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.

IPC Classes  ?

• B25J 15/00 - Gripping heads
• B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
• B25J 9/16 - Programme controls
• B25J 9/02 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type
• B25J 11/00 - Manipulators not otherwise provided for

Abstract

A movable plasma gun device and a plasma rotating electrode powder manufacturing apparatus. The movable plasma gun device comprises a motor (10), a plasma gun (20), a sliding table (30), and a transmission mechanism (40); the sliding table (30) is connected to a spindle of the motor (10) by means of the transmission mechanism (40) and performs linear sliding under the driving of the motor (10); the plasma gun (20) is mounted on the sliding table (30) and moves with sliding of the sliding table (30). The movable plasma gun device meets the requirement that a small-power plasma gun is matched with a thicker electrode rod to manufacture powder, can be suitable for processing various diameters of electrode rods under the situation that the power of the plasma gun is not improved, and is wide in application range.

IPC Classes  ?

• B22F 9/14 - Making metallic powder or suspensions thereofApparatus or devices specially adapted therefor using physical processes using electric discharge
• B22F 1/00 - Metallic powderTreatment of metallic powder, e.g. to facilitate working or to improve properties

Abstract

Disclosed is a pose measurement method for an end tool of a robot. The method comprises the following steps: acquiring three-dimensional features of a flange (21) and an end tool (22); respectively establishing a first coordinate system (210) and a second coordinate system (220) at the center of the flange (21) and the center of the end tool (22); calculating a position offset of the second coordinate system (220) relative to the first coordinate system (210); and calculating, according to each unit vector of the second coordinate system (220), a rotation offset of the second coordinate system (220) relative to the first coordinate system (210), so as to obtain a pose of the end tool (22) relative to the flange (21). Compared with a manual observation method, the accuracy and stability of the pose measurement method are relatively high.

IPC Classes  ?

• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques

Abstract

Disclosed are an assembly/disassembly-type clamp used for machining by a robot and a method for machining components. The clamp comprises a pedestal (1) used for connecting to a robot machining platform, wherein a support apparatus (2) used for placing components to be machined (24) is provided on the pedestal (1), an inner ring fixing apparatus (3) used for fixing components to be machined (24) is provided on the support apparatus (2), the bottom of the inner ring fixing apparatus (3) is provided with a limiting block (332), an alignment block (233) connected to the limiting block (332) is provided at a corresponding position on the support apparatus (2), and the inner ring fixing apparatus (3) and the support apparatus (2) are detachably connected to the alignment block (233) via the limiting block (332). The invention can simplify the clamp mounting process, reducing assembly and disassembly difficulties of the clamp, saving clamp mounting space, and increasing machining efficiency.

IPC Classes  ?

• B23Q 3/06 - Work-clamping means
• B23Q 3/08 - Work-clamping means other than mechanically-actuated

Abstract

Provided are a part fixture for robot processing, and a robot processing system. The part fixture for robot processing comprises a baseplate (1) for connecting with a robot processing platform and a contoured surface (2) arranged on the baseplate (1) for placing a part to be processed, wherein the shape of the contoured surface (2) is the same as the shape of the part to be processed, the contoured surface (2) is arranged in the middle part of an upper surface of the baseplate (1), and an edge of the baseplate (1) is provided with pressing blocks (3) for pressing the part to be processed. The contoured surface (2) can be completely abutted to the part to be processed, which ensures the bottom of the part to be processed is supported during processing, so that the part to be processed is not shocked during processing; thus the processing precision of the part to be processed satisfies the processing requirement.

IPC Classes  ?

• B23Q 3/06 - Work-clamping means

Abstract

Provided is a robot end actuator, comprising a main shaft module (1), a feeding module (2) and a connection assembly (3), wherein the main shaft module (1) comprises a main shaft (11) and a main shaft housing (13) covered on the periphery of the main shaft (11); the feeding module (2) comprises a lead screw (22), a feed motor (21) driving the rotation of the lead screw (22) and a sliding block (23) fixed on the lead screw (22); a machine housing (4) is provided on the outer side of the lead screw (22); the connection assembly (3) comprises a mounting member (32) fixed on the main shaft housing (13); and the mounting member (32) is fixedly connected to the sliding block (23). The robot end actuator converts a rotating movement of the feed motor (21) into a linear movement of the main shaft (11) by means of the lead screw (22), the influence of a reverse gap in a robot transmission chain is overcome, and the processing precision is improved.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators

Abstract

Provided is an automatic tool-changing magazine for a robot, the automatic tool-changing magazine being used for storing tools and changing a tool for a robot, and comprising a tool magazine support (1), wherein a supporting plate (2) is arranged above the tool magazine support (1), a tool shank clamp (3) used for clamping the tool is arranged on one side of the supporting plate (2), the tool shank clamp (3) is fixedly connected with the supporting plate (2), a clamping end (32) of the tool shank clamp (3) extends out of the supporting plate (2), and a photoelectric sensor (5) is arranged at the edge, of one side provided with the tool shank clamp (3), of the supporting plate (2) and directly faces the tool (4). The photoelectric sensor (5) can detect whether the tool shank clamp (3) clamps the tool (4), and detection results are transmitted to the robot to notify the robot of whether tool-changing can be performed, so as to ensure the safety of the tool-changing process of the robot.

IPC Classes  ?

• B23Q 3/155 - Arrangements for automatic insertion or removal of tools

Abstract

A Co-Cr-Mo alloy, composed of the following components in percentage by mass: 22-26% of Cr, 3-6% of Mo, 0.1-0.2% of C, 0.05-0.2% of N, and 0-0.06% of Zr, with the balance being Co and inevitable impurities, wherein the Zr content is not zero. For a scalpel, made of the Co-Cr-Mo alloy, for minimally invasive operation, the hardness of the knife edge is up to 700-900 HV, and the strength is 1200-1300 MPa, so that the elasticity and cutting property of the scalpel are greatly enhanced.

IPC Classes  ?

• C22C 19/07 - Alloys based on nickel or cobalt based on cobalt
• C22F 1/10 - Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of nickel or cobalt or alloys based thereon
• C22F 1/02 - Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working in inert or controlled atmosphere or vacuum
• A61B 17/00 - Surgical instruments, devices or methods

Abstract

A Co-Cr-W alloy, comprising the following components in percentage by mass: Co: 58-70%, Cr: 30-35%, W: 3-5%, C: 0.3-0.6%, N: 0.2-0.3%, Si: 0.1-0.8%, and Zr: 0-0.1%, the content of Zr being not equal to value 0. Because a large number of carbides and nitrides are distributed in a dispersed manner and a great amount of Cr is comprised in a matrix, the Co-Cr-W alloy exhibits good biocompatibility, has features such as a high elasticity modulus, a high tensile strength, and good wear resistance, and thus is suitable for being used as processing materials and artificial joint materials of surgical instruments.

IPC Classes  ?

• C22C 19/07 - Alloys based on nickel or cobalt based on cobalt
• C22F 1/10 - Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of nickel or cobalt or alloys based thereon

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.

IPC Classes  ?

• B23K 15/08 - Removing material, e.g. by cutting, by hole drilling
• B23K 15/00 - Electron-beam welding or cutting
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor
• B33Y 40/00 - Auxiliary operations or equipment, e.g. for material handling
• B22F 3/105 - Sintering only by using electric current, laser radiation or plasma
• B22F 3/24 - After-treatment of workpieces or articles

Abstract

A compound 3D printing device for electron beam melting and cutting comprises a casing (101) and an electron beam gun (103). A cutting structure, a first Y-direction guide rail (106) and a Y-direction moving platform (116) are provided in a cavity of the casing (101). The electron beam gun (103) is provided with a laser emitting head formed in the cavity. The Y-direction moving platform (116) is provided with a Z-direction moving platform (107) thereon, and the Z-direction moving platform (107) is provided with a powder spreading structure thereon. The cutting structure has a cutting head (114) configured to perform cutting machining on a structure part formed by melting metal powder. A shielding cover (102) is provided between the laser emitting head and the Z-direction moving platform (107), the laser emitting head of the electron beam gun (103) is inserted in an upper opening of the shielding cover (102), and a lower opening of the shielding cover (102) is aligned with the Z-direction moving platform (107). When the electron beam gun (103) is in a melting machining process, the generated high-temperature heat is constrained within the shielding cover (102) to reduce the impact of the heat on other parts in the cavity, thereby ensuring a constant temperature in a cutting machining area, and reduce stress deformation of the structure part due to a temperature change in a forming process.

IPC Classes  ?

• B22F 3/115 - Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sinteringApparatus specially adapted therefor by spraying molten metal, i.e. spray sintering, spray casting

Abstract

A multi-axis milling and laser melting composite 3D printing apparatus (1) comprises a base (100) on which a machining platform (109) is arranged; a powder spreading structure for spreading metal powder on the machining platform (109) is arranged on the base (100); a laser emitting structure (101) for melting a metal powder layer to form a single-layer or multi-layer approximate body and a milling head (108) capable of moving in the three-dimensional space are arranged above the machining platform (109); the milling head (108) is provided with a milling tool (1085) capable of rotating and swinging. The apparatus integrates the milling-based removal type precision machining and the laser beam melting 3D printing-based incremental laminating manufacturing process as a whole, and therefore, the defects of the 3D printing technology in the aspects such as size and shape precision are overcome, the restriction of cutting to the complexity of parts and the like is overcome, machined parts do not require secondary machining, and the problems of difficult clamping, large machining error, part deformation during machining and difficult machining are avoided.

IPC Classes  ?

• B22F 3/105 - Sintering only by using electric current, laser radiation or plasma
• B23P 23/04 - Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
• B23C 3/36 - Milling milling-cutters
• B23C 5/26 - Securing milling-cutters to the driving spindle
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor

Abstract

An electron beam melting and laser milling composite 3D printing apparatus (1) comprises a base (100) on which a machining platform (109) is arranged; a powder spreading structure for spreading metal powder on the machining platform is arranged on the base; an electron beam emitting structure (101) and a laser milling head (114) are arranged above the machining platform respectively; the electron beam emitting structure emits an electron beam to melt the metal powder so as to form a single-layer or multi-layer approximate body; the laser milling head emits a laser beam to perform milling on the single-layer or multi-layer approximate body. The apparatus integrates the laser milling-based removal type machining and the electron beam melting 3D printing-based incremental laminating manufacturing process, and therefore, machined parts do not require secondary machining, and the problems of difficult clamping, large machining error, part deformation during machining and difficult machining are avoided.

IPC Classes  ?

• B22F 3/105 - Sintering only by using electric current, laser radiation or plasma
• B23K 26/38 - Removing material by boring or cutting
• B23P 23/04 - Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
• B29C 67/00 - Shaping techniques not covered by groups , or
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor

Abstract

A laser melting and laser milling composite 3D printing apparatus (1) comprises a base (100) having a machining platform (109); a powder spreading structure (104) is arranged on the base; a laser emitting structure (101) and a laser milling head (114) are arranged above the machining platform; the laser emitting structure emits a laser beam to melt a metal powder layer on the machining platform so as to form a single-layer or multi-layer approximate body; the laser milling head emits a laser beam to perform milling on the single-layer or multi-layer approximate body. The apparatus integrates the milling-based removal type precision machining and the laser beam melting 3D printing-based incremental laminating manufacturing process as a whole, and therefore, machined parts do not require secondary machining, and the problems of difficult clamping, large machining error, part deformation during machining and difficult machining are avoided.

IPC Classes  ?

• B22F 3/105 - Sintering only by using electric current, laser radiation or plasma
• B23K 26/38 - Removing material by boring or cutting
• B23P 23/04 - Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
• B23C 3/36 - Milling milling-cutters
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor

Abstract

A wearable visual structure for dental surgery. The wearable visual structure comprises a shooting handle (11), an image processor (12) and a wearable projector (13). The shooting handle (11) is provided with an accommodation cavity, a pickup lens and an image sensor (115) are arranged in the accommodation cavity, and a shooting end surface (112) is formed at the front end of the shooting handle (11). The wearable projector (13) is provided with an optical lens (131) used for projecting an image processed by the image processor (12) onto an imaginary screen (2).

IPC Classes  ?

• A61B 1/24 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressorsInstruments for opening or keeping open the mouth
• A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances

Abstract

A multi-electron-beam melting and laser milling composite 3D printing apparatus (1) comprises a base (100) on which a machining platform (109) is arranged; a powder spreading structure is arranged on the base; a plurality of electron beam emitting structures (101) and a milling head (102) are arranged above the machining platform respectively; the plurality of electron beam emitting structures are arranged outside the milling head in a surrounding mode at intervals and emit electron beams to melt a metal powder layer by area so as to form a plurality of single-layer or multi-layer approximate bodies; the milling head mills the plurality of single-layer or multi-layer approximate bodies respectively. The apparatus integrates the laser milling-based removal type machining and the electron beam melting 3D printing-based incremental laminating manufacturing process, and therefore, the defects of the 3D printing technology in the aspects such as size and shape are overcome, and melting is performed by area using a plurality of electron beams and then milling is performed using the milling head, so that parts of any large size can be formed.

IPC Classes  ?

• B22F 3/105 - Sintering only by using electric current, laser radiation or plasma
• B23K 26/38 - Removing material by boring or cutting
• B23P 23/04 - Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
• B29C 67/00 - Shaping techniques not covered by groups , or
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor