# US 11,442,427 B2 · Multiaxis machining device and compensation method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,427 B2 - Document ID: US11442427B2 - Status: Granted - Kind: B2 - Application number: 16/726,915 - Filed: 2019-12-25 - Published: 2021-07-01 - Granted: 2022-09-13 - Earliest claimed: 2019-12-25 - Assignees: National Chung Shan Institute of Science and Technology - Applicants: National Chung-Shan Institute of Science and Technology - Inventors: Yi-Yuh Hwang; Li-Chung Liu - Web page: https://patentgrep.com/patent/US11442427B2 ## CPC - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - B23Q 11/0007: {by compensating occurring thermal dilations (B23Q15/18 takes precedence)} - B23Q 17/22: for indicating or measuring existing or desired position of tool or work {(B23Q16/005 takes precedence)} - B23Q 17/2428: {for measuring existing positions of tools or workpieces} - B23Q 23/00: Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms (automatic control B23Q15/00) - G01B 11/00: Measuring arrangements characterised by the use of optical techniques - G01B 11/002: {for measuring two or more coordinates} - G01B 11/02: for measuring length, width or thickness (G01B11/08 takes precedence) - G01B 11/026: {by measuring distance between sensor and object (G01B11/0608 takes precedence)} - G01B 11/24: for measuring contours or curvatures - G01B 11/30: for measuring roughness or irregularity of surfaces - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - B23Q 1/62: with perpendicular axes, e.g. cross-slides - B23Q 1/626: {followed perpendicularly by a single sliding pair} - G05B 2219/37281: Laser range finder - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ## Abstract The present invention provides a planar three-dimensional displacement sensor for a multiaxis machining device. With the measurement of the (planar) three-dimensional displacement sensor in the multiaxis machining device, the multiaxis machining device and a multiaxis machining compensation method are able to eliminate various deformation effects effectively. ## Claims ### Claim 1 A three-dimensional displacement sensor, comprising: a secure element, wherein the secure element is a hollowed shell and has a first outer wall, a second outer wall, a third outer wall, a fourth outer wall, and a fifth outer wall, wherein each of the first outer wall, the second outer wall, the third outer wall, the fourth outer wall and the fifth outer wall has a hole, wherein the first outer wall and the third outer wall face an x-axis of the secure element, wherein the second outer wall and the fourth outer wall face a y-axis of the secure element, wherein the fifth outer wall faces a z-axis of the secure element; a first displacement sensing component, comprising a first coherent light source and a first light source sensor arranged in pairs on the first outer wall and the third outer wall; a second displacement sensing component, comprising a second coherent light source and a second light source sensor arranged in pairs on the second outer wall and the fourth outer wall; and a third displacement sensing component, wherein the third displacement sensing component is a laser confocal displacement sensor, a color confocal displacement sensor, a white light interference displacement sensor, or a triangulation laser displacement sensor, wherein the third displacement sensing component is disposed on the fifth outer wall. ### Claim 2 (depends on 1) The three-dimensional displacement sensor according to claim 1, wherein the first coherent light source and the first light source sensor measure the object under test through the hole of the first outer wall and the hole of the third outer wall respectively, wherein the second coherent light source and the second light source sensor measure the object under test through the hole of the second outer wall and the hole of the fourth outer wall respectively, wherein the third displacement sensing component measures the object under test through the hole of the fifth outer wall. ### Claim 3 (depends on 2) The three-dimensional displacement sensor according to claim 2, wherein the first displacement sensing component, the second displacement sensing component, and the third displacement sensing component measure a same surface of the object under test. ### Claim 4 A multiaxis machining device, comprising: a reference positioning base, made of low thermal expansion material; a translation platform support, disposed beneath the reference positioning base, wherein the translation platform support comprises a support body, an x-axis slide shaft, a y-axis slide shaft, and a z-axis slide shaft, wherein the x-axis slide shaft is coupled to the y-axis slide shaft, wherein the x-axis slide shaft is slidable along the y-axis slide shaft, wherein the y-axis slide shaft and the z-axis slide shaft are confined in the support body, wherein a bright spot ruler made of low thermal expansion material is arranged on one side of the z-axis slide shaft; a first slider module, comprising a first slider, wherein the first slider is coupled to the x-axis slide shaft, wherein the first slider is slidable along the x-axis slide shaft; a second slider module, comprising a second slider, wherein the second slider is coupled to the z-axis slide shaft, wherein the second slider is slidable along the z-axis slide shaft; a first three-dimensional displacement sensor, fixed to the first slider module; a second three-dimensional displacement sensor, fixed to the second slider module; and a third three-dimensional displacement sensor, fixed to the bright spot ruler. ### Claim 5 (depends on 4) The multiaxis machining device according to claim 4, wherein the first three-dimensional displacement sensor, the second three-dimensional displacement sensor, or the third three-dimensional displacement sensor comprises: a secure element, wherein the secure element is a hollowed shell and has a first outer wall, a second outer wall, a third outer wall, a fourth outer wall, and a fifth outer wall, wherein each of the first outer wall, the second outer wall, the third outer wall, the fourth outer wall and the fifth outer wall has a hole, wherein the first outer wall and the third outer wall face an x-axis of the secure element, wherein the second outer wall and the fourth outer wall face a y-axis of the secure element, wherein the fifth outer wall faces a z-axis of the secure element; a first displacement sensing component, comprising a first coherent light source and a first light source sensor arranged in pairs on the first outer wall and the third outer wall; a second displacement sensing component, comprising a second coherent light source and a second light source sensor arranged in pairs on the second outer wall and the fourth outer wall; and a third displacement sensing component, wherein the third displacement sensing component is a laser confocal displacement sensor, a color confocal displacement sensor, a white light interference displacement sensor, or a triangulation laser displacement sensor, wherein the third displacement sensing component is disposed on the fifth outer wall. ### Claim 6 (depends on 4) The multiaxis machining device according to claim 4, wherein the first three-dimensional displacement sensor is fixed to the first slider of the first slider module, wherein the second three-dimensional displacement sensor is fixed to the second slider of the second slider module. ### Claim 7 (depends on 4) The multiaxis machining device according to claim 4, wherein the first slider module further comprises a z-axis micro-displacement platform and a first jig tool, wherein the z-axis micro-displacement platform is disposed on the first slider, wherein the first jig tool is disposed on the z-axis micro-displacement platform; wherein the first slider module further comprises an x-axis-versus-y-axis micro-displacement platform and a second jig tool, wherein the x-axis-versus-y-axis micro-displacement platform is disposed on the second slider, wherein the second jig tool is disposed on the x-axis-versus-y-axis micro-displacement platform. ### Claim 8 (depends on 7) The multiaxis machining device according to claim 7, wherein the first three-dimensional displacement sensor is fixed to the first jig tool of the first slider module, wherein the second three-dimensional displacement sensor is fixed to the second jig tool of the second slider module. ### Claim 9 (depends on 7) The multiaxis machining device according to claim 7, wherein the first slider module further comprises a first link unit, wherein one end of the first link unit is coupled to the first jig tool, wherein another end of the first link unit is coupled to the first three-dimensional displacement sensor, such that the first three-dimensional displacement sensor is configured to measure the reference positioning base, wherein the second slider module further comprises a second link unit, wherein one end of the second link unit is coupled to the second jig tool, wherein another end of the second link unit is coupled to the second three-dimensional displacement sensor, such that the second three-dimensional displacement sensor is configured to measure the bright spot ruler. ### Claim 10 (depends on 7) The multiaxis machining device according to claim 7, wherein the x-axis-versus-y-axis micro-displacement platform comprises a x-axis micro-displacement platform and a y-axis micro-displacement platform, wherein the x-axis micro-displacement platform is disposed on the second slider, wherein the y-axis micro-displacement platform is disposed on the x-axis micro-displacement platform, wherein the second jig tool is disposed on the y-axis micro-displacement platform. ### Claim 11 (depends on 4) The multiaxis machining device according to claim 4, further comprising: a driving system, configured to electrically drive the x-axis slide shaft, the first slider, the second slider, the z-axis micro-displacement platform and the x-axis-versus-y-axis micro-displacement platform. ### Claim 12 (depends on 4) The multiaxis machining device according to claim 4, wherein the low thermal expansion material is granite, constant steel, or zero expansion ceramic. ### Claim 13 A multiaxis machining compensation method, comprising steps of: providing a multiaxis machining device, wherein the multiaxis machining device comprises: a reference positioning base, made of low thermal expansion material; a translation platform support, disposed beneath the reference positioning base, wherein the translation platform support comprises a support body, an x-axis slide shaft, a y-axis slide shaft, and a z-axis slide shaft, wherein the x-axis slide shaft is coupled to the y-axis slide shaft, wherein the x-axis slide shaft is slidable along the y-axis slide shaft, wherein the y-axis slide shaft and the z-axis slide shaft are confined in the support body, wherein a bright spot ruler made of low thermal expansion material is arranged on one side of the z-axis slide shaft; a first slider module, comprising a first slider, wherein the first slider is coupled to the x-axis slide shaft, wherein the first slider is slidable along the x-axis slide shaft; a second slider module, comprising a second slider, wherein the second slider is coupled to the z-axis slide shaft, wherein the second slider is slidable along the z-axis slide shaft; a first three-dimensional displacement sensor, fixed to the first slider module; a second three-dimensional displacement sensor, fixed to the second slider module; and a third three-dimensional displacement sensor, fixed to the bright spot ruler; fixing the first three-dimensional displacement sensor to the first slider or the first jig tool of the first slider module, measuring the reference positioning base, and obtaining x-axis displacement, y-axis displacement, and z-axis displacement of the first slider or the first jig tool with respect to the reference positioning base to serve as a first three-dimensional displacement; fixing the second three-dimensional displacement sensor to the second slider or the second jig tool of the second slider module, measuring the bright spot ruler, and obtaining x-axis displacement, y-axis displacement, and z-axis displacement of the second slider or the second jig tool with respect to the bright spot ruler to serve as a second three-dimensional displacement; fixing the third three-dimensional displacement sensor to the bright spot ruler, measuring the reference positioning base, and obtaining x-axis displacement, y-axis displacement, and z-axis displacement of the bright spot ruler with respect to the reference positioning base to serve as a third three-dimensional displacement; providing a machining compensation processor to obtain a machining processing displacement and a compensation displacement; and adjusting positions of the first slider or the first jig tool and the second slider or the second jig tool and performing feedback control of the multiaxis machining device in machining and compensation according to the machining processing displacement and the compensation displacement. ### Claim 14 (depends on 13) The multiaxis machining compensation method according to claim 13, wherein the first three-dimensional displacement sensor is fixed to the first slider, wherein the x-axis displacement, the y-axis displacement, and the z-axis displacement of the first slider with respect to the reference positioning base is obtained to serve as the first three-dimensional displacement, wherein the second three-dimensional displacement sensor is fixed to the second slider, wherein the x-axis displacement, the y-axis displacement, and the z-axis displacement of the second slider with respect to the bright spot ruler is obtained to serve as the second three-dimensional displacement, wherein the machining compensation processor calculates the first three-dimensional displacement, the second three-dimensional displacement, and the third three-dimensional displacement to obtain the machining processing displacement and the compensation displacement, wherein the machining compensation processor adjusts positions of the first slider and the second slider. ### Claim 15 (depends on 13) The multiaxis machining compensation method according to claim 13, wherein the first three-dimensional displacement sensor is fixed to the first jig tool, wherein the x-axis displacement, the y-axis displacement, and the z-axis displacement of the first jig tool with respect to the reference positioning base is obtained to serve as the first three-dimensional displacement, wherein the second three-dimensional displacement sensor is fixed to the second jig tool, wherein the x-axis displacement, the y-axis displacement, and the z-axis displacement of the second jig tool with respect to the bright spot ruler is obtained to serve as the second three-dimensional displacement, wherein the machining compensation processor adjusts positions of the first jig tool and the second jig tool. ### Claim 16 (depends on 13) The multiaxis machining compensation method according to claim 13, further comprising steps of: adding the second three-dimensional displacement and the third three-dimensional displacement to obtain a second slider relative to a fourth three-dimensional displacement of the second jig tool with respect to the reference positioning base, wherein the machining processing displacement is obtained by means of the x-axis displacement of the first three-dimensional displacement, the y-axis displacement of the first three-dimensional displacement, and the z-axis displacement of the fourth three-dimensional displacement, wherein the compensation displacement is obtained by means of the z-axis displacement of the first three-dimensional displacement, the x-axis displacement of the fourth three-dimensional displacement, and the y-axis displacement of the fourth three-dimensional displacement.