Multi-robot integrated 3D machine tool special for additive and subtractive materials

Abstract

The invention relates to a multi-robot integrated 3D machine tool special for additive and subtractive materials, and relates to the technical field of numerical control machine tool equipment manufacturing, the multi-robot integrated 3D machine tool special for additive and subtractive materials comprises a frame body structure, a 3D printing system and a workpiece supporting structure, the 3D printing system is arranged on the frame body structure, and materials can be stacked on the workpiece supporting structure layer by layer to construct parts; a material reducing head capable of driving the milling cutter or the clamping jaw to work is arranged on the frame body structure; a replacement tool used for containing the milling cutter and the clamping jaw is arranged on the frame body structure, the milling cutter and the clamping jaw are connected with the material reducing head through connecting assemblies, and the replacement tool can detach the milling cutter or the clamping jaw from the material reducing head. The method has the advantages that mechanical replacement of the milling cutter and the clamping jaw on the material reduction head is achieved, and therefore the safety risk existing in replacement of the clamping jaw and the milling cutter on the material reduction head is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of CNC machine tool equipment manufacturing, and in particular to a multi-robot integrated 3D additive and subtractive material special machine tool. Background Art

[0002] Additive and subtractive 3D machine tools are a new type of manufacturing equipment that combines traditional subtractive processing and 3D printing additive technology. With its advantages of high design freedom, high material utilization, and short production cycle, it has shown great application potential in many fields and is profoundly changing the face of the manufacturing industry. With the continuous advancement of technology and the deepening of its application, additive and subtractive 3D printing is expected to play a more important role in the future manufacturing industry.

[0003] When performing subtractive manufacturing on additive and subtractive 3D machine tools, it is necessary to use a milling cutter to mill the workpiece and a clamp to clamp the workpiece. Therefore, it is necessary to replace the clamp and the milling cutter on the subtractive head. The existing replacement method is usually manual replacement. When manually replacing the clamp, the operator needs to directly contact the robot, which poses certain safety risks. Summary of the invention

[0004] In order to improve the safety risk problem of manual replacement of clamps and milling cutters, the present application provides a multi-robot integrated 3D additive and subtractive material special machine tool.

[0005] The multi-robot integrated 3D additive and subtractive material special machine tool provided in this application adopts the following technical solution: A multi-robot integrated 3D additive and subtractive machine tool, comprising a frame structure, a 3D printing system and a workpiece support structure, wherein the 3D printing system is arranged on the frame structure and can stack materials layer by layer on the workpiece support structure to construct parts, and the frame structure is provided with a subtractive head capable of driving a milling cutter or a clamp to work; The frame structure is provided with a replacement tool for placing the milling cutter and the clamping jaw. The milling cutter and the clamping jaw are connected to the subtractive head through a connecting assembly. The replacement tool can disassemble the milling cutter or the clamping jaw from the subtractive head.

[0006] By adopting the above technical solution, when cutting the workpiece printed on the workpiece support structure by the 3D printing system, the milling cutter is installed on the subtractive head through the connecting component, and the subtractive head drives the milling cutter to mill the workpiece. When the workpiece needs to be clamped, the frame structure drives the subtractive head to move to the replacement tooling, and removes the milling cutter from the subtractive head by replacing the tooling, and then connects it with the clamp on the replacement tooling through the connecting component. The subtractive head drives the clamp to clamp the workpiece, and the method of replacing the milling cutter with the clamp is the same as that of replacing the clamp with the milling cutter. Therefore, the mechanical method of replacing the milling cutter and the clamp on the subtractive head is realized, thereby reducing the safety risk of replacing the clamp and the milling cutter on the subtractive head.

[0007] In a specific possible implementation scheme, the frame structure includes a gantry, a subtractive Y-axis mobile frame, a subtractive Z-axis mobile frame and a subtractive A-axis rotating frame, the subtractive Y-axis mobile frame is arranged on the gantry to drive the subtractive head to move in the Y direction, the subtractive Z-axis mobile frame is arranged on the subtractive Y-axis mobile frame to drive the subtractive head to move in the Z direction, the subtractive A-axis rotating frame is arranged on the subtractive Z-axis mobile frame to drive the subtractive head to rotate, and the subtractive head is arranged on the subtractive A-axis rotating frame; The workpiece support structure comprises a support plate and an X-axis moving frame. The support plate is arranged on the X-axis moving frame so as to place the workpiece thereon. The X-axis moving frame can drive the support plate to move along the X direction.

[0008] By adopting the above technical solution, the support plate is driven to move along the X direction by the X-axis moving frame, thereby avoiding the X-direction movement of the gantry, reducing the displacement error caused by the movement of the heavier gantry, and improving the processing accuracy and processing efficiency of the machine tool.

[0009] In a specific possible implementation mode, the support plate is rotatably arranged on the X-axis moving frame, and the X-axis moving frame is provided with a second motor for driving the support plate to rotate.

[0010] By adopting the above technical solution and utilizing the rotation of the support plate, the convenience of adjusting the state of the workpiece is improved.

[0011] In a specific possible implementation scheme, the clamp includes a clamp frame, a drive shaft and two clamping plates, the two clamping plates are relatively slidably arranged on the clamp frame, the drive shaft is rotatably arranged on the clamp frame, and is connected to the two clamping plates through a transmission member to be able to clamp the workpiece.

[0012] By adopting the above technical solution, when the workpiece is clamped by the clamp, the drive shaft rotates and drives the two clamping plates to move through the transmission member to clamp the workpiece, so that the clamp and the milling cutter can use the same power supply mechanism, thereby improving the convenience of replacing the clamp and the milling cutter.

[0013] In a specific possible implementation scheme, the transmission member includes a driving gear and two driven racks, the two driven racks correspond to the clamping plate one by one and are fixed to the clamping plate, the driving gear is coaxially fixed on the driving shaft, the driving gear is located between the two driven racks and meshes with the two driven racks.

[0014] By adopting the above technical solution, the driving shaft drives the active gear to rotate, and the active gear drives the two clamping plates to slide through the driven racks on both sides to clamp the workpiece, and the meshing of the gear and the rack is used to improve the accuracy of the clamping plate movement.

[0015] In a specific feasible implementation scheme, the replacement tooling includes a rotating rod and two clamping plates coaxially fixed on the rotating rod, a clamping space is formed between the two clamping plates, the rotating rod is rotatably set on the gantry, and rectangular openings are provided on the two clamping plates, and the two rectangular openings are arranged opposite to each other. The clamping jaw frame is provided with a connecting block that can be inserted into the two rectangular openings, the connecting block is adapted to the rectangular openings, and the connecting block is provided with a limiting portion inserted into the clamping space so that the clamping plate can support the connecting block.

[0016] By adopting the above technical solution, when placing the clamp, the connecting block is inserted into the two holding openings from the side of the clamping plate. At this time, the limiting part is inserted into the clamping space, and the clamp supports the limiting part to complete the placement of the clamp. When the clamp is removed from the material reduction head and placed on the clamp, the clamp is rotated to exchange the position of the clamp and the milling cutter, which is convenient for the installation of the milling cutter and the material reduction head.

[0017] In a specific feasible implementation scheme, both of the two clamping plates are provided with mounting openings, the two mounting openings are arranged opposite to each other, the milling cutter can be inserted into the two mounting openings, and a limiting portion inserted into the clamping space is provided to enable the clamping plate to support the milling cutter.

[0018] By adopting the above technical solution, the milling cutter is inserted into the two installation openings, and the limiting part is inserted into the clamping space. The milling cutter is placed on the clamping plate by supporting the limiting part through the clamping plate.

[0019] In a specific possible implementation scheme, the subtractive head includes a subtractive housing and a subtractive motor, the subtractive housing is arranged on the subtractive A-axis rotating frame, and the subtractive motor is fixedly arranged on the subtractive housing; The connecting assembly comprises a connecting head, the connecting head is rotatably arranged on the material-reducing housing, a rectangular hole is opened on the connecting head, a first rectangular portion capable of cooperating with the rectangular hole is provided on the milling cutter, and a second rectangular portion capable of cooperating with the rectangular hole is provided on the driving shaft; The two clamping plates are slidably arranged on the rotating rod, and a telescopic spring for supporting the clamping plates is sleeved on the rotating rod. The connecting block can contract the telescopic spring by squeezing the first rectangular portion and the second rectangular portion.

[0020] By adopting the above technical solution, taking the replacement of the jaws of the milling cutter as an example, the subtractive head drives the milling cutter to move to the clamping plate, and drives the milling cutter to insert into the installation port on the clamping plate, and then the subtractive head rises, and the clamping plate restricts the limiting part, so that the milling cutter is separated from the connecting head, and then the clamping plate is rotated to exchange the position of the jaws and the milling cutter, align the rectangular hole with the second rectangular part on the clamping jaw, and move the subtractive head downward. The connecting head contracts the telescopic spring by pressing down the second rectangular part, and at the same time, the subtractive motor drives the connecting head to rotate, and performs the hole alignment operation between the rectangular hole and the second rectangular part. When the rectangular hole and the second rectangular part have the same shape, the telescopic spring pushes the second rectangular part to insert into the rectangular hole, which is convenient for the connection between the drive shaft and the connecting head; the subtractive head then separates the jaws from the side of the rectangular opening of the clamping plate to complete the replacement of the milling cutter and the jaws.

[0021] In a specific possible implementation manner, a mounting hole for inserting the connecting block is provided on the subtractive housing, and the mounting hole is adapted to the connecting block so as to limit the rotation of the connecting block.

[0022] By adopting the above technical solution, when the second rectangular part is inserted into the rectangular hole, the connecting block is inserted into the mounting hole, and the subtractive motor drives the driving shaft to rotate. Due to the cooperation between the connecting block and the rectangular mounting hole, the driving shaft and the clamping jaw frame produce relative rotation, thereby maintaining the clamping jaws on the workpiece.

[0023] In a specific possible implementation scheme, an electromagnet is provided on the subtractive shell, and the electromagnet can adsorb and fix the milling cutter on the connecting head, and adsorb and fix the connecting block on the subtractive shell.

[0024] By adopting the above technical solution, the electromagnet is used to adsorb and fix the milling cutter and the connecting block, thereby improving the convenience of disassembling and assembling the milling cutter, the clamping jaws and the material reduction head.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. When cutting the workpiece printed on the workpiece support structure by the 3D printing system, the milling cutter is installed on the subtractive head through the connecting assembly, and the subtractive head drives the milling cutter to mill the workpiece. When the workpiece needs to be clamped, the frame structure drives the subtractive head to move to the replacement tooling, and removes the milling cutter from the subtractive head by replacing the tooling, and then connects with the clamp on the replacement tooling through the connecting assembly. The subtractive head drives the clamp to clamp the workpiece. The way of replacing the milling cutter with the clamp is the same as that of replacing the clamp with the milling cutter. Therefore, the mechanical method of replacing the milling cutter and the clamp on the subtractive head is realized, thereby reducing the safety risk of replacing the clamp and the milling cutter on the subtractive head. 2. The X-axis moving frame is used to drive the support plate to move along the X-direction, thus avoiding the X-direction movement of the gantry, reducing the displacement error caused by the movement of the heavier gantry, and improving the machining accuracy and efficiency of the machine tool; 3. When the workpiece is clamped by the clamping jaws, the drive shaft rotates and drives the two clamping plates to move through the transmission member to clamp the workpiece, so that the clamping jaws and the milling cutter can use the same power supply mechanism, thereby improving the convenience of replacing the clamping jaws and the milling cutter. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a multi-robot integrated 3D additive and subtractive material special machine tool according to an embodiment of the present application.

[0027] Figure 2 yes Figure 1 Enlarged view of part A in the middle.

[0028] Figure 3 It is a structural schematic diagram of the special machine tool from other perspectives of the embodiment of the present application.

[0029] Figure 4 It is a schematic diagram for showing the structure of the subtractive head.

[0030] Figure 5 is along Figure 4 Cross-sectional view along line BB.

[0031] Figure 6 It is a schematic diagram used to show the structure of transmission parts.

[0032] Figure 7 It is a structural diagram for showing the milling cutter mounting.

[0033] Figure 8 It is a structural diagram used to show the connection between the milling cutter and the subtractive head.

[0034] Fig. 9 is along Figure 8 Sectional view along the CC line.

[0035] Explanation of the reference numerals: 1. frame structure; 11. gantry; 12. subtractive Y-axis mobile frame; 13. subtractive Z-axis mobile frame; 14. subtractive A-axis rotating frame; 141. rotating arm; 142. second motor; 2. 3D printing system; 21. printing robot; 22. space mobile frame; 221. printing Y-axis mobile frame; 222. printing Z-axis mobile frame; 223. printing A-axis rotating frame; 3. workpiece support structure; 31. support plate; 32. X-axis mobile frame; 33. first motor; 41. milling cutter; 411. limiting portion; 412. first rectangular portion; 42. clamp; 421. clamp frame ; 422, driving shaft; 4221, second rectangular portion; 423, clamping plate; 424, guide plate; 425, connecting block; 4251, limiting portion; 426, transmission member; 4261, driving gear; 4262, driven rack; 5, material reduction head; 51, material reduction shell; 52, material reduction motor; 6, replacement tool; 61, rotating rod; 62, clamping plate; 621, clamping space; 622, rectangular opening; 623, mounting opening; 63, mounting plate; 64, rotating motor; 65, telescopic spring; 7, connecting assembly; 71, connecting head; 72, rectangular hole; 73, electromagnet; 74, mounting hole. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-9 This application is described in further detail.

[0037] The embodiment of the present application discloses a multi-robot integrated 3D additive and subtractive material special machine tool.

[0038] Reference Figure 1 A multi-robot integrated 3D additive and subtractive machine tool includes a frame structure 1, a 3D printing system 2 and a workpiece support structure 3. The 3D printing system 2 is arranged on the frame structure and can stack materials layer by layer on the workpiece support structure 3 to construct parts. The frame structure 1 is provided with a subtractive head 5 that can drive a milling cutter 41 or a clamp 42 to work. The frame structure 1 can support the subtractive head 5 and the 3D printing system 2, and drive the subtractive head 5 and the 3D printing system 2 to change their spatial positions.

[0039] Reference Figure 1 The frame structure 1 is provided with a replacement tool 6 for placing the milling cutter 41 and the clamping jaw 42, and the milling cutter 41 and the clamping jaw 42 are connected by a connecting component 7 (see attached Figure 5 ) is connected to the subtractive head 5, and replacing the tooling 6 can disassemble the milling cutter 41 or the clamping jaw 42 from the subtractive head 5.

[0040] When cutting the workpiece printed on the workpiece support structure 3 by the 3D printing system 2, the milling cutter 41 is installed on the subtractive head 5 through the connecting component 7, and the subtractive head 5 drives the milling cutter 41 to mill the workpiece. When the workpiece needs to be clamped, the frame structure 1 drives the subtractive head 5 to move to the replacement tooling 6, and removes the milling cutter 41 from the subtractive head 5 by replacing the tooling 6, and then connects with the clamp 42 on the replacement tooling 6 through the connecting component 7. The subtractive head 5 drives the clamp 42 to clamp the workpiece. The clamp 42 replaces the milling cutter 41 in the same way as the milling cutter 41 replaces the clamp 42. Therefore, the mechanical method of replacing the milling cutter 41 and the clamp 42 on the subtractive head 5 is realized, thereby reducing the safety risk of replacing the clamp 42 and the milling cutter 41 on the subtractive head 5.

[0041] Reference Figure 1 The frame structure 1 in this embodiment includes a gantry 11, a subtractive Y-axis moving frame 12, a subtractive Z-axis moving frame 13 and a subtractive A-axis rotating frame 14. The gantry 11 is fixedly arranged on a base. The workpiece support structure 3 includes a support plate 31 and an X-axis moving frame 32. The X-axis moving frame 32, the subtractive Y-axis moving frame 12 and the subtractive Z-axis moving frame 13 all include a servo motor, a screw and a sliding frame. The screw passes through the sliding frame and is threadedly connected to the sliding frame so that its rotational motion is converted into driving the sliding frame to slide. The servo motor is coaxially fixed with the screw to drive the screw to rotate. The subtractive Y-axis moving frame 12 is arranged on the gantry 11 to realize that the sliding frame in the subtractive Y-axis moving frame 12 slides along the Y direction on the gantry 11. The subtractive Z-axis moving frame 13 is arranged on the sliding frame in the subtractive Y-axis moving frame 12 to drive the sliding frame in the subtractive Z-axis moving frame 13 to slide along the Z direction.

[0042] Reference Figure 1 , Figure 2 The subtractive A-axis rotating frame 14 is arranged on the sliding frame in the subtractive Z-axis moving frame 13. The subtractive A-axis rotating frame 14 includes a first motor 33 and a rotating arm 141. The rotating arm 141 is rotatably arranged on the sliding frame in the subtractive Z-axis moving frame 13. The first motor 33 is fixedly arranged on the sliding frame in the subtractive Z-axis moving frame 13. In this embodiment, the first motor 33 drives the rotating arm 141 to rotate around the Z-axis through a bevel gear transmission structure. The subtractive head 5 is arranged on the rotating arm 141. The subtractive head 5 realizes position adjustment in space through the motion superposition of the subtractive Y-axis moving frame 12, the subtractive Z-axis moving frame 13, and the subtractive A-axis rotating frame 14, thereby improving the flexibility of the subtractive head 5.

[0043] Reference Figure 1The base is provided with a guide rail arranged along the X direction, and the sliding frame in the X-axis moving frame 32 is slidably arranged on the guide rail to improve the stability of the sliding frame in the X-axis moving frame 32 in sliding in the X direction. The support plate 31 is rotatably connected with the sliding frame in the X-axis moving frame 32 through a rotating shaft, so that the support plate 31 rotates around the Z axis. The rotating shaft is fixedly arranged at the middle position of the support plate 31. The sliding frame in the X-axis moving frame 32 is provided with a second motor 142, and the second motor 142 is connected to the rotating shaft through a bevel gear transmission mechanism to drive the support plate 31 to rotate. By utilizing the rotation of the support plate 31, it is convenient to adjust the shape of the workpiece formed on the support plate 31, and the convenience of adjusting the state of the workpiece is improved.

[0044] The workpiece moves in the X direction by driving the support plate 31 through the X-axis moving frame 32, thereby avoiding the X-direction movement of the gantry 11, reducing the displacement error caused by the movement of the heavier gantry 11, and improving the machining accuracy and machining efficiency of the machine tool.

[0045] Reference Figure 3 The 3D printing system 2 in this embodiment includes a control system, a software system and two printing robots 21. Each printing robot 21 is set on the gantry 11 through a space mobile frame 22. The space mobile frame 22 includes a printing Y-axis mobile frame 221, a printing Z-axis mobile frame 222 and a printing A-axis rotating frame 223. The printing Y-axis mobile frame 221, the printing Z-axis mobile frame 222 and the printing A-axis rotating frame 223 have the same structure as the corresponding subtractive Y-axis mobile frame 12, the subtractive Z-axis mobile frame 13 and the subtractive A-axis rotating frame 14. The printing robot 21 is fixedly mounted on the rotating arm on the printing A-axis rotating frame 223. The printing robots 21 all use the FDM (fused deposition modeling) feeding method for feeding. The printing process of the printing robot 21 is as follows: first, a roll of thermoplastic filament (such as ABS, PLA, nylon, etc.) is loaded into the printing robot 21. When the nozzle reaches the required temperature, the filament is fed into the extrusion head and melted in the nozzle. The wire feeding mechanism feeds the plastic filament from the reel into the extruder and maintains a certain wire feeding speed.

[0046] Printing robot 21 printing principle: Melt extrusion: The molten material is extruded into thin strands and deposited layer by layer at a predetermined location, where it cools and solidifies.

[0047] Build layer by layer: After a layer is completed, the build platform moves down (or in other machine setups, the extruder moves up) and deposits a new layer. This process repeats until the part is complete.

[0048] Cooling and curing: Sometimes, the cooling of the material is accelerated by using a cooling fan mounted on the extruder head.

[0049] Path planning: The printer places the material layer by layer according to the predetermined path and layer thickness, in accordance with the model's geometry and design requirements.

[0050] The software system includes 3D modeling software, slicing software and printing control software. 3D modeling software is used to create models, slicing software cuts the models into multiple layers, and printing control software sends the sliced ​​models to the 3D printer bed for printing.

[0051] Reference Figure 4 , Figure 5 The subtractive head 5 in this embodiment includes a subtractive shell 51 and a subtractive motor 52. The subtractive shell 51 is fixedly connected to the rotating arm 141. The subtractive motor 52 is fixedly mounted on the subtractive shell 51 through a motor seat, and the output shaft of the subtractive motor 52 is arranged downward. The connecting assembly 7 in this embodiment includes a connecting head 71. The connecting head 71 is a circular plate-shaped structure. The connecting head 71 is embedded in the subtractive shell 51 and is rotatably connected to the subtractive shell 51. The output shaft of the subtractive motor 52 is coaxially fixedly connected to the connecting head 71, so that the connecting head 71 rotates. A rectangular hole 72 is provided on the bottom wall of the connecting head 71, and an electromagnet 73 is fixedly provided on the top wall of the connecting head 71. The subtractive shell 51 forms a mounting hole 74 below the connecting head 71, and the cross section of the mounting hole 74 is rectangular.

[0052] Reference Figure 4 , Figure 5 The clamping jaw 42 in this embodiment includes a clamping jaw frame 421, a driving shaft 422 and two clamping plates 423. A guide plate 424 arranged along the sliding direction of the clamping plates 423 is fixedly provided on the bottom wall of the clamping jaw frame 421. The two clamping plates 423 are both slidably connected to the bottom wall of the clamping jaw frame 421. The guide plate 424 is plugged into the two clamping plates 423 and slidably connected to the two clamping plates 423 to guide the sliding of the two clamping plates 423, thereby improving the stability of the two clamping plates 423 sliding on the clamping jaw frame 421. A connecting block 425 is fixedly provided on the top of the clamping jaw frame 421. The cross section of the connecting block 425 is rectangular. The driving shaft 422 is plugged into the connecting block 425 along the direction perpendicular to the guide plate 424. One end of the driving shaft 422 extends out of the connecting block 425, and the other end passes through the clamping jaw frame 421. The driving shaft 422 drives the two clamping plates 423 to slide through the transmission member 426.

[0053] Reference Figure 5 , Figure 6The transmission member 426 in this embodiment includes a driving gear 4261 and two driven racks 4262. The driving gear 4261 is coaxially fixedly arranged at one end of the driving shaft 422 passing through the clamping jaw frame 421. The two driven racks 4262 correspond to the clamping plates 423 one by one and are fixedly arranged with the clamping plates 423. The driving gear 4261 is located between the two driven racks 4262 and meshes with the two driven racks 4262. Each clamping plate 423 is provided with a through hole for the opposite driven rack 4262 to pass through. The driving shaft 422 is provided with a second rectangular portion 4221 at one end extending out of the connecting block 425. When the clamping jaw 42 is installed with the material reduction head 5, the second rectangular portion 4221 is inserted into the rectangular hole 72 and matched with the rectangular hole 72. At this time, the connecting block 425 is inserted into the mounting hole 74, and the connecting block 425 matches with the mounting hole 74. Then the electromagnet 73 adsorbs and fixes the connecting block 425 and the driving shaft 422, so that when the connecting head 71 drives the driving shaft 422 to rotate, the clamping jaw frame 421 is fixedly connected to the material reduction shell 51, so as to drive the clamping plate 423 and clamp the workpiece, so that the clamping jaw 42 and the milling cutter 41 can use the same power supply mechanism, thereby improving the convenience of replacing the clamping jaw 42 and the milling cutter 41.

[0054] Reference Figure 1 , Figure 7 The replacement tool 6 in this embodiment includes a rotating rod 61 and two clamping plates 62 coaxially arranged on the rotating rod 61. The two clamping plates 62 are connected by a sleeve to form a whole. A mounting plate 63 is fixedly provided on the gantry 11 laterally. A rotating motor 64 is fixedly installed at the bottom of the mounting plate 63. The rotating rod 61 is plugged into the mounting plate 63 along the vertical direction and is coaxially fixedly connected to the output shaft of the rotating motor 64. The rotating rod 61 is penetrated by the two clamping plates 62. The cross-section of the connecting part of the rotating rod 61 and the two clamping plates 62 is rectangular, so that the rotating rod 61 can drive the two clamping plates 62 to rotate. The clamping plate 62 is slidably connected to the rotating rod 61. A telescopic spring 65 is sleeved on the rotating rod 61. One end of the telescopic spring 65 abuts against the clamping plate 62, and the other end abuts against the mounting plate 63. Initially, the telescopic spring 65 applies an upward thrust to the clamping plate 62, so that the clamping plate 62 remains stationary.

[0055] Reference Figure 1 , Figure 7A clamping space 621 is formed between the two clamping plates 62. A rectangular opening 622 and a mounting opening 623 are provided on the two clamping plates 62. The rectangular openings 622 on the two clamping plates 62 are opposite to each other. The mounting openings 623 on the two clamping plates 62 are opposite to each other. The rectangular opening 622 and the mounting opening 623 on the same clamping plate 62 are arranged at an interval of 180° along the circumference of the clamping plate 62. The middle part of the connecting block 425 protrudes outward to form a limiting portion 4251. When the clamping jaw 42 is mounted on the clamping plate 62, the connecting block 425 is inserted into the rectangular opening 622 from the side of the clamping plate 62. The connecting block 425 and the rectangular opening 622 are tightly matched. At this time, the limiting portion 4251 is inserted into the clamping space 621. The clamping plate 62 at the bottom supports the limiting portion 4251 to form a support for the clamping jaw 42, thereby completing the mounting of the clamping jaw 42.

[0056] Reference Figure 7 , Figure 8 and Fig. 9 The middle part of the milling cutter 41 bulges outward to form a limiting portion 411, and the milling cutter 41 forms a first rectangular portion 412 above the limiting portion 411. The first rectangular portion 412 is matched with the rectangular hole 72. When installing the milling cutter 41, the first rectangular portion 412 of the milling cutter 41 is inserted into the rectangular hole 72, and the electromagnet 73 adsorbs and fixes the milling cutter 41 on the connecting head 71, and the subtractive motor 52 drives the milling cutter 41 to rotate to perform milling on the workpiece. When the milling cutter 41 is mounted on the clamping plate 62, the first rectangular portion 412 of the milling cutter 41 is inserted into the mounting opening 623 and tightly fits with the mounting opening 623. The end of the first rectangular portion 412 extends out of the clamping plate 62, and the limiting portion 411 is inserted into the clamping space 621. The clamping plate 62 at the bottom supports the milling cutter 41 by supporting the limiting portion 411. The milling cutter 41 is mounted on the clamping plate 62 with the clamping jaw 42, thereby improving the convenience of installing the milling cutter 41 and the clamping jaw 42.

[0057] Taking the example of the milling cutter 41 being installed on the subtractive head 5 and the need to replace the clamping jaw 42, the subtractive head 5 drives the milling cutter 41 to move to the clamping plate 62, and aligns the limiting portion 4251 on the milling cutter 41 with the clamping space 621, and aligns the first rectangular portion 412 with the mounting opening 623, and then drives the milling cutter 41 to be inserted into the mounting opening 623 on the clamping plate 62, and then the subtractive head 5 rises, and the clamping plate 62 restricts the limiting portion 4251, so that the milling cutter 41 is separated from the connecting head 71, and then the rotating motor 64 drives the clamping plate 62 to rotate, and the clamping jaw 42 and the milling cutter 41 are exchanged. At this time, the rectangular portion and the driving shaft 422 The second rectangular portion 4221 on the upper surface is aligned, the mounting hole 74 is aligned with the connecting block 425, and then the subtractive head 5 is moved down. When the rectangular hole 72 and the second rectangular portion 4221 are different in shape, the connecting head 71 contracts the telescopic spring 65 by pressing down the second rectangular portion 4221, and the subtractive motor 52 drives the connecting head 71 to rotate, and performs the hole alignment operation between the rectangular hole 72 and the second rectangular portion 4221. When the rectangular hole 72 and the second rectangular portion 4221 are the same in shape, the telescopic spring 65 pushes the second rectangular portion 4221 to insert into the rectangular hole 72, so as to facilitate the connection between the drive shaft 422 and the connecting head 71. The electromagnet 73 adsorbs and fixes the drive shaft 422 on the connecting head 71, and adsorbs and fixes the connecting block 425 on the subtractive housing 51, thereby completing the replacement between the milling cutter 41 and the clamping jaw 42.

[0058] The implementation principle of a multi-robot integrated 3D additive and subtractive material special machine tool in an embodiment of the present application is as follows: when cutting a workpiece printed on a workpiece support structure 3 by a 3D printing system 2, the first rectangular portion 412 of the milling cutter 41 is inserted into the rectangular hole 72, the electromagnet 73 adsorbs and fixes the milling cutter 41 on the connecting head 71, and the subtractive motor 52 drives the milling cutter 41 to rotate to perform milling on the workpiece.

[0059] When the workpiece needs to be clamped, the subtractive head 5 drives the milling cutter 41 to move to the clamping plate 62, and aligns the limiting portion 4251 on the milling cutter 41 with the clamping space 621, and the first rectangular portion 412 with the mounting opening 623. The milling cutter 41 is driven to be inserted into the mounting opening 623 on the clamping plate 62, and then the subtractive head 5 rises. The clamping plate 62 restricts the limiting portion 4251, so that the milling cutter 41 is separated from the connecting head 71. Then the rotating motor 64 drives the clamping plate 62 to rotate, and the clamping jaws 42 and the milling cutter 41 are exchanged. At this time, the rectangular portion and the second rectangular portion on the drive shaft 422 are aligned. The second rectangular portion 4221 is aligned, the mounting hole 74 is aligned with the connecting block 425, and then the subtractive head 5 is moved downward. When the rectangular hole 72 and the second rectangular portion 4221 are different in shape, the connecting head 71 contracts the telescopic spring 65 by pressing down the second rectangular portion 4221, and at the same time, the subtractive motor 52 drives the connecting head 71 to rotate, and performs the hole alignment operation of the rectangular hole 72 and the second rectangular portion 4221. When the rectangular hole 72 and the second rectangular portion 4221 are the same in shape, the telescopic spring 65 pushes the second rectangular portion 4221 to insert into the rectangular hole 72, so as to facilitate the connection between the driving shaft 422 and the connecting head 71. The electromagnet 73 adsorbs and fixes the driving shaft 422 on the connecting head 71, and adsorbs and fixes the connecting block 425 on the subtractive housing 51, thereby completing the replacement between the milling cutter 41 and the clamping jaw 42. Therefore, the mechanical replacement of the milling cutter 41 and the clamping jaw 42 on the subtractive head 5 is realized, thereby reducing the safety risk of replacing the clamping jaw 42 and the milling cutter 41 on the subtractive head 5.

[0060] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multi-robot integrated 3D additive and subtractive material special machine tool, characterized by: The invention comprises a frame structure (1), a 3D printing system (2) and a workpiece support structure (3); the 3D printing system (2) is arranged on the frame structure (1) and is capable of stacking materials layer by layer on the workpiece support structure (3) to construct a part; and the frame structure (1) is provided with a material reduction head (5) capable of driving a milling cutter (41) or a clamping jaw (42) to work; The frame structure (1) is provided with a replacement tool (6) for placing the milling cutter (41) and the clamp (42); the milling cutter (41) and the clamp (42) are both connected to the subtractive head (5) via a connecting assembly (7); the replacement tool (6) can disassemble the milling cutter (41) or the clamp (42) from the subtractive head (5).

2. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 1, characterized in that: The frame structure (1) comprises a gantry (11), a subtractive Y-axis moving frame (12), a subtractive Z-axis moving frame (13) and a subtractive A-axis rotating frame (14); the subtractive Y-axis moving frame (12) is arranged on the gantry (11) to drive the subtractive head (5) to move in the Y direction; the subtractive Z-axis moving frame (13) is arranged on the subtractive Y-axis moving frame (12) to drive the subtractive head (5) to move in the Z direction; the subtractive A-axis rotating frame (14) is arranged on the subtractive Z-axis moving frame (13) to drive the subtractive head (5) to rotate; and the subtractive head (5) is arranged on the subtractive A-axis rotating frame (14); The workpiece support structure (3) comprises a support plate (31) and an X-axis movable frame (32); the support plate (31) is arranged on the X-axis movable frame (32) so as to be able to place the workpiece; and the X-axis movable frame (32) can drive the support plate (31) to move along the X direction.

3. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 2, characterized in that: The support plate (31) is rotatably arranged on the X-axis moving frame (32), and the X-axis moving frame (32) is provided with a second motor (142) for driving the support plate (31) to rotate.

4. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 1, characterized in that: The clamping jaw (42) comprises a clamping jaw frame (421), a driving shaft (422) and two clamping plates (423), the two clamping plates (423) are relatively slidably arranged on the clamping jaw frame (421), the driving shaft (422) is rotatably arranged on the clamping jaw frame (421), and is connected to the two clamping plates (423) through a transmission member (426) so as to clamp the workpiece.

5. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 4, characterized in that: The transmission member (426) includes a driving gear (4261) and two driven racks (4262). The two driven racks (4262) correspond to the clamping plate (423) one by one and are fixed to the clamping plate (423). The driving gear (4261) is coaxially fixed on the driving shaft (422). The driving gear (4261) is located between the two driven racks (4262) and meshes with the two driven racks (4262).

6. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 4, characterized in that: The replacement tool (6) comprises a rotating rod (61) and two clamping plates (62) coaxially fixedly arranged on the rotating rod (61), a clamping space (621) is formed between the two clamping plates (62), the rotating rod (61) is rotatably arranged on the gantry (11), the two clamping plates (62) are both provided with rectangular openings (622), the two rectangular openings (622) are arranged opposite to each other, the clamping jaw frame (421) is provided with a connecting block (425) capable of being inserted into the two rectangular openings (622), the connecting block (425) is adapted to the rectangular openings (622), and the connecting block (425) is provided with a limiting portion (4251) inserted into the clamping space (621) so that the clamping plate (62) can support the connecting block (425).

7. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 6, characterized in that: Both of the two clamping plates (62) are provided with mounting openings (623), the two mounting openings (623) are arranged opposite to each other, the milling cutter (41) can be inserted into the two mounting openings (623), and a limiting portion (411) inserted into the clamping space (621) is provided so that the clamping plate (62) can support the milling cutter (41).

8. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 2, characterized in that: The subtractive head (5) comprises a subtractive housing (51) and a subtractive motor (52); the subtractive housing (51) is arranged on the subtractive A-axis rotating frame (14); and the subtractive motor (52) is fixedly arranged on the subtractive housing (51); The connecting assembly (7) comprises a connecting head (71), the connecting head (71) is rotatably arranged on the material-reducing housing (51), a rectangular hole (72) is opened on the connecting head (71), a first rectangular portion (412) capable of cooperating with the rectangular hole (72) is provided on the milling cutter (41), and a second rectangular portion (4221) capable of cooperating with the rectangular hole (72) is provided on the driving shaft (422); The two clamping plates (62) are slidably arranged on the rotating rod (61), and a telescopic spring (65) for supporting the clamping plates (62) is sleeved on the rotating rod (61), and the connecting block (425) can shrink the telescopic spring (65) by squeezing the first rectangular portion (412) and the second rectangular portion (4221).

9. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 8, characterized in that: The material-reducing shell (51) is provided with a mounting hole (74) for inserting the connecting block (425), and the mounting hole (74) is adapted to the connecting block (425) so as to limit the rotation of the connecting block (425).

10. The multi-robot integrated 3D additive and subtractive material special machine tool according to claim 8, characterized in that: The subtractive shell (51) is provided with an electromagnet (73), and the electromagnet (73) can adsorb and fix the milling cutter (41) on the connecting head (71), and adsorb and fix the connecting block (425) on the subtractive shell (51).

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