Yuanmeng Precision Technology (shenzhen) Institute

Yan Nie

Qing Wen Liu

Yi Xu

Junqi Li

Hu Yang

Miaoan Ouyang

Yongfei Lai

Qing Liu

A method for measuring a pose of a robotic end tool, including: obtaining a three-dimensional feature of a flange and a three-dimensional feature of the end tool, establishing a first coordinate system and a second coordinate system at the center of the flange and the center of the end tool respectively, calculating a positional offset of the second coordinate system relative to the first coordinate system, and calculating a rotation offset of the second coordinate system relative to the first coordinate system according to each unit vector of the second coordinate system, so as to obtain a pose of the end tool relative to the flange. The method provided in the present application, compared with the manual observation method, the precision and stability of the pose measurement method are high.

Method for measuring pose of robotic end tool

The present application relates to the technical field of 3D printing apparatus, and discloses an electron beam melting and cutting composite 3D printing apparatus which comprises a box and an electron beam gun, in which the box has a cavity formed therein, the cavity is provided therein with a cutting structure, a first Y-direction guide rail and a Y-direction movable platform, the electron beam gun has an emitting head formed in the cavity, the Y-direction movable platform is provided thereon with a Z-direction movable platform, the Z-direction movable platform is provided thereon with a powder spreading structure, the cutting structure has a cutting head, a shielding case is arranged between the emitting head and the Z-direction movable platform, the emitting head of the electron beam gun is inserted in an upper opening of the shielding case, and a lower opening of the shielding case is aligned with the Z-direction movable platform.

Electron beam melting and cutting composite 3D printing apparatus

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Shenzhen, China

Yan Nie