Multi-robot integrated manufacturing composite machine tool

Abstract

The application relates to a multi-robot integrated manufacturing composite machine tool, and relates to the technical field of 3D printing equipment, which comprises a base, a spatial position adjusting frame body, a workpiece forming seat, a 3D printing additive assembly and a subtractive assembly, the 3D printing additive assembly comprises a printing head, a software control system and a feeding device, a plurality of Teflon pipes are arranged on the feeding device, the Teflon pipes can be connected with feeding ports on the printing head through connecting heads; the base is provided with a placing assembly, each connecting head is detachably connected with the placing assembly, the placing assembly is provided with a wire feeding assembly corresponding to the connecting heads, the wire feeding assembly can feed the printing material wire into the feeding ports, the printing head is provided with a connecting assembly which can be detachably connected with each connecting head, and the placing assembly can detach the connecting head from the printing head. The application has the effects of reducing the change of temperature and moderate parameters in the printing environment, saving temperature and humidity adjusting time, and improving the printing efficiency of the machine tool.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing equipment, in particular to a multi-robot integrated manufacturing composite machine tool. BACKGROUND

[0002] The additive and subtractive printer is a composite machining equipment integrating additive manufacturing (3D printing) and subtractive manufacturing (traditional mechanical processing) technologies. The workpiece is first printed on the workpiece seat by 3D printing technology, and then the workpiece is milled by the subtractive device. When the workpiece is 3D printed, the printing material filament is fed to the printing head by adopting the FDM remote feeding mode, and the printing material filament is fed to the printing head by the Teflon tube.

[0003] When the printing parameters and color requirements are adjusted, the printing material filament needs to be replaced. When the printing material filament is replaced, the printing material filament needs to be manually inserted into the feeding pipe of the printing head. However, in some places with temperature and humidity requirements, the manual replacement of the printing material filament will destroy the original printing environment, and the temperature and humidity in the printing environment need to be adjusted again, thereby reducing the printing efficiency. SUMMARY

[0004] In order to improve the problem that manual replacement of the printing material filament will destroy the original printing environment temperature and humidity parameters and reduce the printing efficiency, the present application provides a multi-robot integrated manufacturing composite machine tool.

[0005] The multi-robot integrated manufacturing composite machine tool provided by the present application adopts the following technical scheme:

[0006] A multi-robot integrated manufacturing composite machine tool, comprising a base, a spatial position adjusting frame body, a workpiece forming seat, a 3D printing additive component, and a subtractive component, the 3D printing additive component is arranged on the spatial position adjusting frame body and can accumulate materials layer by layer on the workpiece forming seat to build a workpiece, and the subtractive component is arranged on the spatial position adjusting frame body and can perform cutting processing on the workpiece.

[0007] The 3D printing additive component comprises a printing head, a software control system, and a feeding device. The printing head is arranged on the spatial position adjusting frame body to adjust the spatial position of the printing head. The feeding device is provided with a plurality of Teflon tubes, and a printing material filament is arranged in each Teflon tube. The Teflon tube is connected to the feeding port of the printing head through a connecting head to guide the feeding of the printing material filament.

[0008] The base is provided with a placing assembly, each connecting head is detachably connected with the placing assembly, the placing assembly is provided with a wire feeding assembly corresponding to each connecting head, the wire feeding assembly can feed the printing material wire into the feeding port, the print head is provided with a connecting assembly detachably connected with each connecting head, and the placing assembly can detach the connecting head from the print head.

[0009] By adopting the above technical scheme, when the machine tool is printing, one connecting head is connected with the print head through the connecting assembly, the feeding device feeds the printing material wire to the print head through the Teflon tube, so that the print head prints the workpiece, when the printing material wire needs to be replaced, the space position adjusting frame body drives the print head to the corresponding position of the placing assembly, then the connecting head is fixed through the placing assembly, the connecting assembly detaches the connecting head from the print head, then the print head is moved to the connecting head corresponding to the printing material wire through the space position adjusting frame body, the printing material wire is fed into the print head through the wire feeding assembly, the connection between the printing material wire and the print head is completed, the connecting assembly is installed on the print head, the space position adjusting frame body drives the connecting head to be separated from the placing assembly, and the replacement of the printing material wire on the print head is completed. Compared with the manual replacement of the printing material wire, the mechanical wire replacement is adopted, the change of the temperature and moderate parameters in the printing environment is reduced, the temperature and humidity adjusting time is saved, and therefore the printing efficiency of the machine tool is improved.

[0010] In a specific implementation, the placing assembly comprises a support plate and a suction accessory, the support plate is provided with a mounting opening through which the Teflon tube passes, the mounting opening penetrates the side wall of the support plate, so that the Teflon tube can slide out of the mounting opening, and the suction accessory is arranged on the support plate and can adsorb and fix the connecting head.

[0011] By adopting the above technical scheme, when the connecting head is placed, the connecting head is adsorbed on the support plate through the suction accessory, at this time, the Teflon tube is arranged in the mounting opening, when the connecting head is separated from the support plate, the Teflon tube is pulled out of the support plate from the opening of the mounting opening, and the mounting and detachment of the connecting head are facilitated.

[0012] In a specific implementation, the connecting assembly comprises a linear driving mechanism and two connecting blocks, the two connecting blocks are slidingly arranged on the print head, the connecting head is provided with a connecting groove into which the two connecting blocks are inserted, the circumferential wall of the connecting groove is provided with a clamping portion, the two connecting blocks are each provided with a clamping groove, and the linear driving mechanism is connected with the two connecting blocks to drive the two connecting blocks to approach or move away from each other, so that the clamping portion is inserted into the clamping groove, and the connecting head is fixedly connected with the print head.

[0013] By adopting the technical scheme, when the connecting head and the printing head are installed, the space position adjusting frame body drives the two connecting blocks to be inserted into the connecting grooves, the linear driving mechanism drives the two connecting blocks to be away from each other, the clamping portions are inserted into the clamping grooves, and the fixing of the connecting head and the printing head is completed; when the connecting head and the printing head are disassembled, the linear driving mechanism drives the two connecting blocks to be close to each other, the clamping portions are extracted from the clamping grooves, and then the connecting blocks are extracted from the connecting grooves, and the disassembly of the connecting head and the printing head is completed, thereby improving the convenience of the disassembly of the connecting head and the printing head.

[0014] In a specific implementable scheme, the linear driving mechanism comprises a first servo motor and a driving screw, the first servo motor is fixedly arranged on the printing head, the driving screw is coaxially fixedly arranged on an output shaft of the first servo motor and penetrates through the two connecting blocks, the driving screw is threadedly connected with the two connecting blocks, and the thread rotation directions of the driving screw and the two connecting blocks are opposite.

[0015] By adopting the technical scheme, when the two connecting blocks are driven, the first servo motor drives the driving screw to rotate, and the driving screw simultaneously drives the two connecting blocks to be close to or away from each other, thereby improving the synchronization of the movement of the two connecting blocks.

[0016] In a specific implementable scheme, the wire feeding assembly comprises two wire feeding wheels and two wire feeding plates, the two wire feeding plates are slidingly arranged below the support plate, the support plate is provided with a driving member, the driving member is connected with the two wire feeding plates, so that the two wire feeding plates can be driven to be close to or away from each other.

[0017] The wire feeding wheel and the wire feeding plate correspond to each other, the wire feeding wheel is rotationally arranged on the wire feeding plate, the wire feeding plate is provided with a rotating member, the rotating member is connected with the two wire feeding wheels, so that the two wire feeding wheels can be driven to rotate relative to each other, and the two wire feeding wheels can abut on the printing material wire, so that the printing material wire can be driven to be inserted into the feeding port.

[0018] By adopting the technical scheme, when the printing material wire is fed into the feeding port, the driving member drives the two wire feeding plates to be close to each other, the wire feeding plates drive the two wire feeding wheels to abut on the printing material wire, the space position adjusting frame body drives the feeding port on the printing head to be aligned with the end of the printing material wire, and then the rotating member drives the wire feeding wheel to rotate, the wire feeding wheel drives the printing material wire to be inserted into the feeding port, thereby improving the convenience of the connection between the printing material wire and the printing head.

[0019] In a specific implementable scheme, half-round holes are arranged on opposite sides of the two wire feeding plates, the two half-round holes can be spliced into a wire feeding hole aligned with the feeding port, and the printing material wire can pass out of the Teflon tube and be inserted into the wire feeding hole.

[0020] By adopting the technical scheme, the two semicircular holes limit the end of the printing material wire in the wire feeding hole, avoid the end of the printing material wire from being fixed due to bending, and thus improve the accuracy of the alignment of the printing material wire and the feeding port.

[0021] In a specific implementation, the wire feeding plate is provided with a semitapered hole in communication with the semicircular hole, the semitapered hole is located below the semicircular hole, the two semitapered holes can be spliced into a flared opening, and the printing head is provided with a conical surface around the feeding port, which cooperates with the flared opening.

[0022] By adopting the technical scheme, the flared opening cooperates with the conical surface, which improves the convenience of the alignment of the feeding port and the printing material wire.

[0023] In a specific implementation, the wire feeding plate is provided with a driving motor, and the output shaft of the driving motor is provided with a cutter rotating on the bottom wall of the wire feeding plate, which can cut off the part of the printing material wire extending out of the wire feeding plate.

[0024] By adopting the technical scheme, when the suction accessory adsorbs and fixes the connecting head on the support plate and the connecting head is detached from the printing head, the feeding wheel in the printing head reverses to draw out the printing material wire that is not consumed and make the printing material wire separate from the printing head, then the wire feeding plate winds the printing material wire around the wire feeding hole, and then the driving motor drives the cutter to rotate, and the cutter cuts off the excess part of the printing material wire extending out of the wire feeding plate, which facilitates the insertion of the printing material wire into the feeding port.

[0025] In a specific implementation, the feeding device includes a rotating support shaft fixedly arranged on the base, and a plurality of feeding discs on which the printing material wire is wound are rotatably arranged on the rotating support shaft.

[0026] By adopting the technical scheme, as the printing material wire is consumed, the feeding disc rotates around the rotating support shaft under the traction of the printing material wire, thereby realizing continuous feeding of the printing material wire.

[0027] In a specific implementation, the rotating support shaft is provided with a pressing plate, and the pressing plate and the support shaft are connected through an extension spring, which can push the pressing plate to abut against the feeding disc, so that the printing material wire is in a straightened state.

[0028] By adopting the technical scheme, the extension spring abuts the pressing plate against the feeding disc, which can effectively avoid idling of the feeding disc and ensure the tension of the printing material wire on the feeding disc.

[0029] In summary, the present application has at least one of the following beneficial technical effects:

[0030] 1. When the printing material filament needs to be replaced, the space position adjusting frame body drives the printhead to the corresponding position of the placing assembly, then the connecting head is fixed through the placing assembly, the connecting assembly dismounts the connecting head from the printhead, then the printhead is moved to the connecting head corresponding to the printing material filament through the space position adjusting frame body, then the printing material filament is sent into the printhead through the filament feeding assembly, the connection of the printing material filament and the printhead is completed, then the connecting head is installed on the printhead through the connecting assembly, the space position adjusting frame body drives the connecting head to be separated from the placing assembly, the replacement of the printing material filament on the printhead is completed, compared with the manual replacement of the printing material filament, the mechanical replacement of the printing material filament is adopted, the change of the temperature and the moderate parameters in the printing environment is reduced, the temperature and humidity adjusting time is saved, and thus the printing efficiency of the machine tool is improved;

[0031] 2. When the printing material filament is sent into the feeding port, the driving piece drives the two filament feeding plates to be close, the filament feeding plates drive the two filament feeding wheels to abut on the printing material filament, the space position adjusting frame body drives the feeding port on the printhead to be aligned with the end of the printing material filament, then the rotating piece drives the filament feeding wheel to rotate, the filament feeding wheel drives the printing material filament to be inserted into the feeding port, and the convenience of the connection of the printing material filament and the printhead is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a structural schematic view of a multi-robot integrated manufacturing composite machine tool.

[0033] Figure 2 It is a structural schematic view for showing the feeding pipe.

[0034] Figure 3 It is a structural schematic view for showing the filament feeding state of the filament feeding wheel.

[0035] Figure 4 It is a sectional view along the line A-A in Figure 3 .

[0036] Figure 5 It is a structural schematic view for showing the connection of the connecting block and the connecting head.

[0037] Figure 6 It is a sectional view along the line A-A in Figure 5 .

[0038] Explanation of reference signs: 1, base; 2, space position adjusting frame body; 21, X-axis moving frame; 22, Y-axis moving frame; 23, Z-axis moving frame; 24, A-axis rotating frame; 3, workpiece forming seat; 4, 3D printing additive assembly; 41, printing head; 411, feeding pipe; 412, feeding port; 413, conical surface; 42, feeding device; 421, rotating support shaft; 422, feeding frame; 423, feeding disc; 424, mounting plate; 425, pressing plate; 426, extension spring; 43, Teflon pipe; 44, connecting head; 5, subtractive assembly; 51, subtractive driving head; 6, printing material wire; 7, placing assembly; 71, support plate; 72, suction accessory; 73, mounting port; 74, mounting groove; 8, wire feeding assembly; 81, wire feeding wheel; 82, wire feeding plate; 821, semicircular hole; 822, wire feeding hole; 823, semicone hole; 824, flared opening; 83, support part; 84, driving part; 85, rotating part; 86, driving motor; 87, cutter; 9, connecting assembly; 91, linear driving mechanism; 911, first servo motor; 912, driving screw; 913, support plate; 914, guide rod; 92, connecting block; 93, connecting groove; 94, clamping part; 95, clamping groove. DETAILED DESCRIPTION

[0039] The following will be described in detail below in combination with the accompanying drawings. Figures 1-6 The present application is further described in detail.

[0040] The embodiment of the present application discloses a multi-robot integrated manufacturing composite machine tool.

[0041] Referring to Figure 1 A multi-robot integrated manufacturing composite machine tool comprises a base 1, a space position adjusting frame body 2, a workpiece forming seat 3, a 3D printing additive assembly 4 and a subtractive assembly 5, the 3D printing additive assembly 4 is arranged on the space position adjusting frame body 2 and can build a workpiece by layering materials on the workpiece forming seat 3, and the subtractive assembly 5 is arranged on the space position adjusting frame body 2 and can perform cutting processing on the workpiece.

[0042] Referring to Figure 1 , Figure 2, 3D printing additive assembly 4 includes a print head 41, a software control system and a feeding device 42, the number of print heads 41 in the embodiment is two, both of which are fused deposition modeling (FDM) print heads, which use wire feeding laser hot melting to accumulate materials layer by layer. The top of the print head 41 is provided with a feeding pipe 411, and the end of the feeding pipe 411 forms a feeding port 412. The print material wire 6 can be inserted into the print head 41 from the feeding port 412. One of the two print heads 41 does not need to replace the print material wire 6, and the other one replaces the print material wire 6. Both of the two print heads 41 are arranged on the space position adjusting frame 2, which can adjust the space position of the print head 41. The feeding device 42 is provided with a plurality of Teflon pipes 43, and three Teflon pipes 43 are taken as an example in the embodiment. Each Teflon pipe 43 is provided with a print material wire 6. The inner diameter of the Teflon pipe 43 is smaller than the outer diameter of the print material wire 6. The three print material wires 6 are made of different materials or have different colors. The Teflon pipe 43 can be connected to the feeding port 412 on the print head 41 through the connecting head 44 to guide the feeding of the print material wire 6.

[0043] Referring to Figure 1 、 Figure 2 , the base 1 is provided with a placing assembly 7, each connecting head 44 is detachably connected with the placing assembly 7, the placing assembly 7 is provided with a wire feeding assembly 8 corresponding to each connecting head 44, the wire feeding assembly 8 can feed the print material wire 6 into the feeding port 412, and the print head 41 is provided with a connecting assembly 9 capable of being detachably connected with each connecting head 44. The placing assembly 7 can detach the connecting head 44 from the print head 41.

[0044] When the machine tool is printing, one connecting head 44 is connected with the print head 41 through the connecting assembly 9, the feeding device 42 feeds the print material wire 6 to the print head 41 through the Teflon pipe 43, so that the print head 41 performs the printing work on the workpiece. When it is necessary to replace the print material wire 6, the space position adjusting frame 2 drives the print head 41 to the corresponding position of the placing assembly 7, then the connecting head 44 is fixed through the placing assembly 7, the connecting assembly 9 detaches the connecting head 44 from the print head 41, then the print head 41 is moved to the connecting head 44 corresponding to the print material wire 6 through the space position adjusting frame 2, then the print material wire 6 is fed into the print head 41 through the wire feeding assembly 8, the connection between the print material wire 6 and the print head 41 is completed, then the connecting head 44 is installed on the print head 41 through the connecting assembly 9, the space position adjusting frame 2 drives the connecting head 44 to be separated from the placing assembly 7, and the replacement of the print material wire 6 on the print head 41 is completed. Compared with the manual replacement of the print material wire 6, the mechanical wire replacement is adopted in the scheme, the changes of temperature and moderate parameters in the printing environment are reduced, the temperature and humidity adjustment time is saved, and the printing efficiency of the machine tool is improved.

[0045] Referring toFigure 1 The space position adjusting frame body 2 in the embodiment comprises an X-axis moving frame 21, a Y-axis moving frame 22, a Z-axis moving frame 23 and an A-axis rotating frame 24. The X-axis moving frame 21, the Y-axis moving frame 22 and the Z-axis moving frame 23 each comprise a servo motor, a screw rod and a sliding frame. The screw rod passes through the sliding frame and is threadedly connected to the sliding frame, so that the rotating motion is converted into the sliding motion of the sliding frame. The servo motor is coaxially fixedly arranged on the screw rod to drive the screw rod to rotate. The X-axis moving frame 21 is arranged on the base 1, and the Z-axis moving frame 23 is arranged on the X-axis moving frame 21. The number of the Y-axis moving frames 22 in the embodiment is three, which correspond to two print heads 41 and a subtractive component 5 respectively. The number of the A-axis rotating frames 24 in the embodiment is three, which correspond to the Y-axis moving frames 22 one by one. The A-axis rotating frame 24 comprises a motor and a rotating arm. The motor drives the rotating arm to rotate around the Z-axis.

[0046] Referring to Figure 1 The subtractive component 5 in the embodiment comprises a subtractive driving head 51. The subtractive driving head 51 is installed on the subtractive driving head 51 and can be installed with a milling cutter and a clamping jaw to mill and clamp a workpiece. Two print heads 41 are respectively installed on the rotating arms on the corresponding A-axis rotating frames 24 to realize the printing of the print heads 41 on the workpiece forming seat 3 and the cutting of the subtractive driving head 51 on the workpiece.

[0047] The software control system comprises 3D modeling software, slicing software and printing control software. The 3D modeling software is used to create a model. The slicing software divides the model into multiple layers. The printing control software sends the sliced model to the 3D printer bed for printing.

[0048] Referring to Figure 3 、 Figure 4 The feeding device 42 in the embodiment comprises a rotating support shaft 421. A feeding frame 422 is fixedly arranged on the base 1. The rotating support shaft 421 is fixedly arranged on the feeding frame 422 along the Y direction. A plurality of feeding discs 423, on which print material filaments 6 are wound, are rotatably arranged on the rotating support shaft 421. An installation plate 424 is arranged on the feeding frame 422. One end of a Teflon tube 43 is fixedly arranged on the installation plate 424. The print material filaments 6 on the feeding discs 423 are sent into the Teflon tube 43 through the port of the Teflon tube 43 on the installation plate 424. A pressing plate 425 is arranged on the rotating support shaft 421 and corresponds to the feeding discs 423 one by one. The pressing plate 425 and the rotating support shaft are connected through a telescopic spring 426. The two ends of the telescopic spring 426 are fixedly connected to the pressing plate 425 and the rotating support shaft 421 respectively. Initially, the telescopic spring 426 is in a compressed state, so that the telescopic spring 426 can push the pressing plate 425 to abut against the feeding disc 423, thereby ensuring that the print material filaments 6 on the feeding disc 423 are in a tightened state when the feeding disc 423 is unwound.

[0049] Referring toFigure 3 、 Figure 4 The placing assembly 7 in the embodiment includes a support plate 71 and a suction accessory 72. The support plate 71 is fixedly arranged with the base 1. The support plate 71 is arranged at one side of the Y-axis moving frame 22. The support plate 71 is provided with installation openings 73 through which the Teflon pipes 43 pass. The installation openings 73 correspond to the Teflon pipes 43 one by one. The width of the installation openings 73 is greater than the width of the Teflon pipes 43. The installation openings 73 penetrate to the side of the support plate 71 facing the Y-axis moving frame 22, so that the Teflon pipes 43 passing through the installation openings 73 slide out of the installation openings 73. The bottom wall of the installation plate 424 is provided with installation grooves 74 in communication with the installation openings 73. The connecting heads 44 can be inserted into the installation grooves 74 and fit in the installation grooves 74. The suction accessory 72 is arranged on the groove wall of the installation groove 74. In the embodiment, the suction accessory 72 is a permanent magnet. The material of the connecting head 44 is steel material that can be attracted by the permanent magnet. When the connecting head 44 is inserted into the installation groove 74 by the printing head 41, the suction accessory 72 attracts and fixes the connecting head 44 on the installation plate 424.

[0050] When the connecting head 44 is placed, the connecting head 44 is attracted on the support plate 71 by the suction accessory 72. At this time, the Teflon pipes 43 pass through the installation openings 73. When the connecting head 44 is separated from the support plate 71, the Teflon pipes 43 are pulled out of the support plate 71 from the opening of the installation opening 73, so as to facilitate the installation and disassembly of the connecting head 44.

[0051] Referring to Figure 3 、 Figure 4 The wire feeding assembly 8 in the embodiment includes two wire feeding wheels 81 and two wire feeding plates 82. The bottom of the support plate 71 protrudes downward to form two support portions 83. The two support portions 83 are located at two sides of the installation openings 73. The driving members 84 are fixedly arranged on each support portion 83. In the embodiment, the driving members 84 are linear cylinders. The output shafts of the linear cylinders pass through the support portions 83. The two wire feeding plates 82 are located between the two support portions 83 and are fixedly connected with the output shafts of the corresponding cylinders. The two cylinders drive the two wire feeding plates 82 to move close to or away from each other. The wire feeding wheels 81 correspond to the wire feeding plates 82 one by one and are rotatably arranged on one side of the wire feeding plates 82 facing the installation plate 424 through rotating frames. The printing material wire 6 extends out of the connecting head 44 and extends to between the two wire feeding plates 82. The rotating members 85 are arranged on each wire feeding plate 82. In the embodiment, the rotating members 85 are rotating motors. The output shafts of the rotating motors are coaxially and fixedly connected with the rotating shafts of the wire feeding wheels 81 to drive the wire feeding wheels 81 to rotate. The two rotating motors drive the two wire feeding wheels 81 to relatively rotate, so that the printing material wire 6 moves downward and is inserted into the feeding opening 412.

[0052] Referring to Figure 3 、 Figure 4Each of the two wire feeding plates 82 has a semi-circular hole 821 on its opposite side. The two semi-circular holes 821 can be spliced ​​together to form a wire feeding hole 822 aligned with the feed inlet 412. The printing material wire 6 can pass through the Teflon tube 43 and be inserted into the wire feeding hole 822. The two semi-circular holes 821 restrict the end of the printing material wire 6 within the wire feeding hole 822, preventing the end position of the printing material wire 6 from being unstable due to bending, thereby improving the accuracy of the alignment between the printing material wire 6 and the feed inlet 412. The wire feeding plate 82 is provided with a semi-conical hole 823 that communicates with the semi-circular hole 821. The semi-conical hole 823 is located below the semi-circular hole 821. The two semi-conical holes 823 can be spliced ​​together to form a flared opening 824. The feed tube 411 is provided with a conical surface 413 around the feed inlet 412. The conical surface 413 cooperates with the flared opening 824. By utilizing the cooperation between the flared opening 824 and the conical surface 413, the convenience of aligning the feed inlet 412 with the printing material filament 6 can be improved.

[0053] When the printing material filament 6 is fed into the feed port 412, the drive unit 84 drives the two filament feeding plates 82 to approach each other. The filament feeding plates 82 drive the two filament feeding wheels 81 to abut against the printing material filament 6. The spatial position adjustment frame 2 drives the feed port 412 on the print head 41 to align with the end of the printing material filament 6. Then the rotating unit 85 drives the filament feeding wheel 81 to rotate. The filament feeding wheel 81 drives the printing material filament 6 to insert into the feed port 412, improving the convenience of connecting the printing material filament 6 and the print head 41.

[0054] Reference Figure 3 , Figure 4 One of the filament feeding plates 82 is equipped with a drive motor 86. The output shaft of the drive motor 86 is equipped with a cutter 87 that rotates on the bottom wall of the filament feeding plate 82. The drive motor 86 drives the cutter 87 to rotate, which can cut off the part of the printing material filament 6 that extends out of the filament feeding plate 82. When the adsorption member 72 adsorbs and fixes the connector 44 to the support plate 71, and the connector 44 is disassembled from the print head 41, the feed wheel in the print head 41 reverses, pulling out the unused printing material filament 6 from the print head 41 and causing the printing material filament 6 to detach from the print head 41. Then the filament feeding plate 82 surrounds the printing material filament 6 in the filament feeding hole 822. Then the drive motor 86 drives the cutter 87 to rotate, and the cutter 87 cuts off the excess part of the printing material filament 6 that extends out of the filament feeding plate 82, so that the printing material filament 6 can be inserted into the feed port 412.

[0055] Reference Figure 5 , Figure 6The connecting assembly 9 in the embodiment comprises a linear driving mechanism 91 and two connecting blocks 92, which are arranged on both sides of the feeding pipe 411 and are slidingly connected to the print head 41. The connecting head 44 is provided with connecting grooves 93 for the insertion of the two connecting blocks 92. The connecting blocks 92 and the feeding pipe 411 leave a space for the partial insertion of the connecting grooves 93 and the through holes in the connecting head 44. The peripheral side wall of the connecting groove 93 is provided with two clamping portions 94. The two connecting blocks 92 are each provided with a clamping groove 95. The linear driving mechanism 91 is connected to the two connecting blocks 92 and is used to drive the two connecting blocks 92 to move closer to or further away from each other, so that the clamping portions 94 are inserted into the clamping grooves 95, thereby forming the fixed connection between the connecting head 44 and the print head 41.

[0056] With reference to Figure 5 、 Figure 6 The linear driving mechanism 91 in the embodiment comprises a first servo motor 911 and a driving screw 912. Two supporting plates 913 are fixedly installed on the print head 41 and are located on both sides of the feeding pipe 411. A guide rod 914 is fixedly connected between the two supporting plates 913 and is arranged to pass through the two connecting blocks 92 and be slidingly connected to the connecting blocks 92. The first servo motor 911 is fixedly arranged on the print head 41. The driving screw 912 is coaxially fixedly arranged on the output shaft of the first servo motor 911 and passes through the two connecting blocks 92 and the two supporting plates 913. The driving screw 912 is threadedly connected to the two connecting blocks 92 and has opposite screw rotation directions. The driving screw 912 is rotationally connected to the two supporting plates 913. When the two connecting blocks 92 are driven, the first servo motor 911 drives the driving screw 912 to rotate, and the driving screw 912 simultaneously drives the two connecting blocks 92 to move closer to or further away from each other, thereby improving the synchronization of the movement of the two connecting blocks 92.

[0057] When the connecting head 44 and the print head 41 are installed, the space position adjusting frame body 2 drives the two connecting blocks 92 to be inserted into the connecting grooves 93. The linear driving mechanism 91 drives the two connecting blocks 92 to move away from each other, so that the clamping portions 94 are inserted into the clamping grooves 95, thereby completing the fixation of the connecting head 44 and the print head 41. When the connecting head 44 and the print head 41 are disassembled, the linear driving mechanism 91 drives the two connecting blocks 92 to move closer to each other, and the clamping portions 94 are extracted from the clamping grooves 95. Then, the connecting blocks 92 are extracted from the connecting grooves 93, thereby completing the disassembly of the connecting head 44 and the print head 41, and improving the convenience of the assembly and disassembly of the connecting head 44 and the print head 41.

[0058] The implementation principle of the multi-robot integrated manufacturing composite machine tool according to an embodiment of the present application is as follows: when the machine tool is printing, the linear driving mechanism 91 drives the two connecting blocks 92 to move away from each other, so that the clamping part 94 is inserted into the clamping groove 95, the fixing of the connecting head 44 and the printing head 41 is completed, the spatial position adjusting frame body 2 drives the printing head 41 to move and print a workpiece on the workpiece forming seat 3, and as the printing material wire 6 is consumed, the feeding device 42 feeds the printing material wire 6 to the printing head 41 through the Teflon pipe 43, so that the printing head 41 performs the printing work on the workpiece.

[0059] When the printing material wire 6 needs to be replaced, the spatial position adjusting frame body 2 drives the printing head 41 to move to the position below the original position on the mounting plate 424, at this time the cylinder drives the two wire feeding plates 82 to move away from each other, the spatial position adjusting frame body 2 drives the connecting head 44 to move upwards into the mounting groove 74, the Teflon pipe 43 is inserted into the mounting port 73, the permanent magnet fixes the connecting head 44, then the linear driving mechanism 91 drives the two connecting blocks 92 to move close to each other, so that the clamping part 94 is separated from the clamping groove 95, then the printing head 41 is lowered, the feeding wheel in the printing head 41 reverses, the printing material wire 6 that is not consumed is pulled out of the printing head 41, and the printing material wire 6 is separated from the printing head 41, then the wire feeding plate 82 winds the printing material wire 6 around the wire feeding hole 822, and then the driving motor 86 drives the cutter 87 to rotate, and the cutter 87 cuts off the excess part of the printing material wire 6 extending out of the wire feeding plate 82.

[0060] Then the spatial position adjusting frame body 2 moves the printing head 41 to the position below the connecting head 44 corresponding to the printing material wire 6, and aligns the feeding port 412 with the wire feeding hole 822, then lifts the printing head 41, so that the feeding port 412 is inserted into the flared port 824, then the rotating piece 85 drives the wire feeding wheel 81 to rotate, inserts the printing material wire 6 into the printing head 41, and connects with the printing head 41. Then the cylinder drives the two wire feeding plates 82 to move away from each other, then lifts the printing head 41, the feeding wheel in the printing head 41 rotates, and continuously feeds the printing material wire 6, when the connecting block 92 is inserted into the connecting groove 93, the linear driving mechanism 91 drives the two connecting blocks 92 to move away from each other, so that the clamping part 94 is inserted into the clamping groove 95, the fixing of the connecting head 44 and the printing head 41 is completed. Then the spatial position adjusting frame body 2 drives the connecting head 44 to move downwards, pulls out the connecting head 44 from the mounting groove 74, and then pulls the connecting head 44 out along the direction of the mounting port 73, so that the Teflon pipe 43 is separated from the mounting port 73, the replacement of the printing material wire 6 on the printing head 41 is completed. Compared with the manual replacement of the printing material wire 6, the scheme adopts the mechanical wire replacement mode, reduces the changes of the temperature and moderate parameters in the printing environment, saves the temperature and humidity adjustment time, and thus improves the printing efficiency of the machine tool.

[0061] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A multi-robot integrated manufacturing hybrid machine tool, characterized by: The utility model provides a kind of 3D printing device, including base (1), space position adjusting frame body (2), workpiece forming seat (3), 3D printing additive assembly (4) and subtractive assembly (5), the 3D printing additive assembly (4) is arranged on the space position adjusting frame body (2), and can be stacked material on the workpiece forming seat (3) layer by layer to build workpiece, the subtractive assembly (5) is arranged on the space position adjusting frame body (2), and can be cutting processing to workpiece; The 3D printing additive assembly (4) includes a print head (41), a software control system, and a feeding device (42). The print head (41) is arranged on the space position adjusting frame body (2) to adjust the space position of the print head (41). The feeding device (42) is provided with a plurality of Teflon tubes (43). Each Teflon tube (43) is provided with a printing material wire (6). The Teflon tube (43) is connected to the feeding port (412) of the print head (41) through a connecting head (44) to guide the feeding of the printing material wire (6). The base (1) is provided with a placing assembly (7). Each connecting head (44) is detachably connected to the placing assembly (7). The placing assembly (7) is provided with a wire feeding assembly (8) corresponding to each connecting head (44). The wire feeding assembly (8) can feed the printing material wire (6) into the feeding port (412). The print head (41) is provided with a connecting assembly (9) detachably connected to each connecting head (44). The placing assembly (7) can detach the connecting head (44) from the print head (41). The placing assembly (7) includes a support plate (71) and a suction accessory (72). The support plate (71) is provided with a mounting port (73) for the Teflon tube (43) to pass through. The mounting port (73) penetrates the side wall of the support plate (71) to enable the Teflon tube (43) to slide out of the mounting port (73). The suction accessory (72) is arranged on the support plate (71) to adsorb and fix the connecting head (44). The connecting assembly (9) includes a linear drive mechanism (91) and two connecting blocks (92). The two connecting blocks (92) are slidingly arranged on the print head (41). The connecting head (44) is provided with a connecting groove (93) for the two connecting blocks (92) to insert. The connecting groove (93) is provided with a clamping portion (94) on the circumferential wall. The two connecting blocks (92) are each provided with a clamping groove (95). The linear drive mechanism (91) is connected to the two connecting blocks (92) to drive the two connecting blocks (92) to approach or move away from each other, so that the clamping portion (94) is inserted into the clamping groove (95) to form the fixed connection between the connecting head (44) and the print head (41).

2. The multi-robot integrated manufacturing hybrid machine tool of claim 1, wherein: The straight line driving mechanism (91) comprises a first servo motor (911) and a driving screw (912), the first servo motor (911) is fixedly arranged on the print head (41), the driving screw (912) is coaxially fixedly arranged on the output shaft of the first servo motor (911) and penetrates through the two connecting blocks (92), the driving screw (912) is threadedly connected with the two connecting blocks (92), and the screw rotation directions are opposite.

3. The multi-robot integrated manufacturing hybrid machine tool of claim 1, wherein: The wire feeding assembly (8) comprises two wire feeding wheels (81) and two wire feeding plates (82), the two wire feeding plates (82) are slidingly arranged below the support plate (71), the support plate (71) is provided with a driving member (84), the driving member (84) is connected with the two wire feeding plates (82) to enable the two wire feeding plates (82) to move close to or away from each other. The wire feeding wheel (81) corresponds to the wire feeding plate (82), the wire feeding wheel (81) is rotationally arranged on the wire feeding plate (82), the wire feeding plate (82) is provided with a rotating member (85), the rotating member (85) is connected with the two wire feeding wheels (81) to enable the two wire feeding wheels (81) to relatively rotate, and the two wire feeding wheels (81) can abut on the printing material wire (6) to enable the printing material wire (6) to be inserted into the feeding port (412).

4. The multi-robot integrated manufacturing hybrid machine tool of claim 3, wherein: The opposite sides of the two wire feeding plates (82) are provided with semicircular holes (821), the two semicircular holes (821) can be spliced into a wire feeding hole (822) aligned with the feeding port (412), and the printing material wire (6) can pass out of the Teflon tube (43) and be inserted into the wire feeding hole (822).

5. The multi-robot integrated manufacturing hybrid machine tool of claim 4, wherein: The wire feeding plate (82) is provided with a semicone hole (823) in communication with the semicircular hole (821), the semicone hole (823) is located below the semicircular hole (821), and the two semicone holes (823) can be spliced into a flared portion (824), the print head (41) is provided with a conical surface (413) around the feeding port (412), and the conical surface (413) cooperates with the flared portion (824).

6. The multi-robot integrated manufacturing hybrid machine tool of claim 3, wherein: The wire feeding plate (82) is provided with a driving motor (86), an output shaft of the driving motor (86) is provided with a cutter (87) rotating on the bottom wall of the wire feeding plate (82), and the cutter (87) can cut off the part of the printing material wire (6) extending out of the wire feeding plate (82).

7. The multi-robot integrated manufacturing hybrid machine tool of claim 1, wherein: The feeding device (42) comprises a rotating support shaft (421), the rotating support shaft (421) is fixedly arranged on the base (1), and a plurality of feeding discs (423) having the printing material wire (6) wound thereon are rotationally arranged on the rotating support shaft (421).

8. The multi-robot integrated manufacturing hybrid machine tool of claim 7, wherein: The rotating support shaft (421) is provided with a pressing plate (425), the pressing plate (425) and the support shaft are connected through a telescopic spring (426), the telescopic spring (426) can push the pressing plate (425) to abut on the feeding disc (423), so that the printing material wire (6) is in a straight state.

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