An automatic intraoral scanning system according to the present invention includes a scanning head which measures the three-dimensional shape of a tooth, and a multi-axis robot unit which moves and rotates the scanning head so that the scanning head automatically measures the tooth. The multi-axis robot unit has a first arm that is connected to a device main body in a horizontally rotatable manner, a second arm that is connected to the first arm in a horizontally rotatable manner, a vertical arm that is connected to the second arm in such a manner as to be rotatable in the vertical direction, and a supporting member that is connected to the vertical arm in such a manner as to be liftable in the vertical direction and which is mounted with the scanning head. The supporting member is configured to be connected to the vertical arm in a horizontally rotatable manner so that the scanning head can measure the upper surface, front surface, and rear surface of a tooth. The tooth is measured by automatically moving a scanner head, and thus the time for an operation is reduced, a more precise three-dimensional image can be obtained, and the three surfaces (upper surface, front surface, and rear surface) of a tooth can be measured sequentially in a single operation since a pivoting motion of the scanner head is enabled.La présente invention concerne un système de scanner intra-oral automatique comprenant une tête de lecture qui mesure la forme tridimensionnelle dune dent, et un robot multiaxial qui déplace et fait pivoter la tête de lecture de manière à ce que celle-ci mesure automatiquement la dent. Lunité de robot multiaxial possède les éléments suivants : un premier bras relié à un corps principal de dispositif dune manière horizontalement rotative un second bras relié au premier bras dune manière horizontalement rotative un bras vertical relié au second bras de manière à pouvoir pivoter dans la direction verticale et un élément de soutien relié au bras vertical de maniè
