WO2019123589A1

WO2019123589A1 - Three-dimensional shape measurement device

Info

Publication number: WO2019123589A1
Application number: PCT/JP2017/045848
Authority: WO
Inventors: 博仁廣橋
Original assignee: 株式会社フリックフィット
Priority date: 2017-12-21
Filing date: 2017-12-21
Publication date: 2019-06-27
Also published as: JP6423984B1; CN111556952A; CN111556952B; JPWO2019123589A1

Abstract

Provided is a three-dimensional shape measurement device capable of quickly and highly accurately measuring the shape of, for example, the inner periphery of a shoe by using a simple and inexpensive structure. This three-dimensional shape measurement device comprises a base (10) and a device body (20) supported by the base (10). The device body (20) comprises: an optical length measurement device (210) for emitting emitted laser light (LB1) from a laser light source (211), using a laser light beam position detector (212) to receive reflected laser light (LB2) that has been reflected by an object (shoe SH) of measurement, and measuring the position of a reflection point (P) on the object of measurement using triangulation; a rotating mirror (230) supported at the bottom of a support (220) so as to be capable of rotating around a mirror rotation shaft (231); a mirror rotation device (240) for rotating the mirror rotation shaft (231) and scanning the emitted laser light (LB1); and a device body rotation device (40) for rotating the device body (20) in relation to the base (10) so as to scan the emitted laser light (LB1) reflected by the rotating mirror (230).

Description

Three-dimensional shape measuring device

The present disclosure relates to a three-dimensional shape measurement apparatus.

In the past, it has been proposed to digitize the internal shape of the shoe and digitize the shape of the foot and compare the two to estimate and visualize the fitting state when the shoe is worn (for example, patent documents) 1).
In this prior art, in quantifying the internal shape of the shoe, a molded plastic is used to form a mold that forms the internal shape of the shoe, and the shape of the mold is measured to digitize the internal shape of the shoe.
Further, as an apparatus for measuring a three-dimensional shape, there is also known an apparatus for irradiating an object to be measured with laser light and imaging it to measure a three-dimensional shape (for example, see Patent Document 2).

JP 2017-97563 A JP, 2012-149912, A

However, in the prior art described in Patent Document 1 above, it takes a lot of time and money to produce a mold made of foamed plastic for each measurement of the internal shape of the shoe. In addition, when making a mold, it is necessary to be careful not to contaminate the shoes, which is inefficient, and additionally, it takes time and money to discard and recycle the mold after measurement.

In addition, the technology described in Patent Document 2 requires significant downsizing in order to measure the shape of a narrow space such as a shoe, but the downsizing of the tip portion having a plurality of mirrors and a driving unit It is difficult and difficult to use for measurement of narrow space shapes. Furthermore, in the case of moving and imaging the light emitting part at the tip using a plurality of joints, in the case of shape measurement, it is necessary to calculate the position of the tip at which the position changes accurately. The time required to calculate

The present disclosure has been made in view of such conventional problems, and it is possible to measure the shape of a narrow space such as the inner circumference of a shoe with high accuracy in a short time by a simple and inexpensive configuration. An object of the present invention is to provide a shape measurement apparatus.

In order to achieve this object, the three-dimensional shape measuring device of this disclosure
With the base,
An apparatus main body supported by the base;
The device body is
An optical length measuring apparatus that emits an outgoing laser beam from an irradiation unit, receives a reflected laser beam reflected by a measurement object at a light reception unit, and measures the position of a reflection point on the measurement object by triangulation method When,
A mirror which is disposed apart from the optical length measuring device in the emitting direction of the outgoing laser light, and which has an axis directed in a direction substantially orthogonal to the emitting direction to a support member coupled to the optical length measuring device. It is supported so as to be pivotable about a pivot axis, and reflects the emitted laser beam toward the measurement object and reflects the reflected laser beam reflected by the measurement object toward the light receiving portion. Moving mirror,
A mirror rotation device for rotating the mirror rotation axis to scan the emitted laser light;
And an apparatus main assembly rotating apparatus configured to rotate the apparatus main assembly with respect to the base so as to scan the outgoing laser light reflected by the rotating mirror in the circumferential direction.

In the three-dimensional shape measurement device of the present disclosure, the shape of a narrow space such as the inner periphery of a shoe can be measured with high accuracy in a short time with a simple and inexpensive configuration.

BRIEF DESCRIPTION OF THE DRAWINGS It is whole schematic which shows the three-dimensional shape measuring apparatus of Embodiment 1 of this indication. FIG. 1 is a cross-sectional view of a three-dimensional shape measuring apparatus according to a first embodiment viewed in plan. It is a longitudinal cross-sectional view in the position of a turntable of the three-dimensional shape measuring apparatus of Embodiment 1. FIG. It is a side view which is applied to a three-dimensional shape measuring device of Embodiment 1, and shows a device main part. FIG. 2 is a structure explanatory view of a mirror rotation device applied to the three-dimensional shape measurement device of the first embodiment.

Hereinafter, a three-dimensional shape measurement apparatus according to Embodiment 1 of the present disclosure will be described based on the drawings.
Embodiment 1
First, the configuration of the three-dimensional shape measurement apparatus according to the first embodiment will be described.
FIG. 1 is an overall schematic view showing a three-dimensional shape measuring apparatus according to the first embodiment, and the three-dimensional shape measuring apparatus according to the first embodiment includes a base 10, an apparatus main body 20, and a back and forth moving device 30 2 and 3), the apparatus main assembly turning device 40, and the vertical movement device 50.

The base 10 supports the apparatus main body 20 and the shoe SH which is an object to be measured, and includes a frame 11, an upper support plate 12, and a lower support plate 13.
The frame 11 forms a substantially rectangular parallelepiped framework, and includes legs 11 a erected at four places in the horizontal direction.
The upper support plate 12 and the lower support plate 13 are vertically separated from each other and supported by the middle portion of the leg 11a, and the upper ends of the legs 11a are connected by the upper frame 11b.

As shown in FIG. 2 which is a cross-sectional view of the three-dimensional measurement device according to the first embodiment viewed from above, the upper support plate 12 has a rectangular slide hole 12a open from above as viewed from above and is viewed in plan Is formed in a rectangular ring shape.
The lower support plate 13 is formed in a rectangular plate shape in plan view having the same outer peripheral dimension as the outer periphery of the upper support plate 12, although the illustration of the planar shape is omitted. Therefore, as shown in FIG. 1, the shoe SH can be placed on the upper surface thereof.

The device body 20 has an optical length measuring device 210 at the top, and a support 220 vertically extended from the optical length measuring device 210, which will be described later in detail. The device body 20 is supported by the upper support plate 12 with the support 220 penetrating the slide hole 12 a of the upper support plate 12. Although details will be described later, the support of the apparatus main body 20 by the upper side support plate 12 is a support in which a slide plate 31 and a turn table 41 described later are interposed. That is, the apparatus main body 20 is supported by a turntable 41 described later, the turntable 41 is supported by the slide plate 31, and the slide plate 31 is supported by the upper support plate 12.

The longitudinal movement device 30 is for moving the device body 20 in the direction of the x-axis in FIG. 1 with respect to the upper side support plate 12 (this direction is hereinafter referred to as the longitudinal direction), and as shown in FIG. A plate 31, a motor 32 for back and forth movement, a reduction gear 33, and a pulley mechanism 34 are provided. In each drawing, a direction orthogonal to the x-axis in the horizontal direction is represented as a y-axis, which is hereinafter referred to as the left-right direction. Further, a direction orthogonal to the x axis and the y axis is represented as az axis, and hereinafter, this is referred to as a vertical direction.

The slide plate 31 is formed to have a lateral width slightly smaller than the lateral width (the width in the y-axis direction) of the slide hole 12a, and is slidably supported in the longitudinal direction. That is, as shown in FIG. 3 which is a longitudinal sectional view of the three-dimensional shape measuring apparatus according to the first embodiment at the position of a turn table 41 described later,

slide flanges

12f and 12f are provided at the left and right ends of the slide hole 12a. It is formed to protrude. Further, in the slide plate 31,

engaging flanges

31f, 31f provided at both ends in the left-right direction are engaged with the upper side of the

sliding flanges

12f, 12f in the vertical direction. Therefore, the slide plate 31 is supported by the upper support plate 12 so as to be movable in the front-rear direction along the

slide flanges

12f, 12f.

In addition, the slide plate 31 moves in the front-rear direction along the slide hole 12 a by the drive of the front-rear movement motor 32. That is, the back and forth movement motor 32 is attached to the lower surface of the upper support plate 12, and the reduction gear 33 is provided on the drive shaft 32 a of the back and forth movement motor 32. Then, the rotation decelerated by the reduction gear 33 is transmitted to the pulley mechanism 34.

The pulley mechanism 34 includes a pulley 34a rotated by the reduction gear 33, and a pair of

belts

34b and 34c wound by the pulley 34a. That is, the

belts

34b and 34c are attached to the lower surface of the slide plate 31 so as to be separated in the front-rear direction with the pulley 34a interposed therebetween. Therefore, when the pulley 34a rotates in one direction, the one of the

belts

34b and 34c is wound up, and the slide plate 31 slides in one of the front and rear (for example, the front). In addition, when the pulley 34a rotates in the forward and reverse direction, the other of the

belts

34b and 34c is wound up, and the slide plate 31 slides in the other direction (for example, backward).

Therefore, in the longitudinal movement device 30, the sliding plate 31 moves in the longitudinal direction (direction of the x-axis) with respect to the upper side supporting plate 12 by driving the longitudinal movement motor 32 forward and reversely. The supported apparatus body 20 moves in the front-rear direction.

Returning to FIG. 1, the apparatus body rotation apparatus 40 includes a turntable 41, a turntable driving timing belt 42, and a turntable rotation motor 43.
The turntable 41 is formed in a circular shape in plan view as shown in FIG. 2 and is formed in a plate shape as shown in FIG. It is rotatably supported. That is, a circular support hole 31 a is opened at the center of the slide plate 31, a bearing 44 is provided on the inner periphery of the support hole 31 a, and the turntable 41 is supported by the bearing 44.

Further, as shown in FIG. 1, the turntable rotation motor 43 is supported on the slide plate 31 by a gate-shaped bracket 43a with the drive shaft facing downward. Then, the turntable drive timing belt 42 is bridged over the drive gear 43 b rotated by the drive shaft of the turntable rotation motor 43 and the table gear 41 a (see FIG. 3) formed on the outer periphery of the turntable 41. ing.

Therefore, when the turntable rotation motor 43 is driven to rotate the drive gear 43b, the rotation is transmitted to the table gear 41a via the turntable drive timing belt 42, and the turntable 41 rotates with respect to the slide plate 31. . The rotation of the turntable 41 can be performed in the forward or reverse direction, that is, in either of the clockwise direction and the counterclockwise direction in FIG. 2 by forward and reverse rotation of the turntable rotation motor 43. It has become.

Therefore, in the apparatus body rotation device 40, when the turntable rotation motor 43 is driven in the forward and reverse direction, the turntable 41 rotates clockwise relative to the slide plate 31 as viewed from above centering on the z-axis along the z-axis. Rotate clockwise. And thereby, the apparatus main body 20 supported by the turntable 41 rotates clockwise and anticlockwise rotation direction seeing from upper direction centering on za axis.

The vertical movement device 50 includes a slide support bracket 51, a vertical movement motor 52, and a vertical movement rack gear 53.

The slide support bracket 51 is provided upright on the turn table 41, and is formed in a U-shaped cross section in plan view as shown in FIG. 2, and supports the column 220 of the device body 20 so as to be vertically slidable by the inner surface of the U doing.
The vertical movement motor 52 is supported by a bracket 52b fixed to the turn table 41, and has a pinion gear 52a on the rotation shaft.
The vertical movement rack gear 53 extends in the vertical direction along the side surface of the support 220. The vertical movement rack gear 53 and the pinion gear 52 a mesh with each other through a window 51 b (see FIG. 1) opened at the side of the slide support bracket 51.

Therefore, when the vertical movement motor 52 of the vertical movement device 50 is driven to rotate in the forward and reverse directions, the support 220, that is, the device main body 20 moves up and down along the slide support bracket 51.

As described above, in the apparatus main body 20 supported by the turntable 41 and the slide plate 31, the slide plate 31 moves in the front-rear direction (direction of the x-axis) with respect to the upper support plate 12 by the front-rear moving device 30. Move in the back and forth direction. Further, the apparatus body 20 rotates about the za axis when the turntable 41 rotates about the za axis with respect to the upper support plate 12 of the base 10 by the apparatus body rotating device 40. The apparatus main body 20 can move up and down by moving the support 220 in the vertical direction (direction along the z-axis) with respect to the turntable 41 by the vertical movement device 50.

Next, the device body 20 will be described.
FIG. 4 is a side view showing the device body 20. The device body 20 includes an optical length measuring device 210, a support 220, a pivoting mirror 230, and a mirror pivoting device 240.

The optical length measuring device 210 includes a laser light source 211 and a laser beam position detector 212. Further, the support 220 has a pivoting mirror 230 at a position directly below the laser light source 211. The laser beam position detector 212 is disposed so as to be capable of receiving the reflected laser beam LB2 reflected by the rotating mirror 230.

In the optical length measuring apparatus 210 configured as described above, the output laser beam LB1 emitted from the laser light source 211 is reflected by the rotating mirror 230, and the object to be measured is measured from the three-dimensional shape measuring apparatus (shoes SH) Irradiate. Then, the laser beam position detector 212 receives the reflected laser beam LB2 which is incident on the rotating mirror 230 and is reflected among the laser beams reflected by the object to be measured (shoes SH).

The optical length measuring device 210 detects the incident position of the reflected laser beam LB2 received by the laser beam position detector 212, and measures the target object from the distance and incident angle of the incident position of the laser light source 211 and the reflected laser beam LB2. The distance to the reflection point P (laser measurement point) in the shoe SH) is measured.

The laser light source 211 and the rotation mirror 230 are disposed such that the laser light source 211 and the emission laser light LB1 to be emitted are disposed on the za axis which is the rotation center of the turn table 41 described above. Therefore, when the turntable 41 is rotated, the emission laser beam LB1 reaching the laser light source 211 and the rotation mirror 230 is always disposed on the za axis.

Also, the horizontal dimensions of the support 220 and the pivoting mirror 230 are such that they do not interfere with the lining (inner side) of the shoe SH when the support 220 and the pivoting mirror 230 pivot about the za axis. . Specifically, the support 220 and the pivoting mirror 230 are formed to fit within a circle with a radius of 25 mm centered on the za axis.

(Mirror rotation device)
Next, the mirror rotation device 240 will be described.
The mirror rotation device 240 is a device that rotates the rotation mirror 230 in the vertical direction about the mirror rotation shaft 231 to scan the emitted laser beam LB1 in the vertical direction. The pivoting mirror 230 is supported so as to be vertically pivotable about a mirror pivoting shaft 231 provided at the lower end portion of the support 220.

FIG. 5 is a view for explaining the structure of the mirror rotation device 240. The mirror rotation device 240 includes a rotation arm 241, a connection link 242, an eccentric cam 243, and a mirror rotation motor 244.
The proximal end portion of the pivoting arm 241 is, together with the pivoting mirror 230, supported by the support 220 so as to be pivotable in the vertical direction about the mirror pivoting axis 231.

The tip end portion of the pivoting arm 241 is coupled to the eccentric cam 243 via a coupling link 242. That is, as shown in FIGS. 1 and 4, the eccentric cam 243 rotates about a cam rotation shaft 243c shown in FIG. 5 on a bracket 243b coupled to the lower surface of the optical length measuring device 210 and the support 220. It is supported possible.

The lower end portion of the connection link 242 is connected to the tip end portion of the rotation arm 241 so as to be relatively rotatable around the rotation connection shaft 242 a. On the other hand, the upper end portion of the connection link 242 is relatively rotatably coupled to the eccentric position of the eccentric cam 243, that is, the position away from the cam rotation shaft 243c in the outer diameter direction about the rotation connection shaft 242b. . The connection link is disposed at a position away from the rotation mirror 230 in the direction along the axial direction of the mirror rotation shaft 231 so as not to interfere with the emission laser beam LB1 and the reflection laser beam LB2.

The mirror rotation motor 244 is supported by the bracket 243 b in the same manner as the eccentric cam 243, transmits its rotation to the eccentric cam 243 via a speed reduction mechanism (not shown), and rotates the eccentric cam 243.

Therefore, when the eccentric cam 243 rotates, the pivoting connection shaft 242b of the upper end portion of the connection link 242 is displaced in the vertical direction, and accordingly, the pivoting connection shaft 242a of the lower end portion of the connection link 242 is displaced vertically. The pivot arm 241 pivots up and down about the mirror pivot shaft 231.

Here, for the eccentric cam 243 and the pivot arm 241, the pivot connection shaft 242b is at an intermediate position between the top dead center and the bottom dead center of the eccentric cam 243 (the same height as the cam rotary shaft 243c (hereinafter referred to as neutral point And the pivoting arm 241 is substantially horizontal. Thus, the pivoting arm 241 pivots upward and downward by approximately the same angle around a substantially horizontal neutral point.

The pivoting mirror 230 and the pivoting arm 241 with respect to the mirror pivoting axis 231 are inclined at approximately 45 degrees with respect to the horizontal direction when the pivoting arm 241 is positioned at a substantially horizontal neutral point. It is attached out of phase.

Therefore, when the pivoting arm 241 is located at the neutral point, the outgoing laser beam LB1 emitted from the laser light source 211 is illuminated substantially horizontally when it is reflected by the pivoting mirror 230. Also, as the rotating arm 241 rotates up and down around the neutral point, the reflected laser beam LB2 reflected by the rotating mirror 230 has a symmetrical angle between the upper side and the lower side around the horizontal direction. And scanned at angular velocity. In the first embodiment, the outgoing laser beam LB1 is scanned at an angle of approximately 20 to 30 degrees, with the upward scanning angle α and the downward scanning angle β being substantially the same.

(Operation of Embodiment 1)
The procedure of measuring the internal shape of the shoe SH will be described below as the operation of the first embodiment.
First, the apparatus main body 20 is moved upward with respect to the base 10 by the vertical movement device 50, and the support 220 is separated upward from the lower support plate 13.

Next, as shown in FIG. 1, the shoe SH is placed on the lower support plate 13 of the base 10. Then, the longitudinal direction of the shoe SH is directed in the front and back direction (direction of the x axis), and further, in the left and right direction (direction of the y axis) Arrange so as to substantially coincide with (za axis).

Next, the vertical movement device 50 is operated, and as shown in FIGS. 1 and 4, the position of the mirror rotation shaft 231 is “below the footwear port TL of the shoe SH and from the insole of the shoe SH The apparatus main body 20 is lowered until the upper position is reached.

Then, the emission laser beam LB1 is irradiated from the laser light source 211 of the optical length measuring device 210. At the same time, the mirror rotation device 240 is operated to swing the rotation mirror 230 up and down in a reciprocating manner, thereby scanning the emission laser beam LB1 up and down.

At this time, in the optical length measuring apparatus 210, the laser beam position detection of the reflected laser beam LB2 in which the emitted laser beam LB1 is reflected by the inner surface (reflection point P) of the shoe SH and is reflected and received by the rotating mirror 230. The light is received by the detector 212. Then, the optical length measuring device 210 detects the incident position of the reflected laser beam LB2 received by the laser beam position detector 212 and detects the distance from the incident position of the laser light source 211 and the incident position of the reflected laser beam LB2 and the incident angle. Measure the distance to the reflection point P on the inner surface of the SH.

That is, the reflection point P of the object to be measured is determined by the rotation angle (tilt φ) of the rotation mirror 230, the rotation angle (direction θ) including the rotation mirror 230, and the distance from the rotation mirror 230. The spatial coordinates of can be determined.

The above-mentioned scanning is performed while operating the device body rotation device 40 while rotating the device body 20 around the za axis, and further, operating the longitudinal movement device 30 to move the device body 20 in the front-rear direction (x axis direction Move to). As a result, the emitted laser beam LB1 can be scanned over the entire peripheral surface of the inner surface of the shoe SH, and the internal shape of the shoe SH can be measured and quantified. At the lower scanning angle β of the emission laser beam LB1, a portion where the emission laser beam LB1 is not scanned is generated at a position immediately below the rotating mirror 230 in the insole portion of the shoe SH. For this reason, the apparatus main body 20 can be moved forward and backward, and the lower part of the outgoing laser beam LB1 can be scanned also in a part which is not scanned.

By performing the above operation, several hundreds to several tens of thousands of laser measurement points can be measured as the number of laser measurement points which are reflection points P in all directions in the shoe SH, and the shoes are connected by combining their space coordinates. The internal shape of SH can be measured (digitized).
Further, as described above, the emission laser beam LB1 can be scanned to digitize the inner surface shape of the shoe SH, which can be performed in about 30 seconds to 10 minutes although it varies depending on the number of measurement points. Therefore, compared with producing a mold made of foamed plastic, the time, labor and cost can be significantly reduced, and moreover, when producing the mold, a device that does not contaminate the shoe SH, and disposal of the mold after measurement And no need for recycling.

As described above, the vertical movement device 50 not only moves the pivoting mirror 230 to a position optimum for measuring the shape of the shoe SH, but also performs scanning of the emission laser beam LB1. It is also possible to move the main body 20 (rotational view 230). That is, when the shoe SH measures a boot whose inner circumferential shape is long in the vertical direction, the above-mentioned scanning of the emitted laser beam LB1 is performed while moving the apparatus main body 20 vertically by the vertical movement device 50. It is also possible to measure the inner circumferential shape.

(Effect of Embodiment 1)
1) The three-dimensional shape measuring apparatus of Embodiment 1
Base 10,
An apparatus body 20 supported by the base 10;
The device body 20 is
The emission laser beam LB1 is emitted from the laser light source 211 as the irradiation unit, and the reflected laser beam LB2 reflected by the measurement object (shoes SH) is received by the laser beam position detector 212 as the light reception unit, and the triangulation method is performed. An optical length measuring device 210 for measuring the position of the reflection point P on the measurement object,
The support 220 coupled to the optical length measuring device 210 is disposed at a lower position, which is the emission direction of the laser beam LB1 emitted from the laser light source 211 as the irradiation unit, and has an axis in the direction substantially orthogonal to the emission direction. The laser beam LB2 is supported so as to be pivotable about the mirror pivot shaft 231 directed, reflects the emitted laser beam LB1 toward the object to be measured (shoes SH), and reflects the reflected laser beam LB2 reflected at the reflection point P as a laser beam A pivoting mirror 230 which reflects towards the position detector 212;
A mirror rotation device 240 for rotating the mirror rotation shaft 231 to scan the emitted laser beam LB1;
A device body rotation device 40 for rotating the device body 20 relative to the base 10 so as to scan the emission laser beam LB1 reflected by the rotation mirror 230 in the circumferential direction;
Equipped with
Therefore, even if the measurement object is a narrow space (the inner circumference of the shoe SH) where it is difficult to directly irradiate the output laser beam LB1 from the laser light source 211 of the optical length measuring device 210, the pivoting mirror 230 is disposed in the space Then, the emission laser beam LB1 is irradiated, and the position of the reflection point P can be measured. Then, the turning mirror 230 is turned by the mirror turning device 240 to scan the emitted laser beam LB1, and further, the device body turning device 40 can turn the device body 20 to scan in all directions. Therefore, the internal shape of a narrow space such as the inner circumference of the shoe SH can be measured.
Further, since the optical length measuring device 210 measures the position of the reflection point P by the triangulation method, the reflection point P such as the internal shape of the shoe SH is compared with that measured by the reflection time of the laser light or the like. Even short distances can be measured with high accuracy.
As described above, in the three-dimensional shape measurement apparatus according to the first embodiment, the shape of a narrow space such as the inner periphery of the shoe SH can be measured with high accuracy in a short time with a simple and inexpensive configuration.

In addition, in the first embodiment, the rotation center (za axis) of the device body rotation device 40 is made to substantially coincide with the optical axis of the emitted laser beam LB1 emitted from the laser light source 211, and the device body 20 is rotated. Even so, the optical axis did not move. Therefore, when the device body 20 is rotated by the device body rotating device 40, the calculation by the optical length measuring device 210 can be facilitated as compared with the case where the optical axis is also rotated. For this reason, while being able to simplify the structure which performs arithmetic processing of the optical length measuring apparatus 210, arithmetic time can be shortened.

2) The three-dimensional shape measuring apparatus according to the first embodiment
The base 10 moves the device body 20 relative to the base 10 in the vertical direction, which is the emission direction, along the extending direction (vertical direction) of the support 220 relative to the base 10. A vertical movement device 50 as a movement device is provided.
Therefore, the rotation mirror 230 can be moved by moving the device body 20 in the extending direction of the support 220. As a result, the reflection position (emission position) of the emission laser beam LB1 from the rotation mirror 230 is moved to move the scanning range of the emission laser beam LB1, and a wide range of scanning is possible. That is, a wider range of shape measurement is possible, and the pivoting mirror 230 can be moved to the optimum position for measurement.

3) The three-dimensional shape measuring apparatus according to the first embodiment
The base 10 is provided with a back and forth moving device 30 as a second moving device for moving the device body 20 along one direction (front and back direction) perpendicular to the base 10 in the emission direction.
Therefore, the rotation mirror 230 can be moved by moving the device body 20 in the direction orthogonal to the extending direction of the support 220. As a result, the reflection position (emission position) of the emission laser beam LB1 from the rotation mirror 230 is moved to move the scanning range of the emission laser beam LB1, thereby enabling a wider range of scanning. That is, a wide range of shape measurement is possible, and the pivoting mirror 230 can be moved to the optimum position for measurement.

4) The three-dimensional shape measuring apparatus according to the first embodiment
In the device body 20, the direction of emission is directed downward, and the support 220 is extended downward from the optical length measuring device 210.
Therefore, the apparatus body 20 may be moved up and down by the vertical movement device 50 which is the first movement device, and may be moved in the front and back direction which is one horizontal direction by the longitudinal movement device 30 which is the second movement device. it can.
Further, the emission laser beam LB1 reflected from the rotation mirror 230 by the apparatus main assembly rotation device 40 can be scanned over the entire circumference in the horizontal direction.
Therefore, it is most suitable for measuring the inner circumferential shape of the shoe SH disposed with the wear opening TL facing upward.

5) The three-dimensional shape measuring apparatus according to the first embodiment
The mirror rotation device 240 is
A pivot arm 241 connected to the mirror pivot shaft 231 and extending outward from the mirror pivot shaft 231;
A driving unit that vertically pivots the pivoting arm 241;
Equipped with
The drive unit is
An eccentric cam 243 rotatably supported by the apparatus main body 20 about a cam rotation shaft 243c;
An eccentric cam 243 and a pivoting arm 241 are coupled, and a pivoting coupling shaft 242a as a first coupling portion is coupled to the eccentric cam 243 so as to be relatively pivotable at a position away from the cam rotary shaft 243c in the outer diameter direction. A connection link 242 having a rotation connection shaft 242b as a second connection portion connected to the rotation arm 241 at a position separated from the mirror rotation shaft 231;
Equipped with
The pivoting connection shaft 242 a is reflected by the pivoting mirror 230 at the neutral point between the top dead center position most separated from the pivoting arm 241 and the bottom dead center position closest to the pivoting arm 241. The positions of the pivoting arm 241 and the pivoting mirror 230 are set so that the emitting laser beam LB1 is directed in the horizontal direction orthogonal to the vertical direction which is the irradiation direction from the laser light source 211.
Therefore, the emission laser beam LB1 reflected by the rotating mirror 230 can be scanned at uniform angles and changes in angular velocity up and down around the horizontal direction, as compared with the case of scanning at non-uniform angles and changes in angular velocity from above and below. Thus, it is easy to calculate the position of the reflection point P.
Conversely, when the irradiation position of the outgoing laser beam LB1 at the neutral point is irradiated unevenly in the upper and lower directions, the angular velocity is also uneven in the upper and lower directions, and the efficiency (speed) of the measurement of the position of the reflection point P Falls.

6) The three-dimensional shape measuring apparatus according to the first embodiment
The size of the support 220 including the rotation mirror 230 is formed to fit within a circle having a radius of 25 mm from the za axis of the rotation center of the apparatus main body 20.
Therefore, when the three-dimensional shape measurement apparatus according to the first embodiment is used to measure the shape of the inner periphery of the shoe SH, the apparatus main body 20 is rotated about the za axis to scan the emitted laser beam LB1 in the horizontal direction. At the same time, interference between the support 220 and the pivoting mirror 230 with the shoe SH can be suppressed.
Therefore, the three-dimensional shape measuring apparatus of Embodiment 1 can be made suitable for use in measuring the inner circumferential shape of the shoe SH.
In addition, it is also suitable for measuring the internal shape of a narrow space other than the shoe SH.

Although the three-dimensional shape measuring apparatus of the embodiment has been described above based on the drawings, the specific configuration of the three-dimensional shape measuring apparatus is not limited to this embodiment, and Changes in design, additions, and the like are permitted without departing from the scope of the invention as claimed.

For example, in the three-dimensional shape measuring apparatus according to the embodiment, an example in which the three-dimensional measurement object is the inner shape of the shoe is shown, but the measurement object is not limited to the inner circumferential shape of the shoe .
Further, in the embodiment, the support is extended downward from the device main body, and the device main body rotating device rotates the device main body substantially along the horizontal plane. However, the extending direction of the column and the rotating direction of the device body are not limited to this, for example, upside down or extending the column in a substantially horizontal direction, and rotating the device body about a horizontal axis You may make it
In the case of such a structure, the object to be measured may be other than the shoe as described above, and even in the case of measuring the inner circumferential shape of the shoe, the direction of the shoe is as in the embodiment. The measurement may be performed by pointing downward or sideways instead of pointing upward.

Furthermore, in the embodiment, in addition to the apparatus body rotation device, the one including the vertical movement device as the first movement device and the longitudinal movement device as the second movement device is shown, but the invention is not limited thereto. That is, even if the first moving device and the second moving device do not have either, it is possible to emit the outgoing laser light to the entire circumference in the circumferential direction to measure the three-dimensional shape. Alternatively, even if the first moving device and the second moving device are not provided as described above, the moving direction by the first moving device and the moving direction by the second moving device are manually moved. It may be possible.
In addition, only one of the first moving device and the second moving device may be provided.

Moreover, although the support | pillar of U-shaped cross-sectional shape was shown as a support member in embodiment, the shape of this support member is not limited to this. That is, the support member may be any member capable of pivotally supporting the pivoting mirror at a position away from the optical length measuring device in the emission direction of the emission laser light, for example, a round rod shape It may be one that does not extend linearly in the emission direction, but may have a shape that is curved or bent halfway.

Further, in the embodiment, as the drive unit for rotating the mirror rotation shaft, the one that converts the rotational movement of the disk-shaped eccentric cam into the vertical reciprocation movement of the rotation arm is shown, but the invention is not limited thereto. . For example, a structure may be used in which rotational motion is transmitted as rotational motion using a pulley, a belt, or the like as the mirror pivot shaft. Alternatively, instead of the eccentric cam, for example, the vertical movement of the slider that slides up and down by forward and reverse rotation of the motor may be transmitted to the pivoting arm.
Furthermore, the eccentric cam is at the neutral position even when the mirror rotation device shown in the embodiment is used and the outgoing laser light is emitted from the rotation mirror in the horizontal direction at the neutral point. If the first connecting portion of the eccentric cam is disposed in the tangential direction of the rotation locus with respect to the rotation arm at that time, the angle of the rotation arm at that time is not limited to horizontal, therefore The angle between the moving mirror and the pivoting arm is not limited to 45 degrees.

Further, in the embodiment, the pivoting arm and the pivoting mirror are shown to form an angle of 45 degrees, but the angle between the two is not limited to this. For example, even with the structure of the drive unit similar to that of the embodiment, the neutral point of the irradiation range by the rotating mirror may be vertically shifted about ± 5 degrees with respect to the horizontal.
Alternatively, the relative positions of the pivoting arm and the eccentric cam may be arranged such that the neutral point of the pivoting arm is inclined with respect to the horizontal.

10: base 20: apparatus body 30: back and forth movement device (second movement device)
40 Apparatus Body Rotating Device 50 Vertically Moving Device (First Moving Device)
210 Optical measuring device 211 Laser light source (irradiator)
212 Laser beam position detector (light receiving unit)
220 support (support member)
230 Rotation mirror 231 Mirror rotation shaft 240 Mirror rotation device 241 Rotation arm 242 Connection link 242 a Rotation connection shaft (second connection portion)
242b Rotating connecting shaft (first connecting part)
243 Eccentric cam 243c Cam rotating shaft 244 Mirror rotation motor LB1 Emitting laser beam LB2 Reflection laser beam P Reflection point SH Shoes TL Footwear port

Claims

With the base,
An apparatus main body supported by the base;
The device body is
An optical length measuring apparatus that emits an outgoing laser beam from an irradiation unit, receives a reflected laser beam reflected by a measurement object at a light reception unit, and measures the position of a reflection point on the measurement object by triangulation method When,
A mirror rotation axis which is disposed on a supporting member coupled to the optical length measuring device at a distance in the emission direction of the emission laser beam from the irradiation unit and which is directed substantially in the orthogonal direction to the emission direction. A pivoting mirror supported rotatably about the center, reflecting the emitted laser light toward the object to be measured, and reflecting the reflected laser light reflected by the object to the light receiving portion ,
A mirror rotation device for rotating the mirror rotation axis to scan the emitted laser light;
An apparatus main assembly rotating apparatus configured to rotate the apparatus main body with respect to the base so as to scan the outgoing laser light reflected by the rotating mirror in the circumferential direction;
Three-dimensional shape measuring device provided with
In the three-dimensional shape measuring apparatus according to claim 1,
The said base is a three-dimensional shape measuring apparatus provided with the 1st movement apparatus which moves the said apparatus main body with respect to the said radiation | emission direction with respect to the said base.
In the three-dimensional shape measuring apparatus according to claim 1 or 2,
The base is provided with a second moving device for moving the device body along one direction orthogonal to the emitting direction with respect to the base.
The three-dimensional shape measurement apparatus according to any one of claims 1 to 3.
The device body has the emission direction directed downward, and the support member extends downward from the optical length measuring device.
The three-dimensional shape measurement apparatus according to any one of claims 1 to 4.
The mirror rotation device is
A pivoting arm connected to the mirror pivot and extending radially outward from the mirror pivot;
A driving unit that vertically pivots the pivoting arm;
Three-dimensional shape measuring device provided with
In the three-dimensional shape measuring apparatus according to claim 5,
The drive unit is
An eccentric cam rotatably supported on the apparatus body about a cam rotation axis;
A first connecting portion that connects the eccentric cam and the pivoting arm, and is coupled to the eccentric cam so as to be able to rotate relative to the eccentric cam at a position away from the rotating shaft in the outer diameter direction; A connecting arm having a second connecting portion connected at a position away from the rotation axis;
Equipped with
The emission laser beam reflected by the pivoting mirror at the middle position between the pivoting arm and the position closest to the pivoting arm, in the emission direction. The three-dimensional shape measuring apparatus in which the positions of the pivoting arm and the pivoting mirror are set so as to face the orthogonal direction with respect to each other.
The three-dimensional shape measurement apparatus according to any one of claims 1 to 6.
The three-dimensional shape measuring apparatus, wherein the size of the support member including the pivoting mirror is formed to fit within a circle having a radius of 25 mm from the pivoting center of the apparatus main body.