EP1846747A1 - Apparatus for the three-dimensional scanning of objects - Google Patents

Apparatus for the three-dimensional scanning of objects

Info

Publication number
EP1846747A1
EP1846747A1 EP06706781A EP06706781A EP1846747A1 EP 1846747 A1 EP1846747 A1 EP 1846747A1 EP 06706781 A EP06706781 A EP 06706781A EP 06706781 A EP06706781 A EP 06706781A EP 1846747 A1 EP1846747 A1 EP 1846747A1
Authority
EP
European Patent Office
Prior art keywords
hexapod
designed
legs
scanned
optical sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06706781A
Other languages
German (de)
French (fr)
Inventor
Hubert Kammer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1846747A1 publication Critical patent/EP1846747A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

Definitions

  • the invention relates to a device for the three-dimensional scanning of objects moved past a stationary optical sensor, with a six-legged slide designed as a hexapod for receiving the object to be scanned.
  • the invention is based on the invention to provide a cost-effective and easy-to-use device for performing a scanning process.
  • the device according to this task is characterized according to the invention in that the object is arranged on a turntable supported by the hexapod.
  • the additional turntable disposed on the hexapod it is particularly easy to move the object to be scanned past the optical sensor by utilizing the six degrees of freedom of the slide.
  • the use of the additional turntable enables a simple and fast rotation of the object to be scanned by 360 °, whereas the rotation of a slide carried only by the six hexapod legs is limited to 30 ° to 40 °, since then the hexapod legs obstruct each other.
  • the optical sensor is designed as a light section sensor. Such sensors have proven to scan three-dimensional objects.
  • the hexapod invention is designed as a manually adjustable passive hexapod, the legs are preferably designed exclusively adjustable in length. Due to the proposed manual adjustability, the use of expensive and maintenance-intensive servo and spindle drives can be dispensed with.
  • the length adjustability of the legs of the hexapod is inventively preferably effected via a spring mechanism arranged in the legs.
  • the sensors of these components are arranged on both the legs of the hexapod and on the turntable of the slide.
  • these sensors are designed as counting pulses recording encoder.
  • the turntable has a locking device for fixing the object to be scanned so as to fix the object to be scanned on the slide and thus in relation to the optical sensor.
  • the locking device is designed as a clamping device.
  • the locking device is designed as a magnetically acting holding device.
  • the device shown in the figure for the three-dimensional scanning of moving past a stationary optical sensor objects consists essentially of a frame 1, arranged on the frame 1 slide 2 and a fixed in the frame 1 and arranged on the slide 2 optical sensor.
  • the designed as a hexapod slide 2 consists of six exclusively length-adjustable legs 4 and carried by the legs 4 of the Hexapoden turntable 5.
  • the turntable 5 further comprises a locking device 6 for fixing the object to be scanned.
  • the locking device 6 is designed as a clamping device in which an object to be scanned is fixed by clamping.
  • the locking device 6 for example, as a magnetically acting holding device.
  • the movements of these components 4, 5 detecting sensors 7 are arranged on the legs 4 of the hexapod and on the turntable 5. These sensors 7 are preferably designed as counting pulses recording encoder.
  • the apparatus for three-dimensionally scanning objects moved past a stationary optical sensor operates as follows:
  • the object to be scanned for example a dental denture impression, is fixed on the locking device 6 of the slide 2 in order to connect it immovably to the slide 2.
  • the preferably designed as a two-dimensional measuring light-section sensor optical sensor 3 is fixedly arranged in the frame 1 of the scanning device, that it is always aligned with the fixed in the locking device 6 object.
  • the object to be scanned is moved by rotating the turntable 5 as well as shortening and lengthening the length-adjustable legs 4 of the hexapod on the optical sensor 3 so that it detects the object to be scanned from all sides.
  • the counting pulses recorded by the measuring sensors 7 on the legs 4 of the hexapod and on the turntable 5 are converted into three-dimensional spatial coordinates by means of software, which determine the position of the object to be scanned with respect to the reproduce the optical sensor 3.
  • These three-dimensional spatial coordinates are correlated with the respectively corresponding two-dimensional information of the optical sensor 3 and a three-dimensional representation is generated directly from these correlated data which can be displayed to the user of the scanning device directly on a monitor 8, for example, via a data line 9 connected to the scanning device.
  • This immediate representation of the scan as a three-dimensional representation allows the user to check immediately during the scanning process, whether the object to be scanned was completely, that is, completely captured. Should the user discover when viewing the displayed three-dimensional representation that there are still gaps in the measurement data, this representation shows him directly where the measurement data gaps exist, so that these gaps can be rescanned immediately and selectively.
  • the illustrated and described apparatus for three-dimensional scanning of objects moved past a stationary optical sensor is thus characterized in that it enables the user to check the scan process for completeness directly.
  • the scanning device is easy to handle and inexpensive to manufacture due to the manual operation of the slide 2.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention relates to an apparatus for three-dimensionally scanning objects that are moved past a stationary optical sensor (3). Said apparatus comprises a six-legged object support (2) which is used for accommodating the object that is to be scanned and is embodied as a hexapod. In order to create an apparatus which is provided with an inexpensive structure while making it possible to carry out a scanning process that is easy to handle, the object is disposed on a rotary disk (5) supported by the hexapod.

Description

Vorrichtung zum dreidimensionalen Scannen von Objekten Device for three-dimensional scanning of objects
Die Erfindung betrifft eine Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor vorbeibewegten Objekten, mit einem zur Aufnahme des zu scannenden Objekts dienenden, als Hexapoden ausgebildeten sechsbeinigen Objektträgers.The invention relates to a device for the three-dimensional scanning of objects moved past a stationary optical sensor, with a six-legged slide designed as a hexapod for receiving the object to be scanned.
Aus der Praxis sind verschiedene Verfahren zum Scannen dreidimensionaler Objekte bekannt, bei denen das zu scannende Objekt an einem ortsfesten optischen Sensor, beispielsweise einem Lichtschnittsensor vorbeibewegt wird. Bei diesen bekannten Verfahren werden die von dem Scanner erfassten Informationen am Ende des gesamten Scanvorgangs ausgewertet und als dreidimensionale Darstellung wiedergegeben. Insbesondere beim Scannen unbekannter Objekte, bei denen kein Vergleich von abgespeicherten Soll-Werten und aktuell erfassten Ist-Werten erfolgen kann, besteht die Gefahr, dass wirkliche alle Messpunkte des zu scannenden Objekts vom Scanner erfasst wurden. Wenn bei der Auswertung am Ende des Scanvorgangs festgestellt wird; dass einzelne Teilbereiche des Objekts nicht oder nicht vollständig erfasst wurden, ist es fast unmöglich, diese im Mikrometerbereich liegenden Bereich exakt anzufahren, um ein gezieltes Nachscannen durchzuführen.From practice, various methods for scanning three-dimensional objects are known in which the object to be scanned is moved past a stationary optical sensor, for example a light-section sensor. In these known methods, the information acquired by the scanner is evaluated at the end of the entire scanning process and reproduced as a three-dimensional representation. In particular, when scanning unknown objects in which no comparison can be made of stored setpoint values and currently recorded actual values, there is the danger that all actual measuring points of the object to be scanned have been detected by the scanner. If detected during evaluation at the end of the scan; That individual subregions of the object were not or not completely recorded, it is almost impossible to exactly drive this area lying in the micrometer range, in order to carry out a targeted re-scanning.
Zum Tragen und Führen der zu scannenden Objekte ist es beispielsweise aus der US 2003/0081717 A1 bekannt, einen als Hexapoden ausgebildeten sechsbeinigen Objektträger zu verwenden, der aufgrund seiner Geometrie eine Bewegung des Objekts in allen sechs Freiheitsgraden ermöglicht. Der Aufbau und die Handha- bung dieser bekannten Hexapoden, deren Beine servogesteuerte Spindelantriebe aufweisen, ist jedoch außerordentlich kostenintensiv und kompliziert.For carrying and guiding the objects to be scanned, it is known, for example, from US 2003/0081717 A1 to use a six-legged slide designed as a hexapod, which, due to its geometry, makes it possible to move the object in all six degrees of freedom. The structure and the handling However, this known Hexapoden whose legs have servo-controlled spindle drives, however, is extremely expensive and complicated.
Davon ausgehend liegt der Erfindung die A u f g a b e zugrunde, eine kostengünstige und einfach zu handhabende Vorrichtung zur Durchführung eines Scannverfahrens zu schaffen.On this basis, the invention is based on the invention to provide a cost-effective and easy-to-use device for performing a scanning process.
Die vorrichtungsmäßige L ö s u n g dieser Aufgabenstellung zeichnet sich erfindungsgemäß dadurch aus, dass das Objekt auf einem von dem Hexapoden getragenen Drehteller angeordnet ist. Durch die Verwendung des auf dem Hexapoden angeordneten zusätzlichen Drehtellers ist es besonders einfach, das zu scannende Objekt unter Ausnutzung der sechs Freiheitsgrade des Objektträgers an dem optischen Sensor vorbeizubewegen. Die Verwendung des zusätzlichen Drehtellers ermöglicht eine einfache und schnelle Rotation des zu scannenden Objekts um 360°, wohingegen die Rotation eines nur von den sechs Hexapodenbeinen getragenen Objektträgers auf 30° bis 40° beschränkt ist, da sich dann die Hexapoden- beine gegenseitig behindern.The device according to this task is characterized according to the invention in that the object is arranged on a turntable supported by the hexapod. By using the additional turntable disposed on the hexapod, it is particularly easy to move the object to be scanned past the optical sensor by utilizing the six degrees of freedom of the slide. The use of the additional turntable enables a simple and fast rotation of the object to be scanned by 360 °, whereas the rotation of a slide carried only by the six hexapod legs is limited to 30 ° to 40 °, since then the hexapod legs obstruct each other.
Gemäß einer praktischen Ausführungsform der Erfindung wird vorgeschlagen, dass der optische Sensor als Lichtschnittsensor ausgebildet ist. Derartige Sensoren haben sich zum Scannen dreidimensionaler Objekte bewährt.According to a practical embodiment of the invention, it is proposed that the optical sensor is designed as a light section sensor. Such sensors have proven to scan three-dimensional objects.
Um den Aufbau und die Handhabung des als Hexapoden ausgebildeten Objektträgers kostengünstig und einfach zu gestalten, ist der erfindungsgemäße Hexapod als manuell verstellbarer passiver Hexapod ausgebildet, dessen Beine vorzugsweise ausschließlich längenverstellbar ausgebildet sind. Durch die vorgeschlagene manuelle Verstellbarkeit kann auf den Einsatz teurer und wartungsintensiver Ser- vo- und Spindelantriebe verzichtet werden.In order to make the construction and handling of the designed as a hexapod slide cheap and easy, the hexapod invention is designed as a manually adjustable passive hexapod, the legs are preferably designed exclusively adjustable in length. Due to the proposed manual adjustability, the use of expensive and maintenance-intensive servo and spindle drives can be dispensed with.
Die Längenverstellbarkeit der Beine des Hexapoden ist erfindungsgemäß vorzugsweise über einen in den Beinen angeordneten Federmechanismus bewirkbar. Alternativ ist es auch möglich, die Beine des Hexapoden hydraulisch oder pneumatisch längenverstellbar auszubilden. Zur Ermittlung der räumlichen Lage des zu scannenden Objekts im Bezug zum optischen Sensor sind sowohl an den Beinen des Hexapoden als auch am Drehteller des Objektträgers die Bewegungen dieser Bauteile erfassende Messaufnehmer angeordnet. Vorzugsweise sind diese Messaufnehmer als Zählimpulse aufzeichnende Encoder ausgebildet.The length adjustability of the legs of the hexapod is inventively preferably effected via a spring mechanism arranged in the legs. Alternatively, it is also possible to make the legs of the hexapod hydraulically or pneumatically adjustable in length. To determine the spatial position of the object to be scanned with respect to the optical sensor, the sensors of these components are arranged on both the legs of the hexapod and on the turntable of the slide. Preferably, these sensors are designed as counting pulses recording encoder.
Weiterhin wird mit der Erfindung vorgeschlagen, dass der Drehteller eine Arretiervorrichtung zum Festlegen des zu scannenden Objekts aufweist, um so das zu scannende Objekt am Objektträger und somit in Relation zum optischen Sensor zu fixieren. Gemäß einer ersten erfindungsgemäßen Ausführungsform ist die Arretiervorrichtung als Einspannvorrichtung ausgebildet.Furthermore, it is proposed with the invention that the turntable has a locking device for fixing the object to be scanned so as to fix the object to be scanned on the slide and thus in relation to the optical sensor. According to a first embodiment of the invention, the locking device is designed as a clamping device.
Schließlich wird mit der Erfindung vorgeschlagen, dass gemäß einer alternativen Ausgestaltungsform die Arretiervorrichtung als magnetisch wirkende Haltevorrichtung ausgebildet ist.Finally, it is proposed with the invention that, according to an alternative embodiment, the locking device is designed as a magnetically acting holding device.
Weitere Merkmale und Vorteile der Erfindung ergeben sich anhand der zugehörigen Zeichnung, in der ein Ausführungsbeispiel einer erfindungsgemäßen Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor vorbeibewegten Objekten nur beispielhaft in einer perspektivischen Ansicht dargestellt ist.Further features and advantages of the invention will become apparent from the accompanying drawing, in which an embodiment of an inventive device for three-dimensional scanning of objects moved past a stationary optical sensor is shown by way of example only in a perspective view.
Die in der Abbildung dargestellte Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor vorbeibewegten Objekten besteht im Wesentlichen aus einem Rahmen 1 , einem auf dem Rahmen 1 angeordneten Objektträger 2 sowie einem ortsfest im Rahmen 1 angeordneten und auf den Objektträger 2 ausgerichteten optischen Sensor 3.The device shown in the figure for the three-dimensional scanning of moving past a stationary optical sensor objects consists essentially of a frame 1, arranged on the frame 1 slide 2 and a fixed in the frame 1 and arranged on the slide 2 optical sensor. 3
Der als Hexapod ausgebildete Objektträger 2 besteht aus sechs ausschließlich längenverstellbaren Beinen 4 sowie einem von den Beinen 4 des Hexapoden getragenen Drehteller 5. Wie aus der Abbildung ersichtlich, weist der Drehteller 5 weiterhin eine Arretiervorrichtung 6 zum Festlegen des zu scannenden Objekts auf.The designed as a hexapod slide 2 consists of six exclusively length-adjustable legs 4 and carried by the legs 4 of the Hexapoden turntable 5. As can be seen from the figure, the turntable 5 further comprises a locking device 6 for fixing the object to be scanned.
Die Kombination der paarweise Anordnung der um 120° versetzt zueinander angeordneten ausschließlich längenverstellbaren Beine 4 mit dem von den Beinen 4 getragenen Drehteller 5 ermöglicht eine Bewegung eines in der Arretiervorrichtung 6 fixierten Objektes um alle sechs Freiheitsgrade im Bezug zum ortsfest im Rahmen 1 angeordneten optischen Sensor 3. Um einerseits die Handhabung zu erleichtern und andererseits die Fertigungs- und Wartungskosten zu minimieren ist der Hexapod als passiver, das heißt ausschließlich manuell verstellbarer Hexapod ausgebildet.The combination of the pairwise arrangement of the 120 ° staggered to each other exclusively length-adjustable legs 4 with the legs of the 4 supported turntable 5 allows movement of a fixed in the locking device 6 object by all six degrees of freedom with respect to the stationary in frame 1 arranged optical sensor 3. On the one hand to facilitate handling and on the other hand to minimize the manufacturing and maintenance costs of Hexapod is passive, that is exclusively designed manually adjustable hexapod.
Bei der dargestellten Ausführungsform ist die Arretiervorrichtung 6 als Einspannvorrichtung ausgebildet, in der ein zu scannendes Objekt klemmend festlegbar ist. Selbstverständlich ist es auch möglich, die Arretiervorrichtung 6 beispielsweise als magnetisch wirkende Haltevorrichtung auszubilden.In the illustrated embodiment, the locking device 6 is designed as a clamping device in which an object to be scanned is fixed by clamping. Of course, it is also possible to form the locking device 6, for example, as a magnetically acting holding device.
Um die räumliche Lage des auf dem Objektträger 2 angeordneten zu scannenden Objekts im Bezug zum optischen Sensor 3 erfassen zu können, sind an den Beinen 4 des Hexapoden und am Drehteller 5 die Bewegungen dieser Bauteile 4, 5 erfassende Messaufnehmer 7 angeordnet. Diese Messaufnehmer 7 sind vorzugsweise als Zählimpulse aufzeichnende Encoder ausgebildet.In order to be able to detect the spatial position of the object to be scanned on the object to be scanned with respect to the optical sensor 3, the movements of these components 4, 5 detecting sensors 7 are arranged on the legs 4 of the hexapod and on the turntable 5. These sensors 7 are preferably designed as counting pulses recording encoder.
Die Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor vorbeibewegten Objekten arbeitet wie folgt:The apparatus for three-dimensionally scanning objects moved past a stationary optical sensor operates as follows:
Zu Beginn des Scanvorgangs wird das zu scannende Objekt, beispielsweise ein zahnmedizinischer Gebissabdruck, auf der Arretiervorrichtung 6 des Objektträgers 2 fixiert, um dieses unverrückbar mit dem Objektträger 2 zu verbinden.At the beginning of the scanning process, the object to be scanned, for example a dental denture impression, is fixed on the locking device 6 of the slide 2 in order to connect it immovably to the slide 2.
Der vorzugsweise als zweidimensional messender Lichtschnittsensor ausgebildete optische Sensor 3 ist ortsfest so in dem Rahmen 1 der Scanvorrichtung angeordnet, dass dieser immer auf das in der Arretiervorrichtung 6 festgelegte Objekt ausgerichtet ist.The preferably designed as a two-dimensional measuring light-section sensor optical sensor 3 is fixedly arranged in the frame 1 of the scanning device, that it is always aligned with the fixed in the locking device 6 object.
Anschließend wird das zu scannende Objekt durch Drehen des Drehtellers 5 sowie Verkürzen und Verlängern der längenverstellbaren Beine 4 des Hexapoden so am optischen Sensor 3 vorbeibewegt, dass dieser das zu scannende Objekt von allen Seiten erfasst. Um dem Benutzer der Scanvorrichtung ein Überprüfen des Scanvorgangs auf Vollständigkeit zu ermöglichen, werden die von den Messaufnehmern 7 an den Beinen 4 des Hexapoden sowie am Drehteller 5 aufgezeichneten Zählimpulse mittels einer Software in dreidimensionale Raumkoordinaten umgerechnet, die die Lage des zu scannenden Objekts im Bezug zum optischen Sensor 3 wiedergeben. Diese dreidimensionale Raumkoordinaten werden mit den jeweils korrespondierenden zweidimensionalen Informationen des optischen Sensors 3 in Korrelation gesetzt und aus diesen korrelierten Daten unmittelbar in Echtzeit eine dreidimensionale Darstellung erzeugt, die dem Benutzer der Scanvorrichtung beispielsweise direkt auf einem Monitor 8 angezeigt werden kann, der über eine Datenleitung 9 mit der Scanvorrichtung verbunden ist.Subsequently, the object to be scanned is moved by rotating the turntable 5 as well as shortening and lengthening the length-adjustable legs 4 of the hexapod on the optical sensor 3 so that it detects the object to be scanned from all sides. In order to allow the user of the scanning device to check the scanning process for completeness, the counting pulses recorded by the measuring sensors 7 on the legs 4 of the hexapod and on the turntable 5 are converted into three-dimensional spatial coordinates by means of software, which determine the position of the object to be scanned with respect to the reproduce the optical sensor 3. These three-dimensional spatial coordinates are correlated with the respectively corresponding two-dimensional information of the optical sensor 3 and a three-dimensional representation is generated directly from these correlated data which can be displayed to the user of the scanning device directly on a monitor 8, for example, via a data line 9 connected to the scanning device.
Diese unmittelbare Darstellung des Scanvorgangs als dreidimensionale Darstellung ermöglicht es dem Benutzer sofort während des Scanvorgangs zu überprüfen, ob das zu scannende Objekt vollständig, das heißt lückenlos erfasst wurde. Sollte der Benutzer bei der Betrachtung der angezeigten dreidimensionale Darstellung feststellen, dass noch Lücken in den Messdaten vorhanden sind, so zeigt ihm diese Darstellung direkt, wo die Messdatenlücken vorliegen, so dass diese lückenhaften Teilbereiche sofort und gezielt noch einmal nachgescannt werden können.This immediate representation of the scan as a three-dimensional representation allows the user to check immediately during the scanning process, whether the object to be scanned was completely, that is, completely captured. Should the user discover when viewing the displayed three-dimensional representation that there are still gaps in the measurement data, this representation shows him directly where the measurement data gaps exist, so that these gaps can be rescanned immediately and selectively.
Die dargestellte und beschriebene Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor vorbeibewegten Objekten zeichnet sich somit dadurch aus, dass sie dem Benutzer eine unmittelbare Überprüfung des Scanvorgangs auf Vollständigkeit ermöglicht. Darüber hinaus ist die Scanvorrichtung einfach zu handhaben und aufgrund des manuellen Betriebs des Objektträgers 2 kostengünstig zu fertigen. The illustrated and described apparatus for three-dimensional scanning of objects moved past a stationary optical sensor is thus characterized in that it enables the user to check the scan process for completeness directly. In addition, the scanning device is easy to handle and inexpensive to manufacture due to the manual operation of the slide 2.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
1 Rahmen1 frame
2 Objektträger2 slides
3 optischer Sensor3 optical sensor
4 Bein4 leg
5 Drehteller5 turntables
6 Arretiervorrichtung6 locking device
7 Messaufnehmer7 sensors
8 Monitor8 monitor
9 Daten Ie itung 9 Data Ie ment

Claims

Patentansprüche claims
1. Vorrichtung zum dreidimensionalen Scannen von an einem ortsfesten optischen Sensor (3) vorbeibewegten Objekten, mit einem zur Aufnahme des zu scannenden Objekts dienenden, als Hexapoden ausgebildeten sechsbeinigen Objektträgers (2), dad u rch gekennzeichnet, dass das Objekt auf einem von dem Hexapoden getragenen Drehteller (5) angeordnet ist.1. Device for the three-dimensional scanning of objects moving past a stationary optical sensor (3), with a six-legged slide (2) designed as a hexapod for receiving the object to be scanned, characterized in that the object is located on one of the hexapods worn turntable (5) is arranged.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der optische Sensor (3) als Lichtschnittsensor ausgebildet ist.2. Apparatus according to claim 1, characterized in that the optical sensor (3) is designed as a light section sensor.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der He- xapod als ausschließlich manuell verstellbarer passiver Hexapod ausgebildet ist.3. Apparatus according to claim 1 or 2, characterized in that the hexapod is designed as exclusively manually adjustable passive hexapod.
4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Beine (4) des Hexapoden ausschließlich längenverstellbar ausgebildet sind.4. Device according to one of claims 1 to 3, characterized in that the legs (4) of the hexapod are formed exclusively adjustable in length.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Längenver- stellbarkeit der Beine (4) des Hexapoden über einen Federmechanismus bewirkbar ist.5. The device according to claim 4, characterized in that the length adjustability of the legs (4) of the hexapod via a spring mechanism is effected.
6. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Beine (4) des Hexapoden hydraulisch längenversteilbar ausgebildet sind.6. Apparatus according to claim 4, characterized in that the legs (4) of the hexapod are formed hydraulically adjustable in length.
7. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Beine (4) des Hexapoden pneumatisch längenverstellbar ausgebildet sind.7. The device according to claim 4, characterized in that the legs (4) of the hexapod are pneumatically adjustable in length.
8. Vorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass an den Beinen (4) des Hexapoden und am Drehteller (5) die Bewegungen dieser Bauteile (4, 5) erfassende Messaufnehmer (7) angeordnet sind. 8. Device according to one of claims 1 to 7, characterized in that on the legs (4) of the hexapod and on the turntable (5) the movements of these components (4, 5) detecting measuring sensor (7) are arranged.
9. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Messaufnehmer (7) als Zählimpulse aufzeichnende Encoder ausgebildet sind.9. Apparatus according to claim 4, characterized in that the sensors (7) are designed as counting pulses recording encoder.
10. Vorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass der Drehteller (5) eine Arretiervorrichtung (6) zum Festlegen des zu scannenden Objekts aufweist.10. Device according to one of claims 1 to 9, characterized in that the turntable (5) has a locking device (6) for fixing the object to be scanned.
11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass die Arretiervorrichtung (6) als Einspannvorrichtung ausgebildet ist.11. The device according to claim 10, characterized in that the locking device (6) is designed as a clamping device.
12. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass die Arretiervorrichtung (6) als magnetisch wirkende Haltevorrichtung ausgebildet ist.12. The device according to claim 10, characterized in that the locking device (6) is designed as a magnetically acting holding device.
13. Vorrichtung nach einem der Ansprüche 1 bis 12, gekennzeichnet durch einen Monitor (8) zur unmittelbaren dreidimensionalen Darstellung des gescannten Objektabschnitts. 13. Device according to one of claims 1 to 12, characterized by a monitor (8) for the immediate three-dimensional representation of the scanned object portion.
EP06706781A 2005-02-10 2006-02-09 Apparatus for the three-dimensional scanning of objects Withdrawn EP1846747A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005006069A DE102005006069A1 (en) 2005-02-10 2005-02-10 Method and device for three-dimensional scanning of objects
PCT/EP2006/001146 WO2006084691A1 (en) 2005-02-10 2006-02-09 Apparatus for the three-dimensional scanning of objects

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EP1846747A1 true EP1846747A1 (en) 2007-10-24

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US (1) US20080007736A1 (en)
EP (1) EP1846747A1 (en)
JP (1) JP2008537094A (en)
DE (1) DE102005006069A1 (en)
WO (1) WO2006084691A1 (en)

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