US 11,904,464 B2
Three-dimensional measuring device and robotic arm calibration method thereof
Chi-Huan Shao, Taoyuan (TW); Chih-Ming Hsu, Taoyuan (TW); Chi-Shun Chang, Taoyuan (TW); and Hung-Sheng Chang, Taoyuan (TW)
Assigned to DELTA ELECTRONICS, INC., Taoyuan (TW)
Filed by Delta Electronics, Inc., Taoyuan (TW)
Filed on Sep. 17, 2020, as Appl. No. 17/024,106.
Claims priority of application No. 201911217374.8 (CN), filed on Dec. 3, 2019.
Prior Publication US 2021/0162584 A1, Jun. 3, 2021
Int. Cl. B25J 9/02 (2006.01); G01B 5/00 (2006.01); G01B 5/004 (2006.01)
CPC B25J 9/02 (2013.01) [G01B 5/004 (2013.01); G01B 5/0021 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A three-dimensional measuring device connected with a movable object of an automation device, the three-dimensional measuring device comprising:
a round-shaped structure assembled with the movable object, wherein the round-shaped structure is moved and/or rotated in response to a movement of the movable object;
a base;
an X-axis measuring module disposed on the base, and comprising a first measuring structure and a first position sensor, wherein the first measuring structure is movable along an X-axis direction and contacted with the round-shaped structure, wherein when the first measuring structure is pushed by the round-shaped structure, the first position sensor measures a displacement amount of the first measuring structure;
a Y-axis measuring module disposed on the base, and comprising a second measuring structure and a second position sensor, wherein the second measuring structure is movable along a Y-axis direction and contacted with the round-shaped structure, wherein when the second measuring structure is pushed by the round-shaped structure, the second position sensor measures a displacement amount of the second measuring structure; and
a Z-axis measuring module disposed on the base, and comprising a third measuring structure and a third position sensor, wherein the third measuring structure is movable along a Z-axis direction and contacted with the round-shaped structure, wherein when the third measuring structure is pushed by the round-shaped structure, the third position sensor measures a displacement amount of the third measuring structure,
wherein a measuring space is defined by a movable distance range of the first measuring structure along the X-axis direction, a movable distance range of the second measuring structure along the Y-axis direction and a movable distance range of the third measuring structure along the Z-axis direction, wherein when the round-shaped structure is moved in the measuring space, a three-dimensional coordinate of the round-shaped structure is obtained according to sensed results of the first position sensor, the second position sensor and the third position sensor.