A multifunctional additive-subtractive composite manufacturing device and method of use

Abstract

A multifunctional additive-subtractive composite manufacturing apparatus and its method of use are disclosed. The apparatus includes a first-arm robot, a welding torch, a second-arm robot, an additive-subtractive composite processing mechanism, and an additive manufacturing substrate. The additive-subtractive composite processing mechanism includes a frame, three sets of hammer milling composite processing equipment, and two sets of equipment attitude adjustment components. The hammer milling composite processing equipment includes an outer protective cylinder, an elastic coil, an inner isolation cylinder, an iron core hammer rod, a milling drive motor, a quick tool changer, a hammer head, a milling cutter, an electrical control module, a buffer spring, a buffer washer, a hammer rod positioning screw, a laser displacement sensor, a shifting slip ring, and a cam paddle. This invention realizes the combination of additive, subtractive, and additive manufacturing processes, and can perform additive manufacturing of metal components with three-dimensional hammering composite processing, additive manufacturing with cold and hot hammering composite processing, and additive manufacturing with end-face hammering and side milling composite processing. It features good controllability, good processing uniformity, high processing accuracy, and high processing stability.

Description

Technical Field

[0001] This invention belongs to the field of additive manufacturing technology, and in particular relates to a multifunctional additive and subtractive composite manufacturing device and its usage method. Background Technology

[0002] Additive manufacturing is an advanced digital manufacturing technology that creates complex three-dimensional solid parts by depositing materials layer by layer. However, due to its inherent high cooling rate and high temperature gradient, additive manufacturing often results in a significant directionality in the grain growth of metal components, leading to the formation of coarse columnar grains. This grain structure causes anisotropy in the mechanical properties of the metal components, thus reducing their strength, toughness, and fatigue performance, limiting the widespread application of additively manufactured parts in high-performance applications.

[0003] Therefore, to improve the microstructure and mechanical properties of additively manufactured metal components, specific alloying elements can be added to promote grain refinement. External methods such as high-intensity ultrasonics can also be used to alter the grain growth direction and size. Furthermore, interlayer rolling or interlayer hammering strengthening techniques can be employed to optimize the microstructure of the metal components. Taking interlayer hammering strengthening as an example, dynamic pressure can be applied to the surface of the additively manufactured metal using forging equipment to release residual stress, thereby reducing microstructural defects.

[0004] Chinese patent application CN114799414A discloses an auxiliary arc additive manufacturing triaxial hammering system that can improve forming accuracy and microstructure properties. While it can achieve simultaneous, layer-by-layer triaxial hammering, this solution still suffers from poor controllability, poor processing uniformity, poor buffering, and a limited processing method. Chinese patent application CN105945870A discloses a handheld electromagnetic hammer. Although hammering can be achieved using a handheld electromagnetic hammer, this solution heavily relies on the operator's skill level, making it difficult to guarantee processing accuracy and stability, and similarly suffers from a limited processing method. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a multifunctional additive-subtractive composite manufacturing device and its usage method, which realizes the combination of additive manufacturing, equal-material manufacturing, and subtractive manufacturing processes. It can perform additive manufacturing of metal components by combining additive manufacturing with three-dimensional hammering, additive manufacturing with cold and hot hammering, and additive manufacturing with end-face hammering and side milling, effectively expanding the processing methods. The processing process can be fully automated and has the characteristics of good controllability, good processing uniformity, high processing accuracy, and high processing stability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multifunctional additive-subtractive composite manufacturing device, comprising a first-arm robot, a welding torch, a second-arm robot, an additive-subtractive composite processing mechanism, and an additive manufacturing substrate; the first-arm robot and the second-arm robot are arranged side by side; the additive manufacturing substrate is located between the first-arm robot and the second-arm robot; the welding torch is disposed at the wrist of the first-arm robot; and the additive-subtractive composite processing mechanism is disposed at the wrist of the second-arm robot.

[0007] The subtractive composite machining mechanism includes a frame, a first hammer milling composite machining device, a second hammer milling composite machining device, a third hammer milling composite machining device, a first device attitude adjustment component, and a second device attitude adjustment component. The middle part of the frame is fixedly connected to the wrist of the second arm robot. The first and second hammer milling composite machining devices are respectively hinged to both ends of the frame. The third hammer milling composite machining device is vertically fixed below the middle part of the frame. The first device attitude adjustment component is disposed between the first hammer milling composite machining device and the frame. The second device attitude adjustment component is disposed between the second hammer milling composite machining device and the frame.

[0008] The first, second, and third hammer-milling composite machining equipment have identical structures, each including an outer protective cylinder, an elastic coil, an inner isolation cylinder, an iron core hammer rod, a milling drive motor, a quick tool changer, a hammer head, a milling cutter, an electrical control module, a buffer spring, a buffer washer, and a hammer rod positioning screw. The tail end of the outer protective cylinder is closed by a flange base plate, while the head end is open. The inner isolation cylinder is coaxially fixedly fitted inside the outer protective cylinder, with a circumferential gap between them. The elastic coil is positioned within this circumferential gap. The electrical control module is fixedly installed at the center of the inner surface of the flange base plate at the tail end of the outer protective cylinder. The elastic coil is electrically connected to the electrical control module. The buffer spring is coaxially fitted outside the electrical control module, and the buffer spring is connected to the flange base plate at the tail end of the outer protective cylinder. The inner surface of the plate is fixedly connected, and the axial length of the buffer spring when it is in maximum compression is greater than the thickness of the electronic control module; the iron core hammer rod is set inside the inner isolation cylinder, and the axial length of the iron core hammer rod is less than the axial length of the inner isolation cylinder. The iron core hammer rod only has axial movement freedom relative to the inner isolation cylinder; the buffer washer is fixedly set at the outer cylinder opening of the inner isolation cylinder; the milling drive motor is coaxially fixed inside the iron core hammer rod with the motor shaft facing the open side of the outer protective cylinder, and the milling drive motor is electrically connected to the electronic control module; the quick tool changer is coaxially connected to the motor shaft of the milling drive motor; the hammer head or milling cutter is coaxially connected to the quick tool changer; the hammer rod positioning screw is set on the open side cylinder wall of the outer protective cylinder, and a hammer rod positioning screw hole is provided on the rod of the iron core hammer rod, and the hammer rod positioning screw is screwed into the hammer rod positioning screw hole.

[0009] A laser displacement sensor is fixedly installed on the open side outer surface of the outer protective cylinder.

[0010] The turns density of the elastic coil is non-uniform. In the axial direction, the turns density of the elastic coil on the tail end side of the outer protective cylinder is the largest, and the turns density of the elastic coil on the open side of the outer protective cylinder is the smallest.

[0011] A comb-shaped opening groove is provided in the middle of the outer protective cylinder, and a shifting slip ring is provided in the middle of the elastic coil. A protruding paddle is fixedly provided on the shifting slip ring and is located in the comb-shaped opening groove. The shifting slip ring has axial sliding freedom and rotational freedom in the circumferential gap between the inner isolation cylinder and the outer protective cylinder. The protruding paddle has linear sliding freedom in the comb-shaped opening groove.

[0012] The first and second device attitude adjustment components have the same structure, both including an attitude adjustment drive motor, an attitude adjustment drive screw, an attitude adjustment drive nut, a swing arm, and a connecting rod. The tail end of the housing of the attitude adjustment drive motor is hinged to the frame. One end of the swing arm is hinged to the frame, the other end of the swing arm is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the middle of the outer protective cylinder, and the outer surface of the flange base plate at the tail end of the outer protective cylinder is hinged to the frame. The frame, swing arm, connecting rod, and outer protective cylinder constitute a four-bar linkage. One end of the attitude adjustment drive screw is coaxially fixed to the motor shaft of the attitude adjustment drive motor. The attitude adjustment drive nut is fitted onto the attitude adjustment drive screw and connected to the swing arm via a universal joint bearing.

[0013] The method of using the multifunctional additive-subtractive composite manufacturing apparatus, when performing additive and three-dimensional hammer impact composite processing on additively manufactured metal components, includes the following steps:

[0014] Step 1: On the first, second, and third hammer milling composite machining equipment, replace the hammer head with the set length using the quick tool changer.

[0015] Step 2: Adjust the convex paddles on the first, second, and third hammer milling composite machining equipment into the preset comb tooth slots of the comb tooth-shaped opening grooves to complete the setting of the electromagnetic hammer impact force.

[0016] Step 3: Adjust the first hammer milling compound machining equipment to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment in a vertical state;

[0017] Step 4: The electrical control module in the first hammer milling compound machining equipment generates an electromagnetic force through the elastic coil to retract the iron core hammer rod into the cylinder, causing the hammer head on the first hammer milling compound machining equipment to also be in a retracted state into the cylinder; simultaneously, the electrical control module in the second hammer milling compound machining equipment generates an electromagnetic force through the elastic coil to retract the iron core hammer rod into the cylinder, causing the hammer head on the second hammer milling compound machining equipment to also be in a retracted state into the cylinder; the hammer head on the third hammer milling compound machining equipment is in a state of naturally extending out of the cylinder;

[0018] Step 5: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first and second hammer milling composite processing devices are positioned on either side of the additively manufactured metal component. The distances between the first and second hammer milling composite processing devices and the side surfaces of the additively manufactured metal component are precisely monitored by laser displacement sensors on the open side of the outer protective cylinder. Simultaneously, the third hammer milling composite processing device is positioned directly above the additively manufactured metal component, and the hammer head on the third hammer milling composite processing device is in contact with the upper surface of the additively manufactured metal component. The distance between the third hammer milling composite processing device and the upper surface of the additively manufactured metal component is also precisely monitored by laser displacement sensors on the open side of the outer protective cylinder.

[0019] Step Six: The electrical control modules of the first, second, and third hammer milling composite processing equipment synchronously generate axial reciprocating electromagnetic force in the elastic coil, driving the iron core hammer rod to reciprocate, and the additively manufactured metal component is hammered synchronously by the hammer heads in three directions.

[0020] Step 7: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, and the three-way hammering process continues by moving the subtractive composite processing mechanism with the second-arm robot. The welding torch is in front and the subtractive composite processing mechanism is behind. The welding torch and the subtractive composite processing mechanism move together at a set speed.

[0021] The method of using the multifunctional additive-subtractive composite manufacturing apparatus, when performing additive manufacturing and hot / cold hammering composite processing on additively manufactured metal components, includes the following steps:

[0022] Step 1: Replace the hammer head with the set length on both the first and second hammer milling compound machining equipment using the quick tool changer. The third hammer milling compound machining equipment is not activated.

[0023] Step 2: Adjust the convex paddles on the first and second hammer milling composite processing equipment into the preset comb tooth slots of the comb tooth-shaped opening grooves to complete the setting of the electromagnetic hammer impact force.

[0024] Step 3: Adjust the first hammer milling composite processing equipment to a vertical position using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling composite processing equipment to a vertical position using the second equipment attitude adjustment component, with the hammers on both the first and second hammer milling composite processing equipment naturally extending out of the cylinder.

[0025] Step 4: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first hammer milling composite processing equipment is directly above the processed cold end surface of the additively manufactured metal component, and the hammer head on the first hammer milling composite processing equipment is in contact with the processed cold end surface of the additively manufactured metal component. The distance between the first hammer milling composite processing equipment and the processed cold end surface of the additively manufactured metal component is precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. At the same time, position the second hammer milling composite processing equipment directly above the processed hot end surface of the additively manufactured metal component, and the hammer head on the second hammer milling composite processing equipment is in contact with the processed hot end surface of the additively manufactured metal component. The distance between the second hammer milling composite processing equipment and the processed hot end surface of the additively manufactured metal component is also precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder.

[0026] Step 5: The electronic control modules of the first and second hammer milling composite processing equipment synchronously generate axial reciprocating electromagnetic force through the elastic coil, driving the iron core hammer rod to reciprocate, and the two hammers in the vertical direction synchronously hammer the additively manufactured metal component.

[0027] Step Six: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, while the subtractive composite machining mechanism continues vertical hammering processing by moving the second-arm robot. The welding torch is in front and the second hammer milling composite machining equipment is behind. The welding torch and the subtractive composite machining mechanism move together at a set speed.

[0028] The method of using the multifunctional additive-subtractive composite manufacturing device, when performing additive manufacturing combined with end face hammering and side milling composite machining on additively manufactured metal components, includes the following steps:

[0029] Step 1: On both the first and second hammer milling composite machining equipment, replace the milling cutter with a milling cutter of the set size and specification using a quick-change tool connector. At the same time, tighten the hammer rod positioning screws on both the first and second hammer milling composite machining equipment to lock the axial movement freedom of the iron core hammer rod. On the third hammer milling composite machining equipment, replace the hammer head with a hammer of the set length using a quick-change tool connector.

[0030] Step 2: Adjust all the protrusions and paddles on the third hammer milling compound processing equipment into the preset comb tooth slots of the comb tooth opening groove to complete the setting of the electromagnetic hammer impact force.

[0031] Step 3: Adjust the first hammer milling compound machining equipment to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment in a vertical state;

[0032] Step 4: Adjust the position of the additive manufacturing composite processing mechanism using the second arm robot, so that the first and second hammer milling composite processing equipment are positioned diagonally above and to the sides of the additive manufacturing metal component, and the third hammer milling composite processing equipment is positioned directly above the additive manufacturing metal component.

[0033] Step 5: The milling drive motor is started synchronously by the electronic control modules of the first and second hammer milling combined machining equipment, which drives the milling cutter to rotate;

[0034] Step Six: The height of the subtractive composite processing mechanism is lowered by the second-arm robot, so that the milling cutters on the first and second hammer milling composite processing equipment cut into the additive manufacturing metal component vertically. The distance between the first and second hammer milling composite processing equipment and the side surface of the additive manufacturing metal component is precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. At the same time, the hammer head on the third hammer milling composite processing equipment comes into contact with the upper surface of the additive manufacturing metal component. The distance between the third hammer milling composite processing equipment and the upper surface of the additive manufacturing metal component is also precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder.

[0035] Step 7: The electrical control module of the third hammer milling composite processing equipment synchronously generates axial reciprocating electromagnetic force through the elastic coil, driving the iron core hammer rod to reciprocate, and hammering the additively manufactured metal component through the vertical hammer head;

[0036] Step 8: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, while the subtractive composite machining mechanism continues vertical hammering and lateral milling by moving the second-arm robot. The welding torch is in front and the subtractive composite machining mechanism is behind, and the welding torch and the subtractive composite machining mechanism move together at a set speed.

[0037] The beneficial effects of this invention are:

[0038] The multifunctional additive-subtractive composite manufacturing device and its usage method of the present invention realize the combination of additive manufacturing, equal-material manufacturing and subtractive manufacturing processes. It can carry out additive manufacturing of metal components by additive manufacturing composite processing with three-dimensional hammering, additive manufacturing with cold and hot hammering, and additive manufacturing with end face hammering and side milling. It effectively expands the processing methods, and the processing process can be fully automated. It has the characteristics of good controllability, good processing uniformity, high processing accuracy and high processing stability. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the subtractive composite processing mechanism of the present invention;

[0040] Figure 2 This is a structural schematic diagram (sectional view) of the first / second / third hammer milling composite machining equipment of the present invention;

[0041] Figure 3 This is a schematic diagram (exploded) of the structure of the first / second / third hammer milling composite machining equipment of the present invention;

[0042] Figure 4 This is a schematic diagram of additive and triaxial hammering composite processing performed using the multifunctional additive and subtractive composite manufacturing apparatus of the present invention.

[0043] Figure 5 A schematic diagram of additive and hot / cold hammer composite processing performed using the multifunctional additive and subtractive composite manufacturing apparatus of the present invention;

[0044] Figure 6 This is a schematic diagram illustrating the combined additive manufacturing process with end face hammering and side milling using the multifunctional additive-subtractive composite manufacturing apparatus of the present invention.

[0045] In the diagram, 1—welding torch, 2—additive manufacturing substrate, 3—frame, 4—first hammer milling composite processing equipment, 5—second hammer milling composite processing equipment, 6—third hammer milling composite processing equipment, 7—outer protective cylinder, 8—elastic coil, 9—inner isolation cylinder, 10—iron core hammer rod, 11—milling drive motor, 12—quick tool changer, 13—hammer head, 14—milling cutter, 15—electrical control module, 16—buffer spring, 17—buffer washer, 18—hammer rod positioning screw, 19—hammer rod positioning screw hole, 20—comb-shaped open slot, 21—shifting slip ring, 22—protrusion paddle, 23—attitude adjustment drive motor, 24—attitude adjustment drive screw, 25—attitude adjustment drive nut, 26—swing rod, 27—connecting rod, 28—laser displacement sensor, 29—additive manufacturing metal component. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0047] like Figure 1~6 As shown, a multifunctional additive-subtractive composite manufacturing apparatus includes a first-arm robot, a welding torch 1, a second-arm robot, an additive-subtractive composite processing mechanism, and an additive manufacturing substrate 2; the first-arm robot and the second-arm robot are arranged side by side; the additive manufacturing substrate 2 is located between the first-arm robot and the second-arm robot; the welding torch 1 is disposed at the wrist of the first-arm robot; the additive-subtractive composite processing mechanism is disposed at the wrist of the second-arm robot.

[0048] The subtractive composite machining mechanism includes a frame 3, a first hammer milling composite machining device 4, a second hammer milling composite machining device 5, a third hammer milling composite machining device 6, a first device attitude adjustment component, and a second device attitude adjustment component. The middle part of the frame 3 is fixedly connected to the wrist of the second arm robot. The first hammer milling composite machining device 4 and the second hammer milling composite machining device 5 are respectively hinged to both ends of the frame 3. The third hammer milling composite machining device 6 is vertically fixed below the middle part of the frame 3. The first device attitude adjustment component is located between the first hammer milling composite machining device 4 and the frame 3. The second device attitude adjustment component is located between the second hammer milling composite machining device 5 and the frame 3.

[0049] In this embodiment, the frame 3 adopts a left-right assembly and disassembly structure, which facilitates assembly and disassembly, as well as subsequent maintenance and handling.

[0050] The first hammer-milling composite machining equipment 4, the second hammer-milling composite machining equipment 5, and the third hammer-milling composite machining equipment 6 have the same structure, each including an outer protective cylinder 7, an elastic coil 8, an inner isolation cylinder 9, an iron core hammer rod 10, a milling drive motor 11, a quick tool changer 12, a hammer head 13, a milling cutter 14, an electrical control module 15, a buffer spring 16, a buffer washer 17, and a hammer rod positioning screw 18. The tail end of the outer protective cylinder 7 is closed by a flange base plate, and the head end of the outer protective cylinder 7 is an open structure. The inner isolation cylinder 9 is coaxially fixedly fitted inside the outer protective cylinder 7, and a circumferential gap is provided between the inner isolation cylinder 9 and the outer protective cylinder 7. The elastic coil 8 is set in the circumferential gap. The electrical control module 15 is fixedly installed at the center of the inner surface of the flange base plate at the tail end of the outer protective cylinder 7. The elastic coil 8 is electrically connected to the electrical control module 15. The buffer spring 16 is coaxially fitted outside the electrical control module 15, and the buffer spring 16 is connected to the flange base plate at the tail end of the outer protective cylinder 7. The inner surface is fixedly connected, and the axial length of the buffer spring 16 when it is in maximum compression is greater than the thickness of the electronic control module 15; the iron core hammer rod 10 is disposed inside the inner isolation cylinder 9, and the axial length of the iron core hammer rod 10 is less than the axial length of the inner isolation cylinder 9, and the iron core hammer rod 10 has only axial movement freedom relative to the inner isolation cylinder 9; the buffer washer 17 is fixedly disposed at the outer opening of the inner isolation cylinder 9; the milling drive motor 11 is coaxially fixed inside the iron core hammer rod 10 and The motor shaft faces the open side of the outer protective cylinder 7, and the milling drive motor 11 is electrically connected to the electrical control module 15; the quick tool changer 12 is coaxially connected to the motor shaft of the milling drive motor 11; the hammer head 13 or the milling cutter 14 is coaxially connected to the quick tool changer 12; the hammer rod positioning screw 18 is set on the open side wall of the outer protective cylinder 7, and a hammer rod positioning screw hole 19 is provided on the rod body of the iron core hammer rod 10, and the hammer rod positioning screw 18 is screwed into the hammer rod positioning screw hole 19.

[0051] In this embodiment, there is a number of hammerheads 13, and the lengths of the hammerheads 13 are distributed in a series from short to long; there is a number of milling cutters 14, and the size specifications of the milling cutters 14 are also distributed in a series.

[0052] A laser displacement sensor 28 is fixedly installed on the open side outer surface of the outer protective cylinder 7.

[0053] The number of turns of the elastic coil 8 is non-uniform. In the axial direction, the number of turns of the elastic coil 8 on the tail end side of the outer protective cylinder 7 is the largest, and the number of turns of the elastic coil 8 on the open side of the outer protective cylinder 7 is the smallest.

[0054] A comb-shaped opening groove 20 is provided in the middle of the outer protective cylinder 7, and a shifting slip ring 21 is provided in the middle of the elastic coil 8. A protruding paddle 22 is fixedly provided on the shifting slip ring 21, and the protruding paddle 22 is located in the comb-shaped opening groove 20. The shifting slip ring 21 has axial sliding freedom and rotational freedom in the circumferential gap between the inner isolation cylinder 9 and the outer protective cylinder 7. The protruding paddle 22 has linear sliding freedom in the comb-shaped opening groove 20.

[0055] In this embodiment, the comb tooth opening groove 20 has four comb tooth slots. The comb tooth slots on the tail end side of the outer protective cylinder 7 are set to four positions, namely three positions, two positions and one position, that is, the one position is located on the open side of the outer protective cylinder 7. When the cam lever 22 is in the first gear comb slot and the iron core hammer rod 10 is located at the tail end of the outer protective cylinder 7, the turn density of the elastic coil 8 within the circumferential range of the iron core hammer rod 10 is at its lowest, and the electromagnetic hammering force applied to the iron core hammer rod 10 under rated current is minimal. Similarly, when the cam lever 22 is in the fourth gear comb slot, the shifting slip ring 21 will compress the elastic coil 8 at the tail end of the outer protective cylinder 7 and simultaneously pull the elastic coil 8 on the open side of the outer protective cylinder 7, thus maximizing the turn density of the elastic coil 8 at the tail end of the outer protective cylinder 7. When the iron core hammer rod 10 is located at the tail end of the outer protective cylinder 7, the turn density of the elastic coil 8 within the circumferential range of the iron core hammer rod 10 is also at its highest, and the electromagnetic hammering force applied to the iron core hammer rod 10 under rated current is also at its maximum. The electromagnetic hammering force applied to the iron core hammer rod 10 under rated current is calculated according to the formula... F em = BIL ,and Bn = m 0 nI In the formula, F em Electromagnetic hammering force, B Magnetic flux density I For current, LLet be the effective length of the iron core hammer rod 10 in the magnetic field. m 0 The permeability of free space, n This refers to the number of turns of the elastic coil 8.

[0056] The first and second device attitude adjustment components have the same structure, both including an attitude adjustment drive motor 23, an attitude adjustment drive screw 24, an attitude adjustment drive nut 25, a swing arm 26, and a connecting rod 27. The tail end of the housing of the attitude adjustment drive motor 23 is hinged to the frame 3. One end of the swing arm 26 is hinged to the frame 3, and the other end of the swing arm 26 is hinged to one end of the connecting rod 27. The other end of the connecting rod 27 is hinged to the middle of the outer protective cylinder 7, and the outer surface of the flange base plate at the tail end of the outer protective cylinder 7 is hinged to the frame 3. The frame 3, the swing arm 26, the connecting rod 27, and the outer protective cylinder 7 constitute a four-bar linkage mechanism. One end of the attitude adjustment drive screw 24 is coaxially fixed to the motor shaft of the attitude adjustment drive motor 23. The attitude adjustment drive nut 25 is fitted onto the attitude adjustment drive screw 24 and is connected to the swing arm 26 through a universal joint bearing.

[0057] In this embodiment, the hinge point between the swing arm 26 and the frame 3 is denoted as A, the hinge point between the swing arm 26 and the connecting rod 27 is denoted as B, the hinge point between the connecting rod 27 and the outer protective cylinder 7 is denoted as C, and the hinge point between the outer protective cylinder 7 and the frame 3 is denoted as D. The length of line segment AB is denoted as... a Let the length of line segment BC be denoted as b Let the length of line segment CD be denoted as c The length of line segment DA is denoted as d Let the angle between line segment AB and line segment DA be set as i Let the angle between line segment DA and line segment CD be set as c ,in, a : b : c : d = 105:82:100:110, and satisfies the following relationship:

[0058] a 2 + c 2 + d 2 - b 2 -2 ad cos i +2 CD cos c -2 ac ( i - c ) = 0;

[0059] When the swing angle of the outer protective cylinder 7 needs to be adjusted, the attitude adjustment drive motor 23 is started, driving the attitude adjustment drive screw 24 to rotate. The rotational motion of the attitude adjustment drive screw 24 is synchronously converted into the linear motion of the attitude adjustment drive nut 25 along the axis of the attitude adjustment drive screw 24. Then, the moving attitude adjustment drive nut 25 drives the swing arm 26 to swing around the hinge point A. At this time, the swing motion of the swing arm 26 is transmitted to the outer protective cylinder 7 through the connecting rod 27, causing the outer protective cylinder 7 to swing around the hinge point D until the outer protective cylinder 7 swings around the hinge point D. i and c The set value is reached, thereby causing the outer protective cylinder 7 to reach the set swing position.

[0060] The method of using the multifunctional additive and subtractive composite manufacturing apparatus, when performing additive and three-dimensional hammering composite processing on the additively manufactured metal component 29, includes the following steps:

[0061] Step 1: On the first hammer milling compound machining equipment 4, the second hammer milling compound machining equipment 5, and the third hammer milling compound machining equipment 6, the hammer head 13 of the set length is replaced through the quick tool changer 12;

[0062] Step 2: Adjust the convex paddles 22 on the first hammer milling composite processing equipment 4, the second hammer milling composite processing equipment 5, and the third hammer milling composite processing equipment 6 into the preset comb tooth slots of the comb tooth-shaped opening groove 20 to complete the setting of the electromagnetic hammer impact force.

[0063] Step 3: Adjust the first hammer milling compound machining equipment 4 to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment 5 to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment 6 in a vertical state.

[0064] Step 4: The electrical control module 15 in the first hammer milling compound processing equipment 4 generates an electromagnetic force through the elastic coil 8 to retract the iron core hammer rod 10 into the cylinder, causing the hammer head 13 on the first hammer milling compound processing equipment 4 to also be in a retracted state into the cylinder; simultaneously, the electrical control module 15 in the second hammer milling compound processing equipment 5 generates an electromagnetic force through the elastic coil 8 to retract the iron core hammer rod 10 into the cylinder, causing the hammer head 13 on the second hammer milling compound processing equipment 5 to also be in a retracted state into the cylinder; the hammer head 13 on the third hammer milling compound processing equipment 6 is in a state of naturally extending out of the cylinder;

[0065] Step 5: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 are positioned on both sides of the additive manufacturing metal component 29. The distance between the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 and the side surface of the additive manufacturing metal component 29 is precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7. At the same time, the third hammer milling composite processing equipment 6 is positioned directly above the additive manufacturing metal component 29, and the hammer head 13 on the third hammer milling composite processing equipment 6 is in contact with the upper surface of the additive manufacturing metal component 29. The distance between the third hammer milling composite processing equipment 6 and the upper surface of the additive manufacturing metal component 29 is also precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7.

[0066] Step Six: The electrical control modules 15 of the first hammer milling composite processing equipment 4, the second hammer milling composite processing equipment 5 and the third hammer milling composite processing equipment 6 synchronously generate axial reciprocating electromagnetic force in the elastic coil 8, driving the iron core hammer rod 10 to reciprocate, and hammering the additive manufacturing metal component 29 synchronously through the hammer heads 13 in three directions.

[0067] Step 7: The additive manufacturing of metal component 29 is continued by moving the welding torch 1 with the first arm robot, and the three-way hammering process is continued by moving the subtractive composite processing mechanism with the second arm robot. The welding torch 1 is in front and the subtractive composite processing mechanism is behind. The welding torch 1 and the subtractive composite processing mechanism move together at the set speed.

[0068] In this embodiment, during the movement of the welding torch 1 and the subtractive composite machining mechanism, the distance between the welding torch 1 and the hammer head 13 on the third hammer milling composite machining equipment 6 is maintained at 30mm to 40mm, and the speed at which the welding torch 1 and the subtractive composite machining mechanism move together is maintained at no more than 5mm / s; the hammering frequency of the first hammer milling composite machining equipment 4, the second hammer milling composite machining equipment 5 and the third hammer milling composite machining equipment 6 during three-way hammering is maintained at 20Hz to 25Hz; the hammering force applied by the first hammer milling composite machining equipment 4 and the second hammer milling composite machining equipment 5 from both sides of the additive manufacturing metal component 29 is maintained at 500N to 700N; and the hammering force applied by the third hammer milling composite machining equipment 6 from the upper surface of the additive manufacturing metal component 29 is maintained at 300N to 500N.

[0069] The method of using the multifunctional additive and subtractive composite manufacturing apparatus, when performing additive and hot / cold hammer composite processing on the additively manufactured metal component 29, includes the following steps:

[0070] Step 1: On both the first hammer milling compound machining equipment 4 and the second hammer milling compound machining equipment 5, the hammer head 13 of the set length is replaced through the quick tool changer 12. The third hammer milling compound machining equipment 6 is not activated.

[0071] Step 2: Adjust the convex paddles 22 on the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 into the preset comb tooth slots of the comb tooth opening groove 20 to complete the setting of the electromagnetic hammer impact force.

[0072] Step 3: Adjust the first hammer milling composite processing equipment 4 to a vertical state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling composite processing equipment 5 to a vertical state using the second equipment attitude adjustment component, and the hammers 13 on the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 are both in a state of naturally extending out of the cylinder.

[0073] Step 4: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first hammer milling composite processing equipment 4 is directly above the processed cold end upper surface of the additively manufactured metal component 29, and the hammer head 13 on the first hammer milling composite processing equipment 4 is in contact with the processed cold end upper surface of the additively manufactured metal component 29. The distance between the first hammer milling composite processing equipment 4 and the processed cold end upper surface of the additively manufactured metal component 29 is precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7. At the same time, position the second hammer milling composite processing equipment 5 directly above the processed hot end upper surface of the additively manufactured metal component 29, and the hammer head 13 on the second hammer milling composite processing equipment 5 is in contact with the processed hot end upper surface of the additively manufactured metal component 29. The distance between the second hammer milling composite processing equipment 5 and the processed hot end upper surface of the additively manufactured metal component 29 is also precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7.

[0074] Step 5: The electrical control module 15 of the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 synchronously causes the elastic coil 8 to generate axial reciprocating electromagnetic force, which drives the iron core hammer rod 10 to reciprocate, and the two hammers 13 in the vertical direction synchronously hammer the additive manufacturing metal component 29.

[0075] Step Six: The additive manufacturing of metal component 29 is continued by moving the welding torch 1 with the first arm robot, and the vertical hammering process is continued by moving the subtractive composite processing mechanism with the second arm robot. The welding torch 1 is in front and the second hammer milling composite processing equipment 5 is behind. The welding torch 1 and the subtractive composite processing mechanism move together at the set speed.

[0076] In this embodiment, during the movement of the welding torch 1 and the subtractive composite machining mechanism, the distance between the welding torch 1 and the hammer head 13 on the second hammer milling composite machining equipment 5 is maintained at 20mm to 30mm, and the speed at which the welding torch 1 and the subtractive composite machining mechanism move together is maintained at no more than 6mm / s; the height difference between the processed cold end upper surface and the hot end upper surface during additive manufacturing of the metal component 29 is maintained at 5mm to 8mm; the hammering frequency during hammering processing of the first hammer milling composite machining equipment 4 and the second hammer milling composite machining equipment 5 is maintained at 15Hz to 20Hz; the vertical hammering force applied by the first hammer milling composite machining equipment 4 is maintained at 700N to 1000N; and the vertical hammering force applied by the second hammer milling composite machining equipment 5 is maintained at 300N to 500N.

[0077] The method of using the multifunctional additive and subtractive composite manufacturing apparatus, when performing additive manufacturing combined with end face hammering and side milling composite machining on the additively manufactured metal component 29, includes the following steps:

[0078] Step 1: On both the first hammer milling compound machining equipment 4 and the second hammer milling compound machining equipment 5, replace the milling cutter 14 with a set size and specification through the quick tool changer 12. At the same time, tighten the hammer rod positioning screw 18 on the first hammer milling compound machining equipment 4 and the second hammer milling compound machining equipment 5 to lock the axial movement freedom of the iron core hammer rod 10. On the third hammer milling compound machining equipment 6, replace the hammer head 13 with a set length through the quick tool changer 12.

[0079] Step 2: Adjust all the protrusions 22 on the third hammer milling composite processing equipment 6 into the preset comb tooth slots of the comb tooth opening groove 20 to complete the setting of the electromagnetic hammer impact force.

[0080] Step 3: Adjust the first hammer milling compound machining equipment 4 to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment 5 to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment 6 in a vertical state.

[0081] Step 4: Adjust the position of the additive manufacturing composite processing mechanism by using the second arm robot so that the first hammer milling composite processing equipment 4 and the second hammer milling composite processing equipment 5 are located diagonally above the sides of the additive manufacturing metal component 29, and the third hammer milling composite processing equipment 6 is located directly above the additive manufacturing metal component 29.

[0082] Step 5: The milling drive motor 11 is started synchronously by the electrical control module 15 of the first hammer milling composite machining equipment 4 and the second hammer milling composite machining equipment 5, which drives the milling cutter 14 to rotate.

[0083] Step Six: By lowering the height of the subtractive composite processing mechanism using the second-arm robot, the milling cutters 14 on the first and second hammer milling composite processing equipment 4 and 5 cut vertically into the additive manufacturing metal component 29. The distances between the first and second hammer milling composite processing equipment 4 and 5 and the side surface of the additive manufacturing metal component 29 are precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7. Simultaneously, the hammer head 13 on the third hammer milling composite processing equipment 6 comes into contact with the upper surface of the additive manufacturing metal component 29. The distance between the third hammer milling composite processing equipment 6 and the upper surface of the additive manufacturing metal component 29 is also precisely monitored by the laser displacement sensor 28 on the open side outer surface of the outer protective cylinder 7.

[0084] Step 7: The electric control module 15 of the third hammer milling composite processing equipment 6 synchronously causes the elastic coil 8 to generate axial reciprocating electromagnetic force, driving the iron core hammer rod 10 to reciprocate, and hammering the additive manufacturing metal component 29 through the vertical hammer head 13.

[0085] Step 8: The additive manufacturing of metal component 29 is continued by moving the welding torch 1 with the first arm robot, and the subtractive composite machining mechanism is continued by moving the subtractive composite machining mechanism with the second arm robot. The welding torch 1 is in front and the subtractive composite machining mechanism is behind. The welding torch 1 and the subtractive composite machining mechanism move together at the set speed.

[0086] In this embodiment, when the hammering force of the third hammer milling composite machining equipment 6 is less than 300N during vertical hammering, the depth of cut of the milling cutter 14 on the first hammer milling composite machining equipment 4 and the second hammer milling composite machining equipment 5 is maintained at 0.5mm to 1mm, and the rotational speed of the milling drive motor 11 is maintained at no more than 4000r / min. During the movement of the welding torch 1 and the subtractive composite machining mechanism, the distance between the welding torch 1 and the hammer head 13 on the third hammer milling composite machining equipment 6 is maintained at 25mm to 35mm, the speed at which the welding torch 1 and the subtractive composite machining mechanism move together is maintained at no more than 6mm / s, and the hammering frequency of the third hammer milling composite machining equipment 6 during vertical hammering is maintained at 5Hz to 15Hz; when When the hammering force of the third hammer milling composite machining equipment 6 is greater than 500N during vertical hammering, the depth of cut of the milling cutter 14 on the first hammer milling composite machining equipment 4 and the second hammer milling composite machining equipment 5 is maintained at 0.2mm to 0.5mm, and the speed of the milling drive motor 11 is maintained at no more than 3000r / min. During the process of the welding torch 1 and the subtractive composite machining mechanism moving together, the distance between the welding torch 1 and the hammer head 13 on the third hammer milling composite machining equipment 6 is maintained at 35mm to 40mm, and the speed of the welding torch 1 and the subtractive composite machining mechanism moving together is maintained at no more than 3mm / s. The hammering frequency of the third hammer milling composite machining equipment 6 during vertical hammering is maintained at 5Hz to 15Hz.

[0087] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A multifunctional additive and subtractive composite manufacturing device, characterized in that: The system includes a first-arm robot, a welding torch, a second-arm robot, a subtractive composite processing mechanism, and an additive manufacturing substrate; the first-arm robot and the second-arm robot are arranged side by side; the additive manufacturing substrate is located between the first-arm robot and the second-arm robot; the welding torch is located at the wrist of the first-arm robot; and the subtractive composite processing mechanism is located at the wrist of the second-arm robot. The subtractive manufacturing composite machining mechanism includes a frame, a first hammer milling composite machining device, a second hammer milling composite machining device, a third hammer milling composite machining device, a first device attitude adjustment component, and a second device attitude adjustment component. The middle part of the frame is fixedly connected to the wrist of the second arm robot. The first and second hammer milling composite machining devices are respectively hinged to both ends of the frame. The third hammer milling composite machining device is vertically fixed below the middle part of the frame. The first device attitude adjustment component is disposed between the first hammer milling composite machining device and the frame. The second device attitude adjustment component is disposed between the second hammer milling composite machining device and the frame. The first, second, and third hammer-milling composite machining equipment have identical structures, each including an outer protective cylinder, an elastic coil, an inner isolation cylinder, an iron core hammer rod, a milling drive motor, a quick tool changer, a hammer head, a milling cutter, an electrical control module, a buffer spring, a buffer washer, and a hammer rod positioning screw. The tail end of the outer protective cylinder is closed by a flange base plate, while the head end is open. The inner isolation cylinder is coaxially fixedly fitted inside the outer protective cylinder, with a circumferential gap between them. The elastic coil is positioned within this circumferential gap. The electrical control module is fixedly installed at the center of the inner surface of the flange base plate at the tail end of the outer protective cylinder. The elastic coil is electrically connected to the electrical control module. The buffer spring is coaxially fitted outside the electrical control module, and the buffer spring is connected to the flange base plate at the tail end of the outer protective cylinder. The inner surface of the plate is fixedly connected, and the axial length of the buffer spring when it is in maximum compression is greater than the thickness of the electronic control module; the iron core hammer rod is set inside the inner isolation cylinder, and the axial length of the iron core hammer rod is less than the axial length of the inner isolation cylinder. The iron core hammer rod only has axial movement freedom relative to the inner isolation cylinder; the buffer washer is fixedly set at the outer cylinder opening of the inner isolation cylinder; the milling drive motor is coaxially fixed inside the iron core hammer rod with the motor shaft facing the open side of the outer protective cylinder, and the milling drive motor is electrically connected to the electronic control module; the quick tool changer is coaxially connected to the motor shaft of the milling drive motor; the hammer head or milling cutter is coaxially connected to the quick tool changer; the hammer rod positioning screw is set on the open side cylinder wall of the outer protective cylinder, and a hammer rod positioning screw hole is provided on the rod of the iron core hammer rod, and the hammer rod positioning screw is screwed into the hammer rod positioning screw hole.

2. The multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that: A laser displacement sensor is fixedly installed on the open side outer surface of the outer protective cylinder.

3. The multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that: The turns density of the elastic coil is non-uniform. In the axial direction, the turns density of the elastic coil on the tail end side of the outer protective cylinder is the largest, and the turns density of the elastic coil on the open side of the outer protective cylinder is the smallest.

4. The multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that: A comb-shaped opening groove is provided in the middle of the outer protective cylinder, and a shifting slip ring is provided in the middle of the elastic coil. A protruding paddle is fixedly provided on the shifting slip ring and is located in the comb-shaped opening groove. The shifting slip ring has axial sliding freedom and rotational freedom in the circumferential gap between the inner isolation cylinder and the outer protective cylinder. The protruding paddle has linear sliding freedom in the comb-shaped opening groove.

5. The multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that: The first and second device attitude adjustment components have the same structure, both including an attitude adjustment drive motor, an attitude adjustment drive screw, an attitude adjustment drive nut, a swing arm, and a connecting rod. The tail end of the housing of the attitude adjustment drive motor is hinged to the frame. One end of the swing arm is hinged to the frame, the other end of the swing arm is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the middle of the outer protective cylinder, and the outer surface of the flange base plate at the tail end of the outer protective cylinder is hinged to the frame. The frame, swing arm, connecting rod, and outer protective cylinder constitute a four-bar linkage. One end of the attitude adjustment drive screw is coaxially fixed to the motor shaft of the attitude adjustment drive motor. The attitude adjustment drive nut is fitted onto the attitude adjustment drive screw and connected to the swing arm via a universal joint bearing.

6. The method of using the multifunctional additive and subtractive composite manufacturing apparatus according to claim 1, characterized in that, When performing additive manufacturing combined with triaxial hammering on additively manufactured metal components, the following steps are included: Step 1: On the first, second, and third hammer milling composite machining equipment, replace the hammer head with the set length using the quick tool changer. Step 2: Adjust the convex paddles on the first, second, and third hammer milling composite machining equipment into the preset comb tooth slots of the comb tooth-shaped opening grooves to complete the setting of the electromagnetic hammer impact force. Step 3: Adjust the first hammer milling compound machining equipment to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment in a vertical state; Step 4: The electrical control module in the first hammer milling compound machining equipment generates an electromagnetic force through the elastic coil to retract the iron core hammer rod into the cylinder, causing the hammer head on the first hammer milling compound machining equipment to also be in a retracted state into the cylinder; simultaneously, the electrical control module in the second hammer milling compound machining equipment generates an electromagnetic force through the elastic coil to retract the iron core hammer rod into the cylinder, causing the hammer head on the second hammer milling compound machining equipment to also be in a retracted state into the cylinder; the hammer head on the third hammer milling compound machining equipment is in a state of naturally extending out of the cylinder; Step 5: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first and second hammer milling composite processing devices are positioned on either side of the additively manufactured metal component. The distances between the first and second hammer milling composite processing devices and the side surfaces of the additively manufactured metal component are precisely monitored by laser displacement sensors on the open side of the outer protective cylinder. Simultaneously, the third hammer milling composite processing device is positioned directly above the additively manufactured metal component, and the hammer head on the third hammer milling composite processing device is in contact with the upper surface of the additively manufactured metal component. The distance between the third hammer milling composite processing device and the upper surface of the additively manufactured metal component is also precisely monitored by laser displacement sensors on the open side of the outer protective cylinder. Step Six: The electrical control modules of the first, second, and third hammer milling composite processing equipment synchronously generate axial reciprocating electromagnetic force in the elastic coil, driving the iron core hammer rod to reciprocate, and hammering the additively manufactured metal component synchronously in three directions. Step 7: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, and the three-way hammering process continues by moving the subtractive composite processing mechanism with the second-arm robot. The welding torch is in front and the subtractive composite processing mechanism is behind. The welding torch and the subtractive composite processing mechanism move together at a set speed.

7. The method of using the multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that, When performing additive manufacturing combined with hot and cold hammering on additively manufactured metal components, the following steps are included: Step 1: Replace the hammer head with the set length on both the first and second hammer milling compound machining equipment using the quick tool changer. The third hammer milling compound machining equipment is not activated. Step 2: Adjust the convex paddles on the first and second hammer milling composite processing equipment into the preset comb tooth slots of the comb tooth-shaped opening grooves to complete the setting of the electromagnetic hammer impact force. Step 3: Adjust the first hammer milling composite processing equipment to a vertical position using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling composite processing equipment to a vertical position using the second equipment attitude adjustment component, with the hammers on both the first and second hammer milling composite processing equipment naturally extending out of the cylinder. Step 4: Adjust the position of the subtractive composite processing mechanism using the second-arm robot, so that the first hammer milling composite processing equipment is directly above the processed cold end surface of the additively manufactured metal component, and the hammer head on the first hammer milling composite processing equipment is in contact with the processed cold end surface of the additively manufactured metal component. The distance between the first hammer milling composite processing equipment and the processed cold end surface of the additively manufactured metal component is precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. At the same time, position the second hammer milling composite processing equipment directly above the processed hot end surface of the additively manufactured metal component, and the hammer head on the second hammer milling composite processing equipment is in contact with the processed hot end surface of the additively manufactured metal component. The distance between the second hammer milling composite processing equipment and the processed hot end surface of the additively manufactured metal component is also precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. Step 5: The electronic control modules of the first and second hammer milling composite processing equipment synchronously generate axial reciprocating electromagnetic force through the elastic coil, driving the iron core hammer rod to reciprocate, and the two hammers in the vertical direction synchronously hammer the additively manufactured metal component. Step Six: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, while the subtractive composite machining mechanism continues vertical hammering processing by moving the second-arm robot. The welding torch is in front and the second hammer milling composite machining equipment is behind. The welding torch and the subtractive composite machining mechanism move together at a set speed.

8. The method of using the multifunctional additive and subtractive composite manufacturing device according to claim 1, characterized in that, When performing additive manufacturing combined with end face hammering and side milling on additively manufactured metal components, the following steps are included: Step 1: On both the first and second hammer milling composite machining equipment, replace the milling cutter with a milling cutter of the set size and specification using a quick-change tool connector. At the same time, tighten the hammer rod positioning screws on both the first and second hammer milling composite machining equipment to lock the axial movement freedom of the iron core hammer rod. On the third hammer milling composite machining equipment, replace the hammer head with a hammer of the set length using a quick-change tool connector. Step 2: Adjust all the protrusions and paddles on the third hammer milling compound processing equipment into the preset comb tooth slots of the comb tooth opening groove to complete the setting of the electromagnetic hammer impact force. Step 3: Adjust the first hammer milling compound machining equipment to a horizontal state using the first equipment attitude adjustment component, and at the same time adjust the second hammer milling compound machining equipment to a horizontal state using the second equipment attitude adjustment component, while keeping the third hammer milling compound machining equipment in a vertical state; Step 4: Adjust the position of the additive manufacturing composite processing mechanism using the second arm robot, so that the first and second hammer milling composite processing equipment are positioned diagonally above the sides of the additive manufacturing metal component, and the third hammer milling composite processing equipment is positioned directly above the additive manufacturing metal component. Step 5: The milling drive motor is started synchronously by the electronic control modules of the first and second hammer milling combined machining equipment, which drives the milling cutter to rotate; Step Six: The height of the subtractive composite processing mechanism is lowered by the second-arm robot, so that the milling cutters on the first and second hammer milling composite processing equipment cut into the additive manufacturing metal component vertically. The distance between the first and second hammer milling composite processing equipment and the side surface of the additive manufacturing metal component is precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. At the same time, the hammer head on the third hammer milling composite processing equipment comes into contact with the upper surface of the additive manufacturing metal component. The distance between the third hammer milling composite processing equipment and the upper surface of the additive manufacturing metal component is also precisely monitored by a laser displacement sensor on the outer surface of the open side of the outer protective cylinder. Step 7: The electrical control module of the third hammer milling composite processing equipment synchronously generates axial reciprocating electromagnetic force through the elastic coil, driving the iron core hammer rod to reciprocate, and hammering the additively manufactured metal component through the vertical hammer head; Step 8: The additive manufacturing of metal components continues by moving the welding torch with the first-arm robot, while the subtractive composite machining mechanism continues vertical hammering and lateral milling by moving the second-arm robot. The welding torch is in front and the subtractive composite machining mechanism is behind, and the welding torch and the subtractive composite machining mechanism move together at a set speed.

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