Electric arc additive and subtractive integrated 3D printing equipment and control method thereof

Abstract

The invention discloses electric arc additive and subtractive integrated 3D printing equipment and a control method thereof, and belongs to the technical field of 3D printing. The equipment comprises an additive system and a subtractive system which are connected with the same control system and integrated in the same working area. The control system comprises an upper computer and a PLC central control system. The material adding system comprises a multi-axis robot and a welding gun mechanism arranged at the tail end of the multi-axis robot. The material reducing mechanism comprises a three-axis gantry machine tool. According to the invention, the additive manufacturing process and the subtractive machining process are perfectly fused, so that the whole process from raw materials to final products is completed on the same equipment. Through in-situ metallurgy preparation of materials, parts only need to be disassembled once in the production and machining process, the problem of multiple times of clamping and disassembling does not need to be considered, and therefore the problems of deformation and repeated positioning caused by procedure switching are effectively avoided. And meanwhile, the dry cutting technology is adopted, additive manufacturing can be directly carried out after subtractive machining, and the production efficiency and the machining precision are further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing, and relates to an arc additive and subtractive material integrated 3D printing device and a control method thereof. Background Art

[0002] As an important branch of directed energy deposition (DED) 3D printing technology, electric arc additive manufacturing (WAAM) has attracted widespread attention and application in the manufacturing industry in recent years. This technology not only combines the efficiency and flexibility of arc welding, but also draws on the precise construction capabilities of 3D printing technology, providing a new solution for rapid prototyping and small-batch production of metal parts. In the traditional metal processing process, the process from raw materials to final products often involves multiple complex processes, including casting, forging, machining and other links, which is not only time-consuming and labor-intensive, but also costly. The emergence of WAAM technology, by directly depositing metal materials in the form of powder or wire layer by layer under the high temperature of the arc, realizes the direct transformation from digital models to physical parts, greatly shortens the production process chain, and improves production efficiency.

[0003] However, although WAAM technology has shown great potential in simplifying production processes and reducing manufacturing costs, it still faces some challenges when processing complex parts. In particular, in the process switching between additive manufacturing and subtractive processing, frequent operation conversion not only increases the difficulty of production, but also may cause a series of problems. For example, due to the characteristics of material accumulation, the workpieces of additive manufacturing are often difficult to disassemble directly. Even if they are disassembled, they may be deformed due to the release of internal stress, affecting the subsequent processing accuracy. In addition, the choice of subtractive processing is also crucial. Should we choose to put subtractive equipment into the production line or entrust external professional manufacturers to process it? This is not only about cost control, but also about the flexibility of the production cycle and the controllability of logistics scheduling. If outsourcing is chosen, the unpredictability of logistics costs and delivery time will become the key factors restricting production efficiency. To make it more complicated, if the cutting fluid generated during the subtractive processing is not handled properly, it may also have a negative impact on the subsequent additive manufacturing process. The chemical composition and residues in the cutting fluid may pollute the working environment of additive manufacturing, resulting in a decline in printing quality and even equipment failure. After the addition of some workpieces, due to the complex structure or size restrictions, subsequent subtractive processing cannot be carried out. This not only limits the design freedom of the product, but also increases the uncertainty and risk in the production process. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problem in the prior art that equipment needs to be frequently switched between additive manufacturing and subtractive processing during arc additive manufacturing, and to provide an arc additive and subtractive integrated 3D printing device and a control method thereof.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an arc additive and subtractive integrated 3D printing device, comprising an additive system and a subtractive system connected to the same control system and integrated in the same working area; the control system comprises a host computer and a PLC central control system, which are used to coordinate the additive system and the subtractive system to complete the integrated additive and subtractive printing; the additive system comprises a multi-axis robot and a welding gun mechanism arranged at the end of the multi-axis robot, which is used to complete additive processing; the subtractive mechanism comprises a three-axis gantry machine tool, which is used to complete subtractive processing.

[0006] Further improvements are: The additive system is provided with a detachable heating device for heating the printing substrate; the detachable heating device is connected to the control system.

[0007] A molten pool temperature monitoring mechanism is provided on the arm of the multi-axis robot, and the molten pool temperature monitoring mechanism is connected to the control system.

[0008] The additive system is provided with an oxygen monitoring mechanism for monitoring the oxygen content in the printing chamber during the printing process; the oxygen monitoring mechanism is connected to the control system.

[0009] The multi-axis robot is connected to a 3-axis positioner for adjusting the position and posture of a workpiece; the 3-axis positioner is connected to the control system.

[0010] The multi-axis robot is connected with a gun cleaning and wire cutting mechanism for cleaning the welding gun and cutting the wire.

[0011] The additive system is provided with a laser distance measuring module for measuring the height of the processed workpiece; the laser distance measuring module is connected to the control system.

[0012] The three-axis gantry machine tool is provided with a tool changing mechanism, and the tool changing mechanism is connected to the control system.

[0013] In a second aspect, the present invention provides a control method based on the above-mentioned arc additive and subtractive integrated 3D printing device, comprising: Step 1: Import the printed workpiece model into the host computer, analyze the additive path and the subtractive path, and generate several additive path files and subtractive path files; Step 2: Start 3D printing; the host computer sends the additive path file to the additive system through the OPC-UA protocol, and the host computer sends the subtractive path file to the subtractive system through a shared folder; the multi-axis robot performs 3D printing according to the additive path file; Step 3: After the additive part is printed, the multi-axis robot sends an end command to the PLC central control system, and the PLC central control system sends a start command to the subtractive system through the S7 protocol, and the three-axis gantry machine tool moves according to the subtractive path processing file; Step 4: After the subtractive part is printed, the three-axis gantry machine tool sends an end command to the PLC central control system, and the PLC central control system sends a start command to the additive system through the OPC-UA protocol to continue additive printing, and the "additive-subtractive-additive" workflow is circulated until the additive printing path file sent by the host computer to the additive system and the subtractive processing path file sent to the subtractive system are executed, achieving the printing effect of "adding and subtracting at the same time, adding and subtracting in one"; Step 5. After printing is completed, the multi-axis robot and the three-axis gantry machine tool automatically return to the origin, and the control work of 3D printing is completed.

[0014] Further improvements are: Before the axis robot performs 3D printing according to the additive path file, the control system controls the detachable heating device to heat the printing substrate, and turns off the detachable heating device after the heating is completed; While the multi-axis robot performs 3D printing according to the additive path file, the control system controls the 3-axis positioner to move according to the printing requirements; and, the molten pool temperature monitoring mechanism monitors the molten pool temperature data in real time and uploads it to the PLC through analog data, and then sends it to the host computer through the S7 protocol, and displays it on the operation interface of the host computer. At the same time, the oxygen monitoring mechanism uploads the oxygen content data in the printing chamber to the PLC through analog data, and then sends it to the host computer through the S7 protocol, and displays it on the operation interface of the host computer; at the same time, the control system controls the gun cleaning and wire cutting mechanism to clean the gun and cut the wire at set intervals to ensure normal printing.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The invention discloses an arc additive and subtractive integrated 3D printing device, which integrates an additive system and a subtractive system in the same working area and is connected to the same control system, thereby realizing seamless switching between additive manufacturing and subtractive processing. This design avoids frequent operation conversion, significantly simplifies the production process, and improves production efficiency. At the same time, since the two systems operate in the same working area, the time and cost of transferring workpieces between different devices are reduced, further improving the overall production efficiency. In traditional methods, workpieces manufactured by additive manufacturing are often difficult to disassemble directly, and after disassembly, they may be deformed due to the release of internal stress, affecting the subsequent processing accuracy. However, the integrated device can directly perform subtractive processing after the completion of additive manufacturing through a precise control system and optimized process parameters, avoiding errors and deformations that may occur during disassembly and transportation, thereby improving processing accuracy and product quality. The device integrates the additive system and the subtractive system, avoiding the additional cost and logistics costs required to put the subtractive equipment into the production line or entrust an external professional manufacturer to process. In addition, due to the simplified production process, the uncertainty and risk in the production cycle are reduced, thereby reducing the overall manufacturing cost. Through the integrated design, the equipment can flexibly respond to the processing needs of workpieces of different complexity and size, without outsourcing the subtractive processing to external manufacturers, thereby enhancing the flexibility and controllability of the production cycle. This helps companies better grasp the production schedule and meet customer needs. In traditional methods, if the cutting fluid generated during the subtractive processing is not handled properly, it may have a negative impact on the subsequent additive manufacturing process. However, through reasonable process layout and environmental protection measures, this integrated equipment can effectively reduce the pollution of the cutting fluid to the additive manufacturing working environment, reduce the risk of equipment failure, and thus improve the stability and reliability of the equipment. The equipment can handle the needs of additive and subtractive processing of complex parts, breaking the limitations of traditional methods that cannot perform subsequent subtractive processing due to complex structures or size limitations. This helps companies increase the freedom of product design and develop more innovative and competitive products.

[0016] Furthermore, the detachable heating device provided in the additive system can preheat the printed substrate or maintain a constant temperature according to the characteristics of the printing material and process requirements. This helps to reduce thermal stress, improve the fluidity and wettability of the material, and thus enhance the interlayer bonding strength and overall quality of the printed part. At the same time, the detachable design facilitates maintenance and replacement, and improves the flexibility and adaptability of the equipment. The molten pool temperature monitoring mechanism provided on the multi-axis robot arm can monitor the molten pool temperature in real time during arc welding. This function helps the control system adjust welding parameters such as current, voltage and welding speed according to real-time temperature data, thereby ensuring the stability and consistency of the printing process.

[0017] Furthermore, the oxygen monitoring mechanism set up in the additive system can monitor the oxygen content in the printing chamber in real time during the printing process. When the oxygen content is too high, the control system can automatically take safety measures, such as pausing printing or starting the exhaust system, to prevent safety accidents such as fire or explosion.

[0018] Furthermore, the 3-axis positioner connected to the multi-axis robot can adjust the position and posture of the workpiece according to the control system instructions. This function not only improves the flexibility of processing, but also ensures the precise positioning of the workpiece during additive manufacturing and subtractive processing, thereby improving the overall processing accuracy.

[0019] Furthermore, the gun cleaning and wire cutting mechanism connected to the multi-axis robot can regularly clean and cut the welding gun during the printing process. This helps to remove spatter, welding slag and impurities on the welding gun, keep the welding gun in good working condition and extend its service life.

[0020] Furthermore, the laser distance measurement module set up in the additive system can measure the height of the processed workpiece. This function helps the control system adjust the printing path and layer thickness according to the measurement results to ensure the dimensional accuracy and surface quality of the printed parts.

[0021] Furthermore, the tool changing mechanism of the three-axis gantry machine tool can automatically change the tool according to the processing requirements. This function not only improves the processing flexibility, but also reduces the time and cost of manual tool changing, thereby improving the overall processing efficiency.

[0022] The present invention discloses a control method for an arc additive and subtractive integrated 3D printing device, which realizes full automation from the import of a printed workpiece model to the final completion of printing. Through the analysis and generation of additive and subtractive paths by a host computer, and the subsequent seamless connection with the additive system and the subtractive system, the operation process is greatly simplified and the work efficiency is improved. At the same time, the automated process reduces human intervention and reduces the possibility of operational errors. The host computer can accurately analyze and generate additive path files and subtractive path files to ensure that each step in the printing process is carried out according to a predetermined path. This not only improves the printing accuracy, but also makes the transition between additive and subtractive smoother, reducing the error caused by path mismatch. The control method supports the "additive-subtractive-additive" cyclic workflow, and can flexibly adjust the order and number of additive and subtractive according to actual needs. This flexibility enables the device to handle more complex and sophisticated printing tasks and meet diverse manufacturing needs. The control method supports the "additive-subtractive-additive" cyclic workflow, and can flexibly adjust the order and number of additive and subtractive according to actual needs. This flexibility enables the equipment to handle more complex and sophisticated printing tasks and meet diverse manufacturing needs. As the core of the entire system, the PLC central control system can intelligently schedule the work of the additive system and the subtractive system according to the instructions received. After the additive part is printed, the start instruction of the subtractive system is automatically triggered; after the subtractive part is printed, the start instruction of the additive system is automatically triggered. This intelligent control method makes the entire printing process smoother and more efficient. After printing is completed, the multi-axis robot and three-axis gantry machine tool can automatically return to the origin, which not only facilitates the maintenance of the equipment, but also ensures the accuracy of the next print.

[0023] Furthermore, before printing, the control system preheats the printed substrate by controlling the detachable heating device. This step ensures that the substrate temperature is uniform and reaches a state suitable for printing, effectively reducing the shrinkage and deformation of the material caused by temperature differences, thereby improving the interlayer bonding strength and overall dimensional accuracy of the printed parts. After the preheating is completed, the heating device is automatically turned off, which not only ensures the preheating effect but also avoids unnecessary energy waste. During the printing process, the control system controls the 3-axis positioner to adjust the position and posture of the workpiece in real time according to the printing requirements. This collaborative operation not only improves the flexibility of printing, enabling the equipment to handle more complex and variable workpiece shapes, but also ensures the precise positioning of the workpiece during the printing process, further improving the printing accuracy. The introduction of the pool temperature monitoring mechanism and the oxygen monitoring mechanism realizes the real-time monitoring of key parameters in the printing process. The molten pool temperature data can reflect the stability of the welding process. Through the display of the upper computer operation interface, the operator can intuitively monitor the welding status and adjust the printing parameters in time to avoid printing defects caused by overheating or underheating. At the same time, real-time monitoring of oxygen content ensures the safety of the gas environment in the printing chamber, prevents the risk of fire or explosion caused by excessive oxygen concentration, and ensures the safety of equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a module schematic diagram of an arc additive and subtractive integrated 3D printing device in the present invention; Figure 2 This is a logic diagram of a control method for an arc additive and subtractive integrated 3D printing device in the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1The embodiment of the present invention discloses an arc additive and subtractive integrated 3D printing device, characterized in that it includes an additive system and a subtractive system connected to the same control system and integrated in the same working area; the additive system includes a multi-axis robot and a welding gun mechanism arranged at the end of the multi-axis robot; the additive system is provided with a detachable heating device for heating the printing substrate; the detachable heating device is connected to the control system and can preheat or maintain a constant temperature of the printing substrate according to the characteristics of the printing material and the process requirements. This helps to reduce thermal stress, improve the fluidity and wettability of the material, thereby improving the interlayer bonding strength and overall quality of the printed part. At the same time, the detachable design is convenient for maintenance and replacement, and improves the flexibility and adaptability of the equipment. The molten pool temperature monitoring mechanism arranged on the arm of the multi-axis robot can monitor the molten pool temperature in real time during the arc welding process. This function helps the control system to adjust welding parameters such as current, voltage and welding speed according to real-time temperature data, thereby ensuring the stability and consistency of the printing process. The arm of the multi-axis robot is provided with a molten pool temperature monitoring mechanism, and the molten pool temperature monitoring mechanism is connected to the control system. The additive system is provided with an oxygen monitoring mechanism for monitoring the oxygen content in the printing chamber during the printing process; the oxygen monitoring mechanism is connected to the control system and can monitor the oxygen content in the printing chamber in real time during the printing process. When the oxygen content is too high, the control system can automatically take safety measures, such as pausing printing or starting the exhaust system, to prevent safety accidents such as fire or explosion. The multi-axis robot is connected to a 3-axis positioner for adjusting the position and posture of the workpiece; the 3-axis positioner is connected to the control system and can adjust the position and posture of the workpiece according to the control system instructions. This function not only improves the flexibility of processing, but also ensures the precise positioning of the workpiece during additive manufacturing and subtractive processing, thereby improving the overall processing accuracy. The multi-axis robot is connected to a gun cleaning and wire cutting mechanism for cleaning the welding gun and cutting the wire, and can regularly clean and cut the welding gun during the printing process. This helps to remove spatter, welding slag and impurities on the welding gun, keep the welding gun in good working condition, and extend its service life. The additive system is provided with a laser distance measuring module for measuring the height of the processed workpiece; the laser distance measuring module is connected to the control system and can measure the height of the processed workpiece. This function helps the control system to adjust the printing path and layer thickness according to the measurement results to ensure the dimensional accuracy and surface quality of the printed part.

[0033] The tool changing mechanism of the three-axis gantry machine tool can automatically change the tool according to the processing requirements. This function not only improves the processing flexibility, but also reduces the time and cost of manual tool changing, thereby improving the overall processing efficiency.

[0034] The control system includes a host computer and a PLC central control system; an electrical control system for arc additive and subtractive integrated 3D printing equipment, in which each execution unit is controlled by a control module, and the control module includes a host computer and a Siemens 1200 series PLC. The host computer sends the processed additive printing path file to the additive system through the OPC-UA protocol, and the host computer sends the processed subtractive processing path file to the subtractive system through a shared folder. The host computer and the PLC communicate through the Siemens S7 protocol.

[0035] The present invention discloses an arc additive and subtractive integrated 3D printing device, which integrates an additive system and a subtractive system in the same working area and is connected to the same control system, thereby realizing seamless switching between additive manufacturing and subtractive processing. This design avoids frequent operation conversion, significantly simplifies the production process, and improves production efficiency. At the same time, since the two systems operate in the same working area, the time and cost of transferring workpieces between different devices are reduced, further improving the overall production efficiency. In traditional methods, workpieces manufactured by additive manufacturing are often difficult to disassemble directly, and after disassembly, they may be deformed due to the release of internal stress, affecting the subsequent processing accuracy. However, the integrated device can directly perform subtractive processing after the completion of additive manufacturing through a precise control system and optimized process parameters, avoiding errors and deformations that may occur during disassembly and transportation, thereby improving processing accuracy and product quality. The device integrates the additive system and the subtractive system, avoiding the additional costs and logistics costs required to put subtractive equipment into a production line or entrust external professional manufacturers to process.

[0036] See also Figure 2 The present invention also discloses a control method for an arc additive and subtractive integrated 3D printing device, comprising: Step 1: Import the printed workpiece model into the host computer, analyze the additive path and the subtractive path, and generate several additive path files and subtractive path files; Step 2, start 3D printing; the host computer sends the additive path file to the additive system through the OPC-UA protocol, and the host computer sends the subtractive path file to the subtractive system through the shared folder; the control system controls the detachable heating device to heat the printing substrate, and turns off the detachable heating device after heating; the multi-axis robot performs 3D printing according to the additive path file; the control system controls the 3-axis positioner to act according to the printing requirements; and the molten pool temperature monitoring mechanism monitors the molten pool temperature data in real time and uploads it to the PLC through analog data and then sends it to the host computer through the S7 protocol, which is displayed on the operation interface of the host computer. At the same time, the oxygen monitoring mechanism uploads the oxygen content data in the printing chamber to the PLC through analog data and then sends it to the host computer through the S7 protocol, which is displayed on the operation interface of the host computer; at the same time, the control system controls the gun cleaning and wire cutting mechanism to clean the gun and cut the wire at set intervals to ensure normal printing.

[0037] Step 3: After the additive part is printed, the multi-axis robot sends an end command to the PLC central control system, and the PLC central control system sends a start command to the subtractive system through the S7 protocol, and the three-axis gantry machine tool moves according to the subtractive path processing file; Step 4: After the subtractive part is printed, the three-axis gantry machine tool sends an end command to the PLC central control system, and the PLC central control system sends a start command to the additive system through the OPC-UA protocol to continue additive printing, and the "additive-subtractive-additive" workflow is circulated until the additive printing path file sent by the host computer to the additive system and the subtractive processing path file sent to the subtractive system are executed, achieving the printing effect of "adding and subtracting at the same time, adding and subtracting in one"; Step 5. After printing is completed, the multi-axis robot and the three-axis gantry machine tool automatically return to the origin, and the control work of 3D printing is completed.

[0038] The present invention discloses a control method for an arc additive and subtractive integrated 3D printing device, which realizes full automation from the import of a printed workpiece model to the final completion of printing. Through the analysis and generation of additive and subtractive paths by a host computer, and the subsequent seamless connection with the additive system and the subtractive system, the operation process is greatly simplified and the work efficiency is improved. At the same time, the automated process reduces human intervention and reduces the possibility of operational errors. The host computer can accurately analyze and generate additive path files and subtractive path files to ensure that each step in the printing process is carried out according to a predetermined path. This not only improves the printing accuracy, but also makes the transition between additive and subtractive smoother, reducing the error caused by path mismatch. The control method supports the "additive-subtractive-additive" cyclic workflow, and can flexibly adjust the order and number of additive and subtractive according to actual needs. This flexibility enables the device to handle more complex and sophisticated printing tasks and meet diverse manufacturing needs. The control method supports the "additive-subtractive-additive" cyclic workflow, and can flexibly adjust the order and number of additive and subtractive according to actual needs. This flexibility enables the equipment to handle more complex and sophisticated printing tasks and meet diverse manufacturing needs. As the core of the entire system, the PLC central control system can intelligently schedule the work of the additive system and the subtractive system according to the instructions received. After the additive part is printed, the start instruction of the subtractive system is automatically triggered; after the subtractive part is printed, the start instruction of the additive system is automatically triggered. This intelligent control method makes the entire printing process smoother and more efficient. After printing is completed, the multi-axis robot and three-axis gantry machine tool can automatically return to the origin, which not only facilitates the maintenance of the equipment, but also ensures the accuracy of the next print.

[0039] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An arc additive and subtractive 3D printing device, characterized in that: It includes an additive system and a subtractive system connected to the same control system and integrated in the same working area; the control system includes a host computer and a PLC central control system, which are used to coordinate the additive system and the subtractive system to complete the integrated additive and subtractive printing; the additive system includes a multi-axis robot and a welding gun mechanism arranged at the end of the multi-axis robot, which is used to complete additive processing; the subtractive mechanism includes a three-axis gantry machine tool, which is used to complete subtractive processing.

2. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The additive system is provided with a detachable heating device for heating the printing substrate; the detachable heating device is connected to the control system.

3. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: A molten pool temperature monitoring mechanism is provided on the arm of the multi-axis robot, and the molten pool temperature monitoring mechanism is connected to the control system.

4. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The additive system is provided with an oxygen monitoring mechanism for monitoring the oxygen content in the printing chamber during the printing process; the oxygen monitoring mechanism is connected to the control system.

5. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The multi-axis robot is connected to a 3-axis positioner for adjusting the position and posture of a workpiece; the 3-axis positioner is connected to the control system.

6. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The multi-axis robot is connected with a gun cleaning and wire cutting mechanism for cleaning the welding gun and cutting the wire.

7. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The additive system is provided with a laser distance measuring module for measuring the height of the processed workpiece; the laser distance measuring module is connected to the control system.

8. The arc additive and subtractive integrated 3D printing device according to claim 1, characterized in that: The three-axis gantry machine tool is provided with a tool changing mechanism, and the tool changing mechanism is connected to the control system.

9. A control method for the arc additive and subtractive integrated 3D printing device according to any one of claims 1 to 8, characterized in that: include: Step 1: Import the printed workpiece model into the host computer, analyze the additive path and the subtractive path, and generate several additive path files and subtractive path files; Step 2: Start 3D printing; the host computer sends the additive path file to the additive system through the OPC-UA protocol, and the host computer sends the subtractive path file to the subtractive system through a shared folder; the multi-axis robot performs 3D printing according to the additive path file; Step 3: After the additive part is printed, the multi-axis robot sends an end command to the PLC central control system, and the PLC central control system sends a start command to the subtractive system through the S7 protocol, and the three-axis gantry machine tool moves according to the subtractive path processing file; Step 4: After the subtractive part is printed, the three-axis gantry machine tool sends an end command to the PLC central control system, and the PLC central control system sends a start command to the additive system through the OPC-UA protocol to continue additive printing, and the "additive-subtractive-additive" workflow is circulated until the additive printing path file sent by the host computer to the additive system and the subtractive processing path file sent to the subtractive system are executed, achieving the printing effect of "adding and subtracting at the same time, adding and subtracting in one"; Step 5. After printing is completed, the multi-axis robot and the three-axis gantry machine tool automatically return to the origin, and the control work of 3D printing is completed.

10. The control method of arc additive and subtractive integrated 3D printing equipment according to claim 9, characterized in that: include: Before the axis robot performs 3D printing according to the additive path file, the control system controls the detachable heating device to heat the printing substrate, and turns off the detachable heating device after the heating is completed; While the multi-axis robot performs 3D printing according to the additive path file, the control system controls the 3-axis positioner to move according to the printing requirements; and, the molten pool temperature monitoring mechanism monitors the molten pool temperature data in real time and uploads it to the PLC through analog data, and then sends it to the host computer through the S7 protocol, and displays it on the operation interface of the host computer. At the same time, the oxygen monitoring mechanism uploads the oxygen content data in the printing chamber to the PLC through analog data, and then sends it to the host computer through the S7 protocol, and displays it on the operation interface of the host computer; at the same time, the control system controls the gun cleaning and wire cutting mechanism to clean the gun and cut the wire at set intervals to ensure normal printing.

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