Abstract: 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.

Abstract: 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.

Abstract: A Parts fixture for robot machining and a robot machining system, includes a base plate for connecting with a robot machining platform, and a profiling surface disposed at the base plate for placing parts to be machined. The profiling surface has the same shape as the parts to be machined, and an edge of the base plate is provided with a pressing block for pressing the parts to be machined. The profiling surface can be completely matched with the parts to be machined, it ensures that the bottom of the parts to be machined is supported during the machining, so that the parts to be machined does not vibrate during the machining Therefore the machining accuracy of the parts to be machined can meet the machining requirements.

Abstract: 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.

Abstract: 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.

Abstract: The present application relates to the technical field of 3D printing apparatuses, and discloses a multi-electron-beam melting and milling composite 3D printing apparatus, which comprises a base, in which the base is provided with a machining platform, the base is further provided with a powder spreading structure a plurality of electron beam emitting structures and a milling head are arranged above the machining platform, the plurality of electron beam emitting structures are spacedly and circumferentially arranged outside the milling head the plurality of electron beam emitting structures are configured for emitting electron beams to melt the metal powder layer in partitions and thereby form a plurality of single-layer or multi-layer approximate bodies, and the milling head is configured for milling the plurality of single-layer or multi-layer approximate bodies.

Abstract: The present application relates to the technical field of 3D printing apparatus, and discloses an electron beam melting and laser milling composite 3D printing apparatus which comprises a base, in which a powder spreading structure configured for spreading metal powders onto the machining platform is arranged on the base, an electron beam emitting structure and a laser milling head are arranged above the machining platform, the electron beam emitting structure is configured for emitting an electron beam to melt the metal powder layer to form a single-layer or multi-layer approximate body, and the laser milling head is configured for emitting a laser beam to mill the single-layer or multi-layer approximate body.