, the control device 522 determines whether or not transmission of all drive information has been completed (step S203). If transmission of all drive information has not been completed (No at step S203), the process proceeds to step S202, where the remaining drive information is transmitted, and transmission of all drive information has been completed ( In step S203, Yes), a drive command is transmitted (step S204).

  Further, the control device 522 determines whether or not the driving deformation of the deforming unit 502 has been completed (step S205). If the driving has not been completed (No in step S205), the control device 522 proceeds to step S202 and further performs a driving process. If it is repeatedly performed and the driving is finished (step S205, Yes), a driving process end command is sent to the segment control unit C side (step S206), the process proceeds to step S201, and the above-described processing is repeated.

  On the other hand, the segment control unit C determines whether or not the information received from the control device 522 is drive information (step S211). If the information is not drive information (step S211, No), this determination process is repeated. If it is drive information (step S211, Yes), it is further determined whether or not this drive information is for its own segment (step S212). This determination processing is performed based on whether or not the address attached to the drive information is an address for the own segment.

  If the segment control unit C is not the drive information for the own segment (step S212, No), the process proceeds to step S211 and repeats the determination process described above. If the segment control unit C is the drive information for the own segment (step S212, Yes). Stores the received drive information in the memory M of its own segment (step S213).

  Thereafter, the segment control unit C determines whether or not a drive command has been received from the control device 522 side (step S214). Whether or not it is a drive command is determined by whether or not it is a common address or an address unique to its own segment and indicates a drive command. If it is not a drive command (step S214, No), this determination process is repeated. If it is a drive command (step S214, Yes), the drive element uses a displacement amount indicated by the drive information stored in the memory M. A certain electromagnetic plunger A is driven (step S215).

  Thereafter, the segment control unit C determines whether or not an end command is received from the control device 522 side (step S216). If it is not an end command (step S216, No), the process proceeds to step S211 and the above-described processing is repeated. If it is an end command (step S216, Yes), a process for stopping the driving of the electromagnetic plunger A is performed. After performing (step S217), it transfers to step S211 and repeats the process mentioned above.

  In the fifth embodiment, it is possible to easily, quickly, and accurately reproduce a three-dimensional free shape according to drive information.

(Embodiment 6)
Next, a sixth embodiment of the present invention will be described. In the first to fourth embodiments described above, only the measurement of the three-dimensional shape is performed. In the fifth embodiment, only the three-dimensional shape is reproduced, but in the sixth embodiment, one device is used. Thus, the measurement and reproduction of the three-dimensional shape can be performed.

  FIG. 15 is a schematic diagram showing a schematic configuration of a three-dimensional shape recording / reproducing apparatus according to Embodiment 6 of the present invention. As shown in FIG. 15, the deforming unit 602 of the three-dimensional shape recording / reproducing device 601 includes the deforming unit of the three-dimensional shape recording device shown in the second to fourth embodiments and the three-dimensional shape reproducing device shown in the fifth embodiment. The deformed portions are superposed while maintaining the correspondence between the segment positions. The control device 622 can perform both the control processing of the three-dimensional shape recording device and the control processing of the three-dimensional shape reproduction device. These control processing instructions can be issued from the input / output device 623.

  That is, when the solid shape recording / reproducing device 601 functions as a three-dimensional shape recording device, control processing is performed on the deforming unit 302. When the solid shape recording / reproducing device 601 functions as a three-dimensional shape reproducing device, control processing on the deforming unit 502 is performed. Just do it. Here, in particular, after measuring various three-dimensional shapes, only a desired three-dimensional shape stored in the storage unit 622a can be reproduced from the measurement results.

  In FIG. 15, the two deformable portions 302 and 502 are overlapped. However, the present invention is not limited to this, and as shown in FIG. 16, a function capable of achieving both functions of the detection element and the drive element. Elements AD41, AD42, AD43,... (AD) may be used. For example, the DC differential transformer as the detection element and the electromagnetic plunger as the drive element can be realized by one element. However, the control by the segment control unit C is different.

  In addition, a layer in which the detection element is incorporated and a layer in which the drive element is incorporated may be provided in one deformation portion. Both control processes can be realized by one segment control unit C, and the configuration becomes simple.

  Further, the deformable portions 302 and 502 shown in FIG. 15 may be formed separately and then overlapped, or formed by forming the deformable portion 302 above the deformable portion 502 in a series of steps. You may do it.

(Embodiment 7)
Next, a seventh embodiment of the present invention will be described. In the first to sixth embodiments described above, the deforming unit and the control device are connected by wire, but in the seventh embodiment, the deforming unit and the control device are wirelessly connected.

  FIG. 17 is a schematic diagram showing a schematic configuration of a three-dimensional shape recording / reproducing apparatus according to Embodiment 7 of the present invention. In FIG. 17, the three-dimensional shape recording / reproducing apparatus 801 can perform the same processing as the three-dimensional shape recording / reproducing apparatus 601 shown in FIG. 15, but the deformation unit 602 and the control device 622 are wirelessly connected. . A wireless communication unit 811 is provided at the input / output end of the deformation unit 602, and a wireless communication unit 812 is provided at the input / output end of the control device 622 on the deformation unit 602 side. As a result, the deformation unit 602 and the control device 622 are wirelessly connected via the wireless communication units 811 and 812.

  In the seventh embodiment, since the deforming unit 602 and the control device 622 are wirelessly connected, the deforming unit 602 can be attached to the moving object, and the rapidly changing deformation of the moving object can be acquired. The reproduction is also easy.

  In the first to seventh embodiments described above, the mechanical displacement amount is converted into the electrical displacement amount by the detection element, or the electrical conversion amount is converted into the mechanical displacement amount by the driving element. It is not limited to this, and it may be a displacement amount of a physical quantity such as pressure or temperature. When the amount of mechanical displacement is the amount of expansion and contraction, for example, an intelligent fiber can be used as the detection element or the drive element. When detecting pressure, a detection element is realized by a load cell or the like, and a piezoelectric element or an artificial muscle can be used as a driving element. Furthermore, a thermistor or the like is used as a detection element for detecting temperature, and a heating element such as a nichrome wire may be used as the drive element. Further, the above-described expansion / contraction amount, pressure, or temperature detection element or driving element may be appropriately combined.

  Here, as the artificial muscle, for example, a polypyrrole film plunger of Emex Corporation, biometal made by Toki Corporation, or the like can be used. This Toki Corporation product is realized by using a material that has a property of contracting when an electric current flows, such as biometal. When this artificial muscle is used, a bias current is applied in advance as an initial state.If the drive current is larger than the bias current, the artificial muscle contracts.If the drive current is smaller than the bias current, the artificial muscle To stretch.

  In the first embodiment, a change in the plane of one triangle is recorded. However, as in the fifth embodiment, a drive element may be provided instead of the detection element. In this case, by changing the inclination of the triangular surface, recording the motion of rotating the normal axis perpendicular to the triangular surface in a conical shape, and reproducing this recorded motion, any rotation direction and rotation A motor having a change in speed can be formed.

  Furthermore, for a member in which a soft member and a hard member are mixed, the deforming portion is covered with the deforming portion and a certain pressure is applied from the surface side of the deforming portion, but the deforming portion is deformed. By measuring, the rigidity distribution of this member can be known.

  Further, in the above-described embodiment, the measurement of the continuous three-dimensional shape or the reproduction of the three-dimensional shape is not mentioned. However, when the target object has a motion, the control device can continuously measure the three-dimensional shape or A three-dimensional shape may be reproduced.

(Application 1)
Here, an application example using the above-described three-dimensional shape recording apparatus, three-dimensional shape reproducing apparatus, or three-dimensional shape recording / reproducing apparatus will be described. First, application example 1 will be described. FIG. 18 is a schematic diagram illustrating an outline of the application example 1. In FIG. 18, a deforming unit 502 of the three-dimensional shape recording apparatus is connected to a control device such as a personal computer. A three-dimensional model displayed in real time by sending the three-dimensional CAD data as shown on the display unit as the input / output device to the deformation unit 502 and driving the driving elements of each segment using the control device. Can be reproduced as a three-dimensional shape.

  Various types of rapid prototyping based on 3D CAD data have been developed, such as stereolithography, starch rapid prototyping, and nylon powder sintering, but at least one day has passed since arrangement. Without that, the three-dimensional shape cannot be seen. However, according to the first application example, since the three-dimensional shape of the three-dimensional model being designed can be seen by hand in almost real time, the development period can be further shortened.

(Application example 2)
Next, application example 2 will be described. In this application example 2, a three-dimensional shape recording / reproducing apparatus is applied. As shown in FIG. 19, the deformable portion 602 has a vest shape, and a professional acupuncturist applies acupressure from the top of the vest. The deformation of the deformation unit 602 at this time is continuously acquired by the detection element and stored in the storage unit as motion capture data. Thereafter, the motion capture data can be used to drive and deform the best-shaped deforming portion 602, so that the acupressure technique of a professional chiropractor is always reproduced.

(Application 3)
Next, application example 3 will be described. In this application example 3, as shown in FIG. 20, the three-dimensional shape reproducing device is applied to an artificial heart. That is, it is possible to drive the optimal peristaltic motion using the deforming unit 502 and realize the most efficient blood flow providing device.

(Application 4)
Next, application example 4 will be described. In this application example 4, as shown in FIG. 21, the three-dimensional shape recording apparatus is realized as a mold taking apparatus. As shown in FIG. 21, the deformable portion 202 is put on the surface of a gypsum image 801 that is a target to be molded, and the deformable portion 202 is pressed using a foam member 802 so that the entire deformable portion 202 can be pressed uniformly. In this state, the three-dimensional shape of the deforming portion 202 can be obtained instantaneously by the control device.

(Application example 5)
Next, application example 5 will be described. Also in this application example 5, the three-dimensional shape recording apparatus is realized as a motion capture apparatus. In this application example 5, as shown in FIG. 22, the deformation unit 202 and a control device (not shown) are wirelessly connected as shown in FIG. As a result, performance capture data such as figure skating can be obtained quickly and accurately in real time and without the moving body being aware of it.

(Application example 6)
Next, application example 6 will be described. In Application Example 6, as shown in FIG. 23, it is possible to realize an indeterminate key input device that detects a deformation of a specific portion detected by the three-dimensional shape recording device as an input state. The user having the deforming unit 202 needs to hold in advance a correspondence relationship between a gripping method and a command corresponding thereto in a computer or the like using this irregular key input device. Note that the present invention is not limited to the shape shown in FIG. 23. For example, a bear stuffed toy can be formed, and a deformation such as bending an ear or hitting the nose can be handled as a unique key input.

(Application example 7)
Next, application example 7 will be described. In this application example 7, a three-dimensional shape recording / reproducing apparatus is used. As shown in FIG. 24, the deformable portion 6 is first worn as a mask shape, and the movement of the mouth when speaking a word is detected and recorded. By associating the recorded data with the movement of the mouth, the recorded data (voice) at that time is retrieved based on the deformation of the mask, and the voice is output from the speaker as the input / output device. Is output. Such a mask can clearly output a voice even if the voice is impaired.

(Application 8)
Next, application example 8 will be described. In this application example 8, as shown in FIG. 25, an endoscopist (surgeon) first uses an image display device. This video display device is a device that displays an image captured by an endoscope as a three-dimensional video full of realism simply by wearing it like sunglasses. In this system, the movement of the surgeon's hand is detected using a three-dimensional shape recording device, and a manipulator for an endoscopic treatment tool is realized using the three-dimensional shape reproduction device based on the detected data. Yes. Here, the deforming unit 302 detects the movement of the surgeon's hand, and the deforming unit 502 reproduces the three-dimensional shape in real time.

(Application example 9)
Next, application example 9 will be described. In this application example 9, the origami itself is realized as a three-dimensional shape recording / reproducing apparatus. As shown in FIG. 26, when folding origami, the three-dimensional shape recording device detects the folding method, and when folding the origami again, the origami itself becomes a three-dimensional shape reproducing device as an example to fold the origami. To go. It can be used for such education and hobbies.

(Application example 10)
Next, application example 10 will be described. In this application example 10, a three-dimensional shape recording / reproducing apparatus is applied as a free-form amorphous autonomous robot. The control device has an artificial intelligence for functioning as an autonomous robot, and using this artificial intelligence, for example, as shown in FIG. The detection of the shape of the tip is realized by providing a detection function on the traveling direction side of the deformable portion 602. The rear part of the deforming part 602 functions as a reproduction function and is driven to go up the stairs.

It is the schematic diagram which looked at the schematic structure of the solid shape recording device which is Embodiment 1 of this invention from diagonally. It is a figure which shows an example of a shape change. It is a schematic diagram which shows schematic structure of the three-dimensional shape recording device which is Embodiment 2 of this invention. It is a top view which shows a part of deformation | transformation part of a solid shape recording device. It is the sectional view on the AA line of the deformation | transformation part shown in FIG. It is a sequence diagram which shows the operation | movement process sequence of a solid shape recording device. It is a figure which shows an example of the segment specification by Embodiment 2 of this invention. It is a top view which shows a part of deformation | transformation part of the solid shape recording device which is Embodiment 3 of this invention. It is the BB sectional view taken on the line of the deformation | transformation part shown in FIG. It is a schematic diagram which shows schematic structure of the three-dimensional shape recording device which is Embodiment 4 of this invention. It is explanatory drawing which shows that the front and back of the deformation | transformation part by Embodiment 4 of this invention can be determined. It is a schematic diagram which shows schematic structure of the solid shape reproduction | regeneration apparatus which is Embodiment 5 of this invention. It is CC sectional view taken on the line of the deformation | transformation part shown in FIG. It is a sequence diagram which shows the operation | movement procedure of the solid shape reproduction | regeneration apparatus which is Embodiment 5 of this invention. It is a schematic diagram which shows schematic structure of the three-dimensional shape recording / reproducing apparatus which is Embodiment 6 of this invention. It is sectional drawing of the three-dimensional shape recording / reproducing apparatus which shows the modification of Embodiment 6 of this invention. It is a schematic diagram which shows the general | schematic structure of the three-dimensional shape recording / reproducing apparatus which is Embodiment 7 of this invention. It is a schematic diagram which shows the general | schematic structure of the application example 1 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 2 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 3 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 4 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 5 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 6 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 7 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 8 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 9 of embodiment of this invention. It is a schematic diagram which shows schematic structure of the application example 10 of embodiment of this invention.

Explanation of symbols

101, 201, 301, 401 Three-dimensional shape recording device 102-110 Link 111-116 Spherical joint 117 Pedestal 118-120 Sliding resistor 122, 222 Control device 122a, 222a Storage unit 123, 223 Input / output device 130 Connecting member 202, 302, 402, 502, 602, 702 Deformed portion 204 Insulating material 230 Surface insulating layer 231a First conductor pattern layer 231b, 232b, 233b Insulating layer 232a Second conductor pattern device 233a Third conductor pattern layer 234 Back surface insulating layer 501 Three-dimensional shape Reproducing apparatus 601,701 Three-dimensional shape recording / reproducing apparatus 811,812 Wireless communication units D11 to D13, D21, D22, D31, D32, D41 to D43, D51, D52, D61, D62 DC differential transformers C11 to C13, C21, C22, C 1, C32, C41 to C43, C51, C52, C61, C62 Segment control unit M11 to M13, M21, M22, M31, M32, M41 to M43, M51, M52, M61, M62 Memory CL1, CL2 Intersection L11, L12, L21. L22. L31, L32 Control signal line VD11, VD12 Voltage difference detection element

Claims (12)

A detection element that is arranged on each side of the triangle and converts a mechanical displacement amount into an electrical displacement amount;
Control means for acquiring and recording the amount of electrical displacement detected by each detection element;
A three-dimensional shape recording apparatus comprising: A detection element that is arranged on each side of the triangle and converts the mechanical displacement amount into an electrical displacement amount, and a control means that acquires and records the electrical displacement amount detected by each detection element is continuously arranged in a plane. Surface detection means,
An overall control means for performing a control to give a detection instruction to each control means and obtain the detection result of each detection element;
A three-dimensional shape recording apparatus comprising:   The three-dimensional shape recording apparatus according to claim 2, wherein the control means is connected by a control signal line extending in the same side direction of the triangle.   Layers are formed in the same side direction of the triangle and stacked, and a potential difference detecting element for detecting a potential difference between the layers at the apex position of each triangle is provided, and the control means includes the signal from the control signal line and the signal from the control signal line. 4. The three-dimensional shape recording apparatus according to claim 3, wherein it is determined whether or not the detection instruction is for the detection element controlled by the self-control means based on the value of the potential difference detection element.   The three-dimensional shape recording apparatus according to claim 2, wherein the overall control unit acquires the electrical displacement amount using an address for each control unit.   6. A memory for storing a detection result detected by the detection element is provided corresponding to each control means, and the overall control means acquires the detection result stored in each memory. The three-dimensional shape recording apparatus according to claim 1.   The three-dimensional shape recording apparatus according to claim 1, wherein the detection element and the control unit are covered with a flexible member.   8. The rigidity of the inner region surrounded by the triangle is smaller than the rigidity of each of the sides forming the triangle and the regions near the vertices. Three-dimensional shape recording apparatus as described in one.   The three-dimensional shape recording apparatus according to claim 8, wherein the internal region is formed by a space. The surface detecting means is plural,
The three-dimensional shape recording apparatus according to any one of claims 2 to 9, wherein each surface detecting means is coupled by a connecting member that mechanically interlocks each surface detecting means.   The three-dimensional shape recording apparatus according to claim 2, wherein the surface detection unit and the overall control unit are wirelessly connected.   The three-dimensional shape recording apparatus according to claim 1, wherein the detection element is a differential transformer.

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