JP2018096886A - System and method for three dimensional shape measurement and inspection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system and method for a three-dimensional shape measurement and inspection capable of achieving an efficiency and a cost saving of the system, in a system and method for three-dimensional shape inspection for performing a measurement and inspection of a three-dimensional shape of an article fabricated by an NC tool machine.SOLUTION: A three-dimensional shape measurement and inspection system 1 performs the measurement and inspection of the three-dimensional shape of an object 40 to be measured which is produced by the NC machine tool. The three-dimensional shape measurement and inspection system includes: a measurement unit 10; a robot arm 20; a software for data comparison and verification for performing a comparison and verification with the measurement data measured by the measurement unit 10 and three-dimensional design data of the object 40 to be measured; and a computer 30 for allowing each means and the software to be acted respectively. In the three-dimensional shape measurement and inspection system 1, the computer 30 allows a robot arm 20 to be acted using an NC tool machine action program, as a robot arm action program for allowing the robot arm 20 to be acted.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a three-dimensional shape measurement and inspection system and a three-dimensional shape measurement and inspection method.

Conventionally, a shape measurement inspection for inspecting whether a product manufactured using an NC (Numerally Controlled) machine tool (for example, a foamed polystyrene mold as a mold of a full mold casting method) is manufactured as designed is complicated. It was common for human resources with experience and knowledge to read simple drawings manually.
However, in recent years, various systems for performing a three-dimensional shape measurement inspection using a computer have been developed due to remarkable progress in industrial technology.
In a system that performs a three-dimensional shape measurement inspection using such a computer, a three-dimensional shape measurement of a product is generally performed by attaching a camera or a scanner to the tip of a robot arm.
As a conventional technique for measuring the tertiary shape of a product using the robot arm, there is Patent Document 1 below.

Japanese Patent No. 3365443

Patent Document 1 is an invention related to a three-dimensional position measurement method, and has an advantage that a corresponding point between two images can be easily found and the three-dimensional position of a feature point of an object can be stably measured.
However, in the conventional technology that measures the tertiary shape of a product using a robot arm, it is common to create a separate robot arm operation program for operating the robot arm from the beginning. There is a problem that it is expensive, and it is impossible to realize efficiency and cost saving of a system for performing a three-dimensional shape measurement inspection using a computer.

  Therefore, the present invention solves the above-mentioned conventional problems, and in the three-dimensional shape measurement and inspection system and the three-dimensional shape measurement and inspection method for measuring and inspecting the three-dimensional shape of a product manufactured by an NC machine tool, It is an object to provide a three-dimensional shape measurement and inspection system and a three-dimensional shape measurement and inspection method capable of realizing cost saving.

To achieve the above object, a three-dimensional shape measurement / inspection system according to the present invention includes a non-contact three-dimensional shape measurement unit that measures a three-dimensional shape of an object to be measured, and a displacement of a measurement position of the non-contact three-dimensional shape measurement unit. A robot arm, data comparison verification software for comparing and verifying the measurement data measured by the non-contact three-dimensional shape measuring means and the three-dimensional design data of the object to be measured; the data comparison verification software; A three-dimensional shape measurement / inspection system for measuring and inspecting a three-dimensional shape of a product manufactured by an NC machine tool, comprising a contact three-dimensional shape measuring means and a computer for executing an operation program for operating the robot arm. The computer is configured to operate the non-contact three-dimensional shape measuring means and the non-contact three-dimensional shape measurement data of the product. In addition to the dimension shape measuring means operation program and the data comparison verification software operation program for operating the data comparison verification software, an NC machine tool operation program for operating the NC machine tool is stored in the storage unit. In addition, as a robot arm operation program for operating the robot arm, the first feature is to operate the robot arm using the NC machine tool operation program.
In addition to the first feature described above, the three-dimensional shape measurement / inspection system of the present invention has a second feature that the product is a foamed polystyrene type used as a mold for the full mold casting method.
In the 3D shape measurement / inspection system according to the present invention, in addition to the first or second feature, the 3D design data may be at least one of 3D CAD data and 3D CG data. It has the characteristics of
The three-dimensional shape measurement / inspection method of the present invention includes a non-contact three-dimensional shape measuring step for measuring a three-dimensional shape of an object to be measured with a non-contact three-dimensional shape measuring machine, and a non-contact three-dimensional shape by operating a robot arm. A non-contact 3D shape measuring machine displacement step for displacing the measurement position of the shape measuring machine, and comparison verification between the measurement data measured by the non-contact 3D shape measuring machine and the 3D design data of the object to be measured A three-dimensional shape measurement / inspection method comprising: a data comparison / verification step, wherein a shape of a product manufactured by an NC machine tool is measured and inspected by a computer, the non-contact three-dimensional shape measurement step; and the non-contact three-dimensional shape measurement Each step of the machine displacement step and the data comparison verification step is executed when executed by an operation program for executing each step included in the computer. , As an operation program for executing the non-contact three-dimensional shape measuring machine displacement step, and the fourth comprises using the NC machine tool operation program for operating the NC machine tool.

  According to the three-dimensional shape measurement and inspection system according to the first feature, the non-contact three-dimensional shape measuring means for measuring the three-dimensional shape of the object to be measured, and the robot arm for displacing the measurement position of the non-contact three-dimensional shape measuring means Data comparison verification software for comparing and verifying the measurement data measured by the non-contact three-dimensional shape measuring means and the three-dimensional design data of the object to be measured, the data comparison verification software, the non-contact tertiary A three-dimensional shape measurement / inspection system for measuring and inspecting a three-dimensional shape of a product manufactured by an NC machine tool, comprising original shape measuring means and a computer for executing an operation program for operating the robot arm. The computer is configured to operate the non-contact three-dimensional shape measuring means and the non-contact three-dimensional shape measurement data of the product. In addition to the state measuring means operation program and the data comparison verification software operation program for operating the data comparison verification software, an NC machine tool operation program for operating the NC machine tool is stored in the storage unit. In addition, since the robot arm is operated using the NC machine tool operation program as a robot arm operation program for operating the robot arm, there is no need to separately create an operation program for operating the robot arm. . Therefore, since the man-hour required for robot teaching of the robot arm is not required, it is possible to realize system efficiency and cost saving. In addition, by comparing and verifying the measurement data measured by the non-contact three-dimensional shape measuring means and the three-dimensional design data, it is configured to perform the three-dimensional shape measurement inspection, thereby enabling partial inspection of the shape of the product. In addition, the entire surface inspection can be performed efficiently. Therefore, a system capable of highly accurate shape measurement inspection can be provided.

  Further, according to the three-dimensional shape measurement and inspection system according to the second feature, in addition to the function and effect of the first feature, the product is a foamed polystyrene type used as a mold for the full mold casting method. The time required for the shape measurement inspection can be shortened more effectively than the manual shape measurement inspection.

  Further, according to the three-dimensional shape measurement and inspection system according to the third feature, in addition to the operational effects of the first or second feature, the three-dimensional design data includes three-dimensional CAD data and three-dimensional CG data. Since it is at least one, it can be set as the system which can respond to the measurement inspection of the three-dimensional shape of various products.

  According to the three-dimensional shape measurement and inspection method according to the fourth feature, a non-contact three-dimensional shape measuring step for measuring the three-dimensional shape of the object to be measured with a non-contact three-dimensional shape measuring machine, and operating the robot arm. A non-contact three-dimensional shape measuring machine displacement step for displacing a measurement position of the non-contact three-dimensional shape measuring machine; measurement data measured by the non-contact three-dimensional shape measuring machine; and three-dimensional design data of the object to be measured; A three-dimensional shape measurement / inspection method for measuring and inspecting the shape of a product manufactured by an NC machine tool with a computer, the non-contact three-dimensional shape measurement step, Each step of the contact three-dimensional shape measuring machine displacement step and the data comparison verification step is performed by an operation program for executing each step included in the computer. Since the NC machine tool operation program for operating the NC machine tool is used as the operation program for executing the non-contact three-dimensional shape measuring machine displacement step, the operation for operating the robot arm is performed. There is no need to create a separate program from scratch. Therefore, since the man-hour required for robot teaching of the robot arm is not required, the efficiency and cost saving of the three-dimensional shape measurement and inspection method can be realized. In addition, by comparing and verifying the measurement data measured by the non-contact three-dimensional shape measuring machine and the three-dimensional design data, the measurement inspection of the three-dimensional shape is performed, so that the shape of the product can be partially inspected. In addition, the entire surface inspection can be performed efficiently. Therefore, a three-dimensional shape measurement / inspection method capable of highly accurate shape measurement / inspection can be obtained.

It is a figure showing the whole 3D shape measurement inspection system composition concerning an embodiment of the present invention. It is a functional block diagram which shows the internal structure of the three-dimensional shape measurement inspection system which concerns on embodiment of this invention. It is a flowchart which shows the manufacturing process of the product which performs the measurement inspection of a three-dimensional shape using the three-dimensional shape measurement inspection system which concerns on embodiment of this invention. It is a flowchart which shows the flow of operation | movement at the time of performing the measurement inspection of the three-dimensional shape of a product using the three-dimensional shape measurement inspection system and three-dimensional shape measurement inspection method which concern on embodiment of this invention.

  Hereinafter, a three-dimensional shape measurement inspection system and a three-dimensional shape measurement inspection method according to an embodiment of the present invention will be described with reference to the drawings to provide an understanding of the present invention. However, the following description does not limit the present invention described in the claims.

First, referring to FIG. 1 and FIG. 2, a three-dimensional shape measurement / inspection system 1 according to an embodiment of the present invention is a system that performs a three-dimensional shape measurement / inspection of a product manufactured by an NC machine tool by a computer.
The three-dimensional shape measurement / inspection system 1 includes a measurement unit 10, a robot arm 20, a computer 30, and a mounting table 50 on which a measurement object 40 is mounted.
In the present embodiment, a foamed polystyrene mold used as a mold for a full mold casting method is used as a product produced by an NC machine tool, and the foamed polystyrene mold is designed with a three-dimensional CAD (3Dimensional Computer Aided Design). The following description shall be given.

The measurement unit 10 is a non-contact type three-dimensional measurement unit and constitutes the non-contact three-dimensional shape measuring means of the present invention. More specifically, it is an image-type three-dimensional measurement unit using a light cutting method. In the present embodiment, a three-dimensional scanner is used as the measurement unit 10. The light cutting method is a method for obtaining data of the three-dimensional position of each point in the captured image using the principle of triangulation based on the captured image of the irradiation laser light.
As shown in FIG. 2, the measurement unit 10 includes a measurement camera 11, a laser beam irradiation unit 12, and a position calculation unit 13.
The operation of the measurement unit 10 is controlled by a non-contact three-dimensional shape measuring means operation program provided in the computer 30.

  The measurement camera 11 is a so-called CCD (Charge Coupled Device) camera, which receives the reflected light reflected from the laser beam irradiation unit 12 to the object to be measured 40 and irradiated with the laser beam. This is for taking an image of the device under test 40 in a state.

  The laser beam irradiation unit 12 is for irradiating the object to be measured 40 with a slit-shaped laser beam.

The position calculation unit 13 is for calculating the distance to the subject at each position in the screen using the principle of triangulation. The position calculation unit 13 calculates a three-dimensional coordinate value (three-dimensional shape) of the surface of the measurement object 40. The calculated three-dimensional coordinate value is transmitted to the computer 30.
Note that the three-dimensional coordinate value calculated by the position calculation unit 13 is a value expressed in the camera coordinate system. Here, the “camera coordinate system” is a coordinate system that the camera has, with the center of the image as the origin, the right direction is the plus direction of the X axis, the down direction is the plus direction of the Y axis, and the front direction of the camera is the Z axis. It means something that goes in the positive direction.

The robot arm 20 is communicably connected to the computer 30 and holds the measurement unit 10 to displace the measurement position of the measurement unit 10.
The robot arm 20 includes a gripping part 21 and a moving mechanism 21.

  The grip 21 is for gripping the measurement unit 10. The gripper 21 may have any configuration as long as it has a structure that can grip the measurement unit 10.

The moving mechanism 21 is for displacing the position of the measurement unit 10 to an arbitrary position within a predetermined range in the three-dimensional space. Specifically, a plurality of joints that can be driven in a straight direction, a horizontal direction, and a rotational direction are provided, and by driving these joints, the position of the measurement unit 10 can be displaced to a desired position. It becomes.
The operation of the robot arm 20 is controlled by a robot arm operation program provided in the computer 30. In addition, in the present invention, as will be described in detail later, an NC machine tool operation program is used as the robot arm operation program.

The computer 30 is for controlling various operations of the three-dimensional shape measurement and inspection system 1, storing various data, and transmitting and receiving various data and various commands.
As shown in FIG. 2, the computer 30 includes a control unit 31, a storage unit 32, a communication unit 33, a display unit 34, an operation unit 35, a coordinate conversion unit 36, and a measurement / inspection unit 37. Is done.

The control unit 31 includes a CPU (Central Processing Unit), and is used to execute control of the system and various operations.
In the present embodiment, as shown in FIG. 1, the control unit 31 includes a hard disk 31 a.

The storage unit 32 includes a ROM (Read Only Memory) and a RAM (Random Access Memory), and stores software, programs, and various data necessary for controlling the system and executing various operations.
In the present embodiment, as shown in FIG. 2, a 3D design data database 32a for storing 3D CAD data, which is a 3D design data of a polystyrene foam type, and a measurement unit operation program for operating the measurement unit 10 Of the measurement unit measured by the measurement unit 10 and the three-dimensional CAD data, the measurement unit software 32b for storing the robot arm operation program for operating the robot arm 20, and the like. Data comparison verification software 32d for storing a data comparison verification program for performing comparison verification, NC machine tool software 32e for storing an NC machine tool operation program for operating an NC machine tool, and a mounting table 50 For operating It is constituted and a table for software 32f stores the platform operating programs and the storage unit 32.
That is, in the present embodiment, the single computer 30 controls the measurement unit 10, the robot arm 20, the data comparison verification software 32d, and the NC machine tool (not shown).
Although not shown, the storage unit 32 includes various software (including various programs) and various data included in a normal computer in addition to the data and software described above.

  The communication unit 33 is used for transmitting / receiving various data and transmitting various processing commands to / from the measurement unit 10, the robot arm 20, and the mounting table 50, and other telecommunication equipment not shown. It is.

The display unit 34 is mainly for displaying various data input / output by the computer 30 and various data transmitted / received to / from other electronic communication devices, and is composed of an LCD (Liquid Crystal Display) or the like. 1 and a display driving circuit for driving the display 34a. The display driving circuit drives the display 34a based on the signal data received by the computer 30. As a result, various kinds of information such as image data and character data are displayed on the display 34a.
The data to be displayed may be data in any format such as image data, character data, audio data, moving image data.

The operation unit 35 is for performing various operations and various instructions of the computer 30, and in this embodiment, as shown in FIG. 1, the operation unit 35 includes a keyboard 35a. Input of text data, various operations, and various instructions are performed via the keyboard 35a.
Note that the operation unit 35 is not limited to the keyboard 35a, and any device such as a mouse or a touch panel provided in a normal computer as the operation unit may be used.

The coordinate conversion unit 36 is based on the three-dimensional coordinate value of the measurement object (object to be measured) calculated by the position calculation unit 13 of the measurement unit 10 and the relationship between the camera coordinate system and the base coordinate system. This is for calculating the three-dimensional coordinate position of the measurement object in the base coordinate system.
Here, the “base coordinate system” means a reference coordinate system fixed in space.
By converting the three-dimensional coordinate values obtained by the camera coordinate system captured by the measurement unit 10 at a plurality of positions and postures to the base coordinate system by the coordinate conversion unit 36, these three-dimensional coordinate values are unified. It becomes possible to handle.

The measurement inspection unit 37 includes measurement data (three-dimensional data) relating to the measurement object 40 acquired by the measurement unit 10 and the coordinate conversion unit 36, and three-dimensional CAD data (three-dimensional design data) of the measurement object 40. This is for comparison verification.
The comparison verification by the measurement inspection unit 37 is controlled by the data comparison verification software 32 d stored in the storage unit 32.
In this embodiment, the data comparison / verification software 32d has an operation program that can handle both the comparison / verification of the shape of a part of the device under test 40 and the comparison / verification of the overall shape of the device under test 40. I have.

The mounting table 50 is connected to the computer 30 so as to be communicable, and is a table on which the object to be measured 40 is mounted and rotated in an arbitrary direction. Although not shown in detail, in the present embodiment, a so-called turntable configured by a base 51 that forms the skeleton of the mounting table 50 and a rotating table 52 is used.
Note that the rotation angle and the rotation speed of the turntable 52 are controlled by the mounting table software 32f described above. The turntable 52 includes various structures and mechanisms that are normally provided in turntables for industrial turntables.
Further, in the present embodiment, the mounting table software 32f analyzes the NC machine tool operation program as the robot arm operation program so that the rotation angle and rotation speed of the rotation table 52 are synchronized with the movement of the robot arm 20, The rotation angle and rotation speed of the turntable 52 are calculated and the operation of the turntable 52 is controlled.

  Next, with reference to FIG. 3, the manufacturing process of the polystyrene foam type | mold in which the measurement inspection of a three-dimensional shape is implemented by the three-dimensional shape measurement inspection system 1 is demonstrated first.

First, using a three-dimensional CAD, polystyrene foam type three-dimensional design data (three-dimensional CAD data) is created (step S1).
The created three-dimensional design data is converted into an NC machine tool operation program (so-called NC data) that can be read by the NC machine tool (step S2). Specifically, an automatic operation program (so-called CL (Cutter)) for automatically operating an NC machine tool on 3D design data created by 3D CAD by 3D CAM (Computer Aided Manufacturing) associated with 3D CAD. Location) data), and further, the automatic operation program is converted into NC data that can be read by the NC machine tool.

Thereafter, a plurality of polystyrene parts to be the basis of the polystyrene foam type are manufactured using an NC machine tool (step S3).
Manually combine the parts of the produced polystyrene foam. This completes the expanded polystyrene mold (step S4).

  Next, with reference to FIG. 4, the flow of operation of the three-dimensional shape measurement / inspection system 1 and the three-dimensional shape measurement / inspection method for measuring and inspecting the three-dimensional shape of the polystyrene foam type will be described.

First, using the measuring unit 10 and the robot arm 20, the three-dimensional shape of the object to be measured (foamed polystyrene type) 40 is measured (step S5). Specifically, the robot arm 20 is driven, and the measurement unit 10 is photographed to measure the three-dimensional shape. This step S5 constitutes a non-contact three-dimensional shape measurement step and a non-contact three-dimensional shape measuring machine displacement step of the three-dimensional shape measurement method of the present invention. In the present embodiment, the NC machine tool operation program for operating the NC machine tool is used as the operation program for executing the non-contact three-dimensional shape measuring machine displacement step.
Specifically, the NC machine tool operation program used when manufacturing the parts on the NC machine tool according to each part for measuring the three-dimensional shape of each part constituting the polystyrene foam type to be measured. In this configuration, the robot arm 20 is operated.

  Next, three-dimensional shape data is created by the position calculation unit 13 of the measurement unit 10 and transmitted to the coordinate conversion unit 36 of the computer 30, and the three-dimensional coordinate position of the measurement object in the base coordinate system is calculated, and the storage unit 32. (Step S6).

  Thereafter, comparison verification between the created three-dimensional shape data (three-dimensional coordinate position data) of the measured object 40 and the three-dimensional CAD data (three-dimensional design data) of the measured object 40 stored in the storage unit 32 is performed. Is performed (step S7). This step S7 constitutes a data comparison verification step of the three-dimensional shape measurement inspection method of the present invention.

And the result of the comparison verification by the measurement inspection part 37 is displayed on the display part 34 (step 8).
More specifically, for example, the difference between the measured value of the three-dimensional shape data of the measured object 40 and the value of the three-dimensional design data (three-dimensional CAD data) can be displayed numerically. Further, for example, an error between the value of the measured three-dimensional shape data of the measured object 40 and the value of the three-dimensional design data can be displayed as a percentage, or the third order of the measured measured object 40 can be displayed. When the value of the original shape data is within the range of tolerance values registered in advance, a pass display may be displayed, and otherwise, a reject display may be displayed. That is, the output form of the result of the comparison verification by the measurement inspection unit 37 may be any form.

  Thus, the three-dimensional shape measurement inspection is completed.

  The three-dimensional shape measurement / inspection system and the three-dimensional shape measurement / inspection method of the present invention having such a configuration have the following effects.

  By configuring the NC machine tool operation program as an operation program for operating the robot arm 20 for displacing the measurement unit 10 for measuring the three-dimensional shape of the DUT 40, the robot arm 20 is operated. There is no need to create a separate operation program from scratch. Therefore, since the man-hours required for robot teaching of the robot arm 20 are not required, it is possible to realize the efficiency and cost saving of the three-dimensional shape measurement and inspection system 1 and the three-dimensional shape measurement and inspection method.

  Also, a configuration for performing a measurement inspection of the DUT 40 by comparing and verifying the measurement data (3D shape data) of the DUT 40 measured by the measurement unit 10 and the 3D CAD data (3D design data) By doing so, in addition to the partial inspection of the shape of the object to be measured 40, the entire surface inspection can be efficiently performed. Therefore, the three-dimensional shape measurement / inspection system 1 and the three-dimensional shape measurement / inspection method capable of highly accurate shape measurement / inspection can be provided.

  In addition, by using a foamed polystyrene mold as a mold for the full mold casting method as a product to be measured 40, the time required for the shape measurement inspection is shortened compared to the conventional shape measurement inspection by a skilled person. Can be realized effectively. Therefore, it is possible to achieve further efficient and cost-saving and realize a highly accurate three-dimensional shape measurement inspection.

  Further, in order to synchronize the operation of the turntable 52 with the movement of the robot arm 20, the mounting table software 32f analyzes the NC machine tool operation program as the robot arm operation program and calculates the rotation angle and rotation speed of the turntable 52. And by setting it as the structure which controls operation | movement of the turntable 52, the three-dimensional shape of the to-be-measured object 40 can be measured with the measurement unit 10 more efficiently. Therefore, the three-dimensional shape measurement and inspection system 1 and the three-dimensional shape measurement and inspection method that are more efficient can be obtained.

  In addition, centralized management of systems and processes can be achieved by controlling the measurement unit 10, the robot arm 20, the data comparison verification software 32d, and the NC machine tool (not shown) with a single computer 30. Thus, the three-dimensional shape measurement / inspection system 1 and the three-dimensional shape measurement / inspection method that can realize further cost saving and downsizing can be provided.

  In the present embodiment, the three-dimensional CAD data is used as the three-dimensional design data for producing the device to be measured 40. However, the present invention is not necessarily limited to such a configuration. For example, three-dimensional CG (Computer Graphics) data may be used instead of the three-dimensional CAD data. Moreover, it is good also as a structure which mixes and uses 3D CAD data and 3D CG data. With such a configuration, it is possible to effectively extend the range of products to be measured and inspected, and a 3D shape measurement and inspection system and a 3D shape measurement and inspection system that can handle various products. It can be a method.

  Further, in this embodiment, a foamed polystyrene mold that is a mold for the full mold casting method is used as the object to be measured 40. Any one may be used. For example, as the object to be measured 40, various metal processed products manufactured by an NC machine tool can be used. By adopting such a configuration, efficiency, cost saving, and high accuracy can be effectively realized in the three-dimensional shape measurement inspection of the metal processed product.

  According to the present invention, in the three-dimensional shape measurement and inspection system and the three-dimensional shape inspection method of the product manufactured by the NC machine tool, it is possible to realize efficiency and cost saving. Industrial applicability is high in the field of shape measurement inspection methods.

DESCRIPTION OF SYMBOLS 1 3D shape measurement inspection system 10 Measurement unit 11 Measurement camera 12 Laser beam irradiation part 13 Position calculation part 20 Robot arm 21 Gripping part 22 Moving mechanism 30 Computer 31 Control part 32 Storage part 32a 3D design data database 32b Measurement unit Software 32c robot arm software 32d data comparison verification software 32e NC machine tool software 32f mounting table software 33 communication unit 34 display unit 35 operation unit 36 coordinate conversion unit 37 measurement inspection unit 40 object to be measured 50 mounting table 51 base Table 52 Turntable

Claims (4)

  Non-contact three-dimensional shape measuring means for measuring the three-dimensional shape of the object to be measured, a robot arm for displacing the measurement position of the non-contact three-dimensional shape measuring means, and measurement data measured by the non-contact three-dimensional shape measuring means Comparison verification software for comparing and verifying the three-dimensional design data of the object to be measured, the data comparison verification software, the non-contact three-dimensional shape measuring means, and an operation program for operating the robot arm A three-dimensional shape measurement / inspection system for measuring and inspecting a three-dimensional shape of a product manufactured by an NC machine tool, the computer including the three-dimensional design data of the product, Non-contact three-dimensional shape measuring means operation program for operating non-contact three-dimensional shape measuring means and the data comparison verification software In addition to the data comparison verification software operation program for operating the air, the NC machine tool operation program for operating the NC machine tool is stored in the storage unit, and the robot arm operation for operating the robot arm A three-dimensional shape measurement and inspection system, wherein the robot arm is operated using the NC machine tool operation program as a program.   The three-dimensional shape measurement / inspection system according to claim 1, wherein the product is a foamed polystyrene type used as a mold for a full mold casting method.   The three-dimensional shape measurement / inspection system according to claim 1, wherein the three-dimensional design data is at least one of three-dimensional CAD data and three-dimensional CG data.   A non-contact three-dimensional shape measuring step for measuring the three-dimensional shape of the object to be measured with a non-contact three-dimensional shape measuring machine, and a non-contact third order for moving the measurement position of the non-contact three-dimensional shape measuring machine by operating a robot arm. An original shape measuring machine displacement step, and a data comparison verification step for comparing and verifying the measurement data measured by the non-contact 3D shape measuring machine and the 3D design data of the object to be measured. A three-dimensional shape measurement and inspection method for measuring and inspecting the shape of a manufactured product by a computer, wherein each of the non-contact three-dimensional shape measurement step, the non-contact three-dimensional shape measuring machine displacement step, and the data comparison verification step The steps are executed by an operation program for executing each step provided in the computer, and the non-contact three-dimensional shape measuring machine displacement step is performed. As an operation program for performing the flop, three-dimensional shape measurement and inspection method which comprises using the NC machine tool operation program for operating the NC machine tool.

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