Additive and subtractive manufacturing robot and working system process

Abstract

The invention provides an additive and subtractive manufacturing robot and a working system flow, the robot comprises a fixed platform, a movable platform, driving branches and a mechanism execution tail end, the fixed platform, the driving branches and the movable platform form a parallel mechanism, the driving branches are divided into a first driving branch, a second driving branch, a third driving branch, a fourth driving branch and a fifth driving branch, the first driving branch, the second driving branch and the third driving branch are connected with the fixed platform on an integrated shaft formed by Hooke joints, and are connected with the movable platform through revolute pairs; the fourth driving branch and the fifth driving branch are connected with the fixed platform through hooke joints and connected with the movable platform through spherical hinges, and the bottom of the fixed platform is connected with a mechanism execution tail end; the working system flow is cooperatively controlled by a motion controller and a rotary nozzle servo motor, and additive and subtractive manufacturing operation is completed through a coupling driving mechanism execution tail end. According to the mechanism, the movement in the XYZ direction and the rotation in the XY direction of the execution tail end of the mechanism are realized in a redundant driving mode, the overall rigidity and the manufacturing precision of the mechanism are improved, and the flexibility is high.

Description

Technical Field

[0001] The present invention relates to the technical field of additive and subtractive manufacturing equipment, and particularly relates to an additive and subtractive manufacturing robot and a working system process. Background Art

[0002] Additive and subtractive manufacturing is a manufacturing technology that constructs three-dimensional models by layer-by-layer accumulation or reduction of materials. It is widely used in fields such as aerospace, medical devices, and automotive parts. Compared with traditional manufacturing methods such as turning and milling, additive and subtractive manufacturing has high material utilization rate and can achieve free design; it can manufacture parts with complex geometric shapes without the aid of molds; with the further development of technology, the application fields of additive and subtractive manufacturing will expand to other fields with more demanding material requirements. For traditional fused deposition modeling and stereolithography, etc., which mainly rely on metal powders with strong thermoplasticity for manufacturing, these methods have insufficient printing accuracy and rely on metal powders with high thermoplasticity; magnetic fluid materials, due to their magnetism and fluidity, can adjust their viscosity under the action of a magnetic field, so that they still have good fluidity when piled up on the platform; precise additive manufacturing can be achieved by adjusting the intensity and direction of the externally applied magnetic field.

[0003] Nowadays, the existing additive and subtractive manufacturing equipment has low rigidity, is easily deformed due to load changes or external interference, has low manufacturing efficiency, insufficient surface quality and accuracy. For a single drive mechanism, if the drive fails, it will cause the system to paralyze, and the entire system will stop working and it is difficult to meet the processing requirements of complex and variable geometric shapes. Therefore, the present invention adopts a parallel redundant drive mechanism, so that each drive branch is independently controlled to avoid the risk of single-point failure; through redundant drive, the bearing capacity, rigidity and anti-interference ability of the mechanism can be effectively improved; multi-degree-of-freedom coordination can significantly expand the geometric complexity of the processed parts. Summary of the Invention

[0004] The present invention aims at the problems existing in the prior art, and provides an additive and subtractive manufacturing robot and a working system process. The robot can realize movement in three orthogonal directions and rotation in two orthogonal directions, ensuring the five degrees of freedom required for additive and subtractive manufacturing; the working system enables each drive part to be independently controlled.

[0005] To achieve the above object, the present invention provides an additive and subtractive manufacturing robot and a working system process. The mechanism part includes a fixed platform, a moving platform, driving branches, and an end effector of the mechanism. The fixed platform, the moving platform, and the driving branches form a parallel mechanism. The driving branches include first, second, third, fourth, and fifth driving branches. The first, second, and third driving branches are the same, and the fourth and fifth driving branches are the same. The upper ends of the first, second, and third driving branches are connected to the fixed platform through Hooke joints, and the lower ends are connected to the moving platform through revolute joints. The upper ends of the fourth and fifth driving branches are connected to the fixed platform through Hooke joints, and the lower ends are connected to the moving platform through spherical joints. The end effector of the mechanism is fixedly connected to the bottom of the moving platform.

[0006] Further, the first, second, and third driving branches mainly include three Hooke joints, an integral shaft, three servo drive units, and three revolute joints. The upper ends of the servo drive units are connected to the Hooke joints. The integral shaft connects the first rotation axes of the three Hooke joints. The first, second, and third driving branches include Hooke joints, an integral shaft, servo drive units, and revolute joints. The servo drive units are servo electric cylinders. The first rotation axes of the Hooke joints are collinear, the rotation axis of the integral shaft is collinear with the first rotation axis of the Hooke joints, the second rotation axes of the Hooke joints are coplanar and orthogonal to the rotation axis of the integral shaft, and the moving direction of the servo drive unit is perpendicular to the second rotation axis of the Hooke joint. The lower end of the servo drive unit is an electric telescopic rod connected to the moving platform through a revolute joint. The axis of the revolute joint is perpendicular to the rotation axis of the integral shaft, and the axes of the revolute joints are parallel to each other and parallel to the second rotation axis of the corresponding Hooke joint.

[0007] Further, the fourth branch mainly includes a Hooke joint, a servo drive unit, and a spherical joint. The lower end of the servo drive unit is an electric telescopic rod connected to the moving platform through a revolute joint. The axis of the revolute joint is perpendicular to the rotation axis of the integral shaft, and the axes of the revolute joints are parallel to each other and parallel to the second rotation axis of the corresponding Hooke joint. The fourth and fifth driving branches include Hooke joints, servo drive units, and spherical joints. The upper ends of the servo drive units are connected to the fixed platform through Hooke joints. The first axes of the Hooke joints are collinear and orthogonal to the rotation axis of the integral shaft, and the second axes are parallel to the rotation axis of the integral shaft. The moving direction of the servo drive unit is perpendicular to the axis of the second revolute joint. The lower ends of the drive units are connected to the moving platform through spherical joints, and the center line of the spherical joints is collinear with the axis of the revolute joint of the second driving branch.

[0008] Further, the center points of the kinematic pairs where the fixed platform is connected to the five driving branches are in a cross shape. The first, second, and third driving branches are horizontally connected to the fixed platform through an integral shaft. The first rotation axis of the Hooke joint of the fourth and fifth driving branches is perpendicular to the rotation axis of the integral shaft.

[0009] Further, the connection between the moving platform and the five branch chains is also in a cross shape. Among them, the first, second, and third driving branches are horizontally connected to the moving platform through three rotating pairs. The three rotating pairs are collinear, and their rotation axes are parallel to each other and coplanar. Among them, the fourth and fifth driving branches are connected to the moving platform through two spherical hinges, which are respectively distributed on both sides of the three rotating pairs. The connecting line of the centers of the two spherical hinges is collinear with the rotation axis of the rotating pair of the second driving branch.

[0010] Further, the end of the mechanism is composed of a bracket, a bottom plate, a control chassis, a nozzle rotation servo motor, a connecting shaft, and a nozzle. Among them, the bracket is fixedly connected to the bottom of the moving platform through fastening bolts, and the upper end of the bracket is connected to the bottom plate through an angle iron using bolts. Among them, a nozzle rotation servo motor base is provided on the bottom plate, and the nozzle rotation servo motor is fixedly connected to the bottom plate through bolts and nuts. Among them, the nozzle is connected to the bearing seat on the bottom plate through a connecting shaft, and the nozzle is fixed to the front end of the connecting shaft through a detachable threaded connection method, and the nozzle can be replaced with a machining tool head. Among them, a notch is opened at one end of the connecting shaft and is connected to the output shaft of the servo motor through a shaft pin.

[0011] Further, the nozzle is divided into a nozzle housing, a nozzle orifice, an electromagnetic region, and a feed port. Among them, the nozzle housing supports the overall structure and provides high temperature resistance and wear resistance. Among them, the nozzle orifice is designed for threaded connection. The electromagnetic region can generate an auxiliary magnetic field. Among them, the feed port is also designed for threaded connection.

[0012] The present invention provides an additive and subtractive manufacturing robot and a working system process. The working system process of additive and subtractive manufacturing is as follows:

[0013] A working system process of an additive and subtractive manufacturing robot, implemented according to the mechanism described in claims 1 to 3, is characterized in that the working system process of additive and subtractive manufacturing is as follows:

[0014] S1. Save the Solidworks model of the additive and subtractive manufacturing robot as a.stl file, import it through the CAE preprocessing module and perform three-dimensional coordinate normalization processing, and complete the discretized mesh division of the model based on the voxelization algorithm;

[0015] S2. Configure key forming parameters, including printing layer thickness, filling density, and the quality and type of materials required;

[0016] S3. Perform layer slicing processing on the three-dimensional model to generate a two-dimensional contour coordinate data set {(x i , y j ) | i ∈ [1, N], j ∈ [1, M]};

[0017] S4. Judge whether the setting of the key forming parameters meets the coordinate data set generated by the layer slicing processing. If the conditions are not met, modify the key forming parameters until the conditions are met; if the conditions are met, proceed to the next step;

[0018] S5. Use a multi-objective optimization algorithm to plan the scanning and forming path, and perform obstacle avoidance processing in real time;

[0019] S6. Convert the discrete data into G-code and transmit it to the motion controller to parse the position command in the cyclic synchronous position mode;

[0020] S7. Determine whether the mechanism can run the G-code normally. If not, re-optimize the path and generate new G-code until the conditions are met; if the conditions are met, the next step can be carried out;

[0021] (2) Start working:

[0022] S1. The servo electric cylinder starts to work, receives the motion controller command through the cyclic synchronous position mode, and makes the mechanism on the moving platform execute the end to the target position; the nozzle rotation servo motor starts to work, controls the nozzle to rotate, the telescopic motion of the servo electric cylinder controls the moving platform, and cooperates with the nozzle rotation servo motor to control the nozzle to rotate to make the nozzle reach the correct position; the control chassis starts to work, heats the magnetic fluid and excites the electromagnetic sheet on the nozzle to generate an auxiliary magnetic field to complete the preparation of the extruded magnetic fluid state;

[0023] S2. Based on the combined control of the servo electric cylinder and the nozzle rotation servo motor, adjust the direction and intensity of the auxiliary magnetic field. After the magnetic fluid forming is completed and waiting for it to solidify, then carry out the forming work of the next layer. The model layer formed layer by layer relies on the lower layer.

[0024] S3. After completing the additive manufacturing work process, replace the end effector of the above robot with a machining tool head to perform surface optimization processing on the machining model;

[0025] (3) Stop working:

[0026] S1. When the forming work is completed, the nozzle rotation servo motor and the control chassis stop working, the electric telescopic rod resets, and the servo electric cylinder stops working.

[0027] The present invention provides an additive and subtractive manufacturing robot and a working system process, which have the following beneficial effects: (1) The main unit of the robot is a four-degree-of-freedom parallel mechanism with redundant drive characteristics. The servo motor at the end of the mechanism execution drives the nozzle to rotate, enabling precise control of three translational and two rotational degrees of freedom, thus ensuring the stability during the additive and subtractive manufacturing process; (2) The first, second, and third drive branches share a common axis on the fixed platform, improving the motion accuracy of the mechanism and enhancing the overall rigidity of the mechanism; (3) The use of the redundant drive method significantly increases the flexible working space of the mechanism and improves the stiffness performance of the manufacturing equipment; (4) The motion of the robot is coordinated and controlled by the servo electric cylinder and the nozzle rotation servo motor, which can accurately achieve complex motion trajectories and fine operation requirements, thereby effectively improving the overall performance of the manufacturing process and the quality of the finished product. Brief Description of the Drawings

[0028] Figure 1 is an isometric view of the overall structure of an additive and subtractive manufacturing robot of the present invention;

[0029] Figure 2 is a schematic structural diagram of the first, second, and third drive branches of an additive and subtractive manufacturing robot of the present invention;

[0030] Figure 3 is a schematic structural diagram of the fourth and fifth drive branches of an additive and subtractive manufacturing robot of the present invention;

[0031] Figure 4 is a schematic diagram of a partial structure of the mechanism execution end of an additive and subtractive manufacturing robot of the present invention;

[0032] Figure 5 is a schematic diagram of the nozzle structure of an additive and subtractive manufacturing robot of the present invention;

[0033] Figure 6 is a schematic diagram of the working system process of an additive and subtractive manufacturing robot of the present invention.

[0034] Wherein:

[0035] Figure 1 in: 1. Fixed platform; 2. Moving platform; 3-1. First drive branch; 3-2. Second drive branch; 3-3 Third drive branch; 3-4. Fourth drive branch; 3-5. Fifth drive branch; 3-4-3. Ball hinge; 4. Mechanism execution end;

[0036] Figure 2 in: 3-6. Integral shaft; 3-1-1, 3-2-1, 3-3-1. Hook hinge; 3-1-2, 3-2-2, 3-3-2. Servo motion unit; 3-1-3, 3-2-3, 3-3-3. Revolute pair;

[0037] Figure 3 In: 3-4-1, 3-5-1. Hook hinge; 3-4-2, 3-5-2. Servo drive unit; 3-4-3, 3-5-3. Ball hinge;

[0038] Figure 4 In: 4-1. Bracket; 4-2. Base plate; 4-3. Nozzle; 4-4. Servo motor; 4-5. Control chassis; 4-6. Connecting shaft;

[0039] Figure 5 In: 4-3-1. Nozzle housing; 4-3-2. Nozzle orifice; 4-3-3. Electromagnetic region; 4-3-4. Feed inlet. Specific embodiments

[0040] To further understand a material addition and subtraction manufacturing robot and a working system process provided by the present invention, the present invention will be specifically described below in conjunction with the accompanying drawings and detailed embodiments. The content of the present invention is not limited to the embodiments.

[0041] Reference Figures 1 to 6 , a material addition and subtraction robot mechanism provided by the present invention includes a fixed platform (1), a moving platform (2), driving branches (3-1, 3-2, 3-3, 3-4, 3-5), and an end of the mechanism execution (4). The fixed platform (1), the moving platform (2), and the driving branches (3-1, 3-2, 3-3, 3-4, 3-5) form a parallel mechanism. The driving branches include a first (3-1), a second (3-2), a third (3-3), a fourth (3-4), and a fifth (3-5) driving branch. The first (3-1), the second (3-2), and the third (3-3) driving branches are the same. The upper ends of the three driving branches (3-1, 3-2, 3-3) are connected to the fixed platform (1) through hook hinges (3-1-1, 3-2-1, 3-3-1), and the lower ends are connected to the moving platform (2) through rotating pairs (3-1-3, 3-2-3, 3-3-3). The upper end of the fourth driving branch (3-4) is connected to the fixed platform (1) through a hook hinge (3-4-1), and the lower end is connected to the moving platform (2) through a ball hinge (3-4-3). The fifth driving branch (3-5) is exactly the same as the fourth driving branch (3-4). The end of the mechanism execution (4) is connected to the bottom of the moving platform (2).

[0042] In this embodiment, the first (3-1), second (3-2), and third (3-3) drive branches include three Hooke joints (3-1-1, 3-2-1, 3-3-1), an integral shaft (3-6), three servo drive units (3-1-2, 3-2-2, 3-3-2), and three revolute joints (3-1-3, 3-2-3, 3-3-3). The servo drive units (3-1-2, 3-2-2, 3-3-2) are servo electric cylinders. The first rotation axes of the three Hooke joints (3-1-1, 3-2-1, 3-3-1) are collinear, and the rotation axis of the integral shaft (3-6) coincides with the first rotation axes of the three Hooke joints (3-1-1, 3-2-1, 3-3-1). The second rotation axes of the three Hooke joints (3-1-1, 3-2-1, 3-3-1) are coplanar and orthogonal to the rotation axis of the integral shaft (3-6). The moving directions of the servo drive units (3-1-2, 3-2-2, 3-3-2) are perpendicular to the second rotation axes of the Hooke joints (3-1-1, 3-2-1, 3-3-1). The lower telescopic rods of the servo drive units (3-1-1, 3-2-1, 3-3-1) are connected to the moving platform (2) through the revolute joints (3-1-3, 3-2-3, 3-3-3). Among them, the installation positions of the three revolute joints (3-1-3, 3-2-3, 3-3-3) correspond to the installation positions of the Hooke joints in the integral shaft, and the rotation axes of the revolute joints are perpendicular to the rotation axis of the integral shaft (3-6).

[0043] In this embodiment, the fourth (3-4) drive branch mainly includes a Hooke joint (3-4-1), a servo drive unit (3-4-2), and a ball joint (3-4-3). The upper ends of the servo drive units (3-4-2) are respectively connected to the fixed platform (1) through the Hooke joint (3-4-1). The first axis of the Hooke joint (3-4-1) is orthogonal to the rotation axis of the above-mentioned integral shaft (3-6), and the second axis is parallel to the rotation axis of the above-mentioned integral shaft (3-6). The moving direction of the servo drive unit (3-4-2) is perpendicular to the second rotation axis. The lower ends of the drive units (3-4-2) are respectively connected to the moving platform (2) through the ball joints (3-4-3).

[0044] In this embodiment, the integral shaft (3-6) is installed in the fixed platform (1) through bearings, and the bearings are fixed by bearing end covers. The revolute joints (3-1-3, 3-2-3, 3-3-3) and ball joints (3-4-3, 3-5-4) are fixed on the moving platform (2) through fastening screws. The first (3-1), second (3-2), and third (3-3) drive branches and the revolute joints (3-1-3, 3-2-3, 3-3-3) are fixedly connected through threaded nuts. The fourth drive branch (3-4) and the ball joint (3-4-3) are fixedly connected through threads.

[0045] In this embodiment, the structure and connection method of the fifth driving branch (3-5) are exactly the same as those of the fourth driving branch (3-4), and the first rotation axes of the Hooke joints (3-4-2, 3-5-2) of the two driving branches are collinear.

[0046] In this embodiment, the end of the mechanism execution part (4) includes a bracket (4-1), a bottom plate (4-2), a control chassis (4-5), a nozzle rotation servo motor (4-4), a connecting shaft (4-6), and a nozzle (4-3). The bracket (4-1) is fixedly connected to the bottom of the moving platform (2) through fastening bolts. The bottom plate (4-2) is connected to the bracket (4-1) through bolts. The nozzle rotation servo motor (4-4) is connected to the motor seat on the bottom plate (4-2) through bolts and nuts and is fixed by the edge on the bottom plate (4-2). The nozzle (4-3) is fixedly connected to the connecting shaft (4-6) through threads. The connecting shaft (4-6) is connected to the output shaft of the nozzle rotation servo motor through a shaft pin. The discharge port of the control chassis (4-5) is coaxial with the feed port (4-3-4) of the nozzle.

[0047] In this example, the nozzle is divided into a nozzle housing (4-3-1), a nozzle orifice (4-3-2), an electromagnetic area (4-3-3), and a feed port (4-3-4). The nozzle housing (4-3-1) supports the overall structure and provides high temperature and wear resistance. The nozzle orifice (4-3-4) is designed for threaded connection. The electromagnetic area (4-3-3) has five electromagnetic sheets. The feed port (4-3-4) is also for threaded connection.

[0048] When using the present invention for manufacturing work, the up-and-down movement of the work is realized through the combined movement of the push rods of the first, second, third, fourth, and fifth driving branches. Through the constraint of the kinematic pair between the fixed platform and the moving platform, the moving platform can rotate around two orthogonal axes parallel to the inside of the fixed platform and move in the left and right directions. Combined with the control of the nozzle rotation by the servo motor in the execution end, the nozzle can complete the effect of moving in the front and back directions.

[0049] Reference Figure 6 , the working system process of an additive and subtractive manufacturing robot provided by the present invention is as follows;

[0050] A working system process of an additive and subtractive manufacturing robot, implemented according to the mechanism described in claims 1-3, is characterized in that the working system process of the additive and subtractive manufacturing is as follows:

[0051] S1. Save the Solidworks model of the additive and subtractive manufacturing robot as an.stl file, import it through the CAE preprocessing module and perform three-dimensional coordinate normalization processing, and complete the discretized mesh division of the model based on the voxelization algorithm;

[0052] S2. Configure key forming parameters, including printing layer thickness, filling density, and the quality and type of materials required;

[0053] S3. Perform layer slicing on the 3D model to generate a 2D contour coordinate data set {(x i , x j ) | i ∈ [1, N], j ∈ [1, M]};

[0054] S4. Determine whether the setting of the key forming parameters meets the coordinate data set generated by the layer slicing. If the conditions are not met, modify the key forming parameters until the conditions are met; if the conditions are met, proceed to the next step;

[0055] S6. Use a multi-objective optimization algorithm to plan the scanning forming path and perform obstacle avoidance processing in real time;

[0056] S7. Convert the discrete data into G-code and transmit it to the motion controller to parse the position instructions in the cyclic synchronous position mode;

[0057] S8. Determine whether the mechanism can run the G-code normally. If not, re-optimize the path and generate new G-code until the conditions are met; if the conditions are met, proceed to the next step;

[0058] (2) Start working:

[0059] S1. The servo electric cylinder starts to work, receives instructions from the motion controller through the cyclic synchronous position mode, and makes the mechanism on the moving platform execute the end to the target position; the nozzle rotation servo motor starts to work, controls the rotation of the nozzle, the telescopic movement of the servo electric cylinder controls the moving platform, and cooperates with the nozzle rotation servo motor to control the rotation of the nozzle to make the nozzle reach the correct position; the control chassis starts to work, heats the magnetic fluid and activates the electromagnetic sheet on the nozzle to generate an auxiliary magnetic field, and completes the preparation for extruding the magnetic fluid state;

[0060] S2. Based on the combined control of the servo electric cylinder and the nozzle rotation servo motor, adjust the direction and intensity of the auxiliary magnetic field. After the magnetic fluid forming is completed and waiting for it to solidify, then perform the forming work of the next layer. The formed model layer relies on the layer below.

[0061] S3. After completing the additive manufacturing work process, replace the end of the mechanism of the above robot with a machining tool head to perform surface optimization processing on the machining model;

[0062] (3) Stop working:

[0063] S1. After the forming work is completed, the nozzle rotation servo motor and the control chassis stop working, the electric telescopic rod resets, and the servo electric cylinder stops working.

[0064] The implementation manners of the above-described additive and subtractive manufacturing robot and its working system process are not limited to the implementation forms described in the above embodiments. According to the content disclosed in the present invention, those skilled in the art can also make modifications, equivalent replacements, improvements, etc. in other specific ways based on this invention patent. Therefore, the embodiments cannot be understood as the only specific implementation manners in which the present invention can be implemented; the above direction words such as front, back, up, down, left, right, and horizontal are all based on the orientation of the front view. Among them, "front" and "back" are the "positive" and "negative" of the X-axis respectively; "up" and "down" are the "positive" and "negative" directions of the Z-axis respectively; "left" and "right" are the "negative" and "positive" of the Y-axis respectively; the horizontal direction is parallel to the Y-axis direction.

Claims

1. An additive and subtractive manufacturing robot, characterized in that: It includes a fixed platform, a moving platform, a driving branch and a mechanism execution end, wherein the fixed platform, the moving platform and the driving branch constitute a parallel mechanism, the driving branch includes a first, a second, a third, a fourth and a fifth driving branch, wherein the first, the second and the third driving branches are the same, the fourth and the fifth driving branches are the same, the upper ends of the first, the second and the third driving branches are connected to the fixed platform through a Hooke's hinge, and the lower ends are connected to the moving platform through a rotating pair, the upper ends of the fourth and the fifth driving branches are connected to the fixed platform through a Hooke's hinge, and the lower ends are connected to the moving platform through a ball joint, the mechanism execution end is fixedly connected to the bottom of the moving platform, the first, the second and the third driving branches include a Hooke's hinge, an integral shaft, a servo drive unit and a rotating pair, the servo drive unit is a servo electric cylinder, the first rotation axis of the Hooke's hinge is collinear, the rotation axis of the integral shaft is collinear with the first rotation axis of the Hooke's hinge The second rotation axis of the Hooke's joint is coplanar and orthogonal to the rotation axis of the integrated shaft, the moving direction of the servo drive unit is perpendicular to the second rotation axis of the Hooke's joint, and the lower end of the servo drive unit is an electric telescopic rod connected to the moving platform through a rotating pair, wherein the axis of the rotating pair is perpendicular to the rotation axis of the integrated shaft, and the axes of the rotating pair are parallel to each other and parallel to the second rotation axis of the corresponding Hooke's joint; the fourth and fifth driving branches include a Hooke's joint, a servo drive unit and a ball joint, the upper end of the servo drive unit is connected to the fixed platform through a Hooke's joint, the first axis of the Hooke's joint is colinear and orthogonal to the rotation axis of the integrated shaft, and the second axis is parallel to the rotation axis of the integrated shaft, the moving direction of the servo drive unit is perpendicular to the second rotating pair axis, and the lower end of the drive unit is connected to the moving platform through a ball joint, and the center line of the ball joint is colinear with the rotating pair axis of the second driving branch.

2. The additive and subtractive manufacturing robot according to claim 1, characterized in that: The center points of the moving subs connected to the fixed platform and the five driving branches are arranged in a cross shape. The first, second and third driving branches are installed on the fixed platform through an integrated shaft. The first rotation axis of the Hooke's joint of the fourth and fifth driving branches is perpendicular to the rotation axis of the integrated shaft.

3. The additive and subtractive manufacturing robot according to claim 1, characterized in that: The execution end of the mechanism is composed of a bracket, a base plate, a control chassis, a nozzle rotation servo motor, a connecting shaft and a nozzle. The bracket is fixed to the bottom of the moving platform by fastening bolts, the base plate is connected to the bracket by bolts, the nozzle rotation servo motor is connected to the motor seat of the base plate by bolts and nuts, the nozzle is fixed to the connecting shaft by a threaded connection, the connecting shaft and the output shaft of the nozzle rotation servo motor are connected by an axle pin, the discharge port of the control chassis is coaxial with the feed port of the nozzle; the nozzle is fixed to the front end of the connecting shaft by a detachable threaded connection, and the nozzle can be replaced with a processing tool head to realize the functional mode switching between additive manufacturing and subtractive processing.

4. A working system process of an additive and subtractive manufacturing robot, implemented according to the robot of claims 1 to 3, characterized in that: The working system process of the additive and subtractive manufacturing robot is as follows: (1) Before starting work: S1. Save the Solidworks model of the additive and subtractive manufacturing robot as a .stl file, import it through the CAE preprocessing module, perform three-dimensional coordinate normalization, and complete the model discretization mesh division based on the voxelization algorithm; S2. Configure key molding parameters, including printing layer thickness, filling density, and the quality and type of required materials; S3. Perform three-dimensional model layer cutting to generate a two-dimensional contour coordinate data set {(x i ,y j )|i∈[1,N],j∈[1,M]}; S4. Determine whether the key molding parameter settings meet the coordinate data set generated by the layer cutting process. If not, modify the key molding parameters until the conditions are met; if the conditions are met, proceed to the next step; S5. Use multi-objective optimization algorithm to plan the scanning path and perform obstacle avoidance in real time; S6. Convert the discrete data into G code and transmit it to the motion controller, and parse the position command of the cyclic synchronous position mode; S7. Determine whether the mechanism can run the G code normally. If not, re-optimize the path and generate a new G code until the conditions are met. If the conditions are met, proceed to the next step. (2) Start working: S1. The servo electric cylinder starts working, receives the motion controller command through the cyclic synchronous position mode, and makes the mechanism on the moving platform execute the end to the target position; the nozzle rotation servo motor starts working to control the rotation of the nozzle, and the telescopic movement of the servo electric cylinder controls the moving platform, and cooperates with the nozzle rotation servo motor to control the rotation of the nozzle, so that the nozzle mouth reaches the correct position; the control chassis starts working, heats the magnetic fluid and excites the electromagnetic sheet on the nozzle to generate an auxiliary magnetic field, and completes the state preparation for extruding the magnetic fluid; S2. Based on the joint control of the servo electric cylinder and the nozzle rotation servo motor, the direction and strength of the auxiliary magnetic field are adjusted. After the magnetic fluid molding is completed and waited for it to solidify, the molding of the next layer is carried out. The model layer formed layer by layer relies on the layer below. S3. After the additive manufacturing workflow is completed, the mechanical execution end of the robot is replaced with a processing tool head, and the surface of the processing model is optimized; (3) Stop working: S1. The molding work is completed, the nozzle rotation servo motor and the control chassis stop working, the electric telescopic rod is reset, and the servo electric cylinder stops working.

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