Multi-axis linkage numerical control machining path intelligent planning system and method

Abstract

The invention relates to the technical field of machining control, in particular to an intelligent planning system and method for a multi-axis linkage numerical control machining path, and the system comprises a data collection unit which is used for obtaining the form attribute parameter information of a machined workpiece and the axial motion attribute parameter information of a multi-axis machining unit; and the initial division unit is used for performing initial division on a workpiece machining range according to the morphological attribute parameter information and the axial motion attribute parameter information to obtain an initial segmentation result and an initial trajectory planning result of the machining range, and the initial trajectory planning result comprises coordinate information of each trajectory segment. The collision condition between the motion path of the cutting tool and the feature range of the workpiece can be checked in real time through the collision checking unit, and the path is automatically adjusted through the collision avoidance unit, so that possible machining errors and equipment damage are avoided, and the machining safety and stability are greatly improved through intelligent collision avoidance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of processing control, in particular to a multi-axis linkage numerical control machining path intelligent planning system and method. BACKGROUND

[0002] With the transformation of global manufacturing industry towards more high-precision and high-efficiency production goals, traditional processing methods have been difficult to meet the high-precision and high-quality requirements of modern industry for complex parts. Modern numerical control machine tools have greatly improved in precision, but if the path planning is not intelligent and refined enough, it is still easy to produce machining errors. Therefore, by using an intelligent path planning system, the path can be optimized in real time and dynamically, so as to ensure the precision of each machining step and reduce errors and unnecessary losses in production.

[0003] Currently, traditional systems often rely on manual planning and adjustment of paths, which are easily limited by the experience and judgment of operators, leading to inaccurate path planning during processing and errors and instability. Collision checking between the movement paths of cutting tools and workpieces is often not real-time and intelligent enough, and lacks a dynamic adjustment mechanism. If a collision occurs, it may not be discovered in time, resulting in equipment damage or processing errors, thereby reducing the safety and stability of the processing process. Moreover, the path planning is generally simple and prone to unnecessary path redundancy, resulting in long processing time and low efficiency. Traditional systems lack dynamic adjustment and rollback mechanisms and cannot flexibly respond to complex processing requirements, which may lead to low production efficiency and resource waste.

[0004] In addition, traditional systems usually do not have complex path optimization and collision avoidance algorithms, and cannot perform fine adjustment and optimization of paths through efficient algorithms, resulting in insufficient processing precision and errors. When a collision or improper path occurs, traditional systems cannot quickly adjust the path and often need to be shut down for a long time for manual intervention, resulting in low production efficiency. SUMMARY

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a multi-axis linkage numerical control machining path intelligent planning system, comprising:

[0006] A data acquisition unit is configured to acquire morphological attribute parameter information of a workpiece and shaft motion attribute parameter information of a multi-axis machining unit.

[0007] An initial division unit is configured to perform initial division on a workpiece machining range according to the morphological attribute parameter information and the shaft motion attribute parameter information, to obtain initial segmentation results and initial trajectory planning results of the machining range, wherein the initial trajectory planning results include coordinate information of each trajectory segment.

[0008] A collision checking unit is configured to perform collision checking on the collision between the tool movement path and the feature range of the workpiece during the machining process according to the initial trajectory planning result.

[0009] A collision avoidance unit is configured to, in response to the collision checking indicating that there is a collision coordinate, perform the collision checking by retreating to a previous coordinate of the collision coordinate, record the frequency of retreat of the tool movement, determine a new avoidance coordinate before the collision coordinate according to the frequency of retreat, and update the movement path parameters of the tool.

[0010] A path optimization unit is configured to perform path optimization on the updated movement path parameters according to the initial segmentation result and the initial trajectory planning result.

[0011] Preferably, the machining range of the workpiece is initially segmented according to the shape attribute parameter information and the axis motion attribute parameter information to obtain an initial segmentation result and an initial trajectory planning result, including:

[0012] The machining range of the workpiece is segmented until a preset iteration termination condition is reached to obtain an initial machining segmentation and an initial segmentation trajectory starting point.

[0013] The initial segmentation trajectory starting points that are within the movement range coverage area of the multi-axis machining equipment and have a distance from the machining origin that is less than a preset distance threshold are planned different reference machining paths.

[0014] The initial segmentation trajectory starting points that have planned reference machining paths plan a reference machining path that is different from their own reference machining path for the initial segmentation trajectory starting point that is closest in space and has not planned a reference machining path, until all initial segmentation trajectory starting points have planned reference machining paths.

[0015] The reference machining paths of the initial segmentation trajectory starting points are used to plan different auxiliary machining paths for other machining points within the same initial machining segmentation.

[0016] Preferably, the machining range of the workpiece is segmented until a preset iteration termination condition is reached to obtain an initial machining segmentation and an initial segmentation trajectory starting point, including:

[0017] The spatial coordinates of the machining range of the workpiece are initialized, and a plurality of machining points are randomly selected from the machining range as initial segmentation centers.

[0018] According to the spatial distance between the other machining points and the initial segmentation centers, the other machining points are assigned to the segmentation center with the smallest spatial distance to obtain a plurality of machining segmentations.

[0019] Iteratively segmenting the morphological attribute parameter information corresponding to all machining points in the machining segment until the segment center of the generated machining segment no longer changes or the preset iteration number is reached, and taking the segment center as the initial segment trajectory starting point of the initial machining segment.

[0020] Preferably, according to the back-off frequency, a new avoidance coordinate is determined before the collision coordinate, comprising:

[0021] Judging whether the back-off frequency of the cutting tool in the adjacent trajectory segment is greater than a preset first base number;

[0022] In response to the back-off frequency being greater than the preset first base number, offset coordinates conforming to the machine group axis motion constraint are traversed before the collision coordinate is reached as the new avoidance coordinates, and the new avoidance coordinates are added before the collision coordinate to adjust the motion path of the cutting tool with the new avoidance coordinates.

[0023] In response to the back-off frequency not being greater than the preset first base number, the new avoidance coordinates are not increased, and the original machining path is maintained.

[0024] Preferably, the offset coordinates conforming to the machine group axis motion constraint are traversed before the collision coordinate is reached as the new avoidance coordinates, comprising:

[0025] Obtaining a collision coordinate of the cutting tool motion, taking the collision coordinate as the starting point, and performing back-off one by one, and after each back-off, performing collision checking on the cutting tool motion path and the workpiece feature range;

[0026] Judging whether the machine group axis motion constraint of the back-off frequency corresponding coordinate is satisfied;

[0027] In response to the back-off frequency corresponding coordinate satisfying the machine group axis motion constraint, the back-off frequency corresponding coordinate is confirmed as the new avoidance coordinate;

[0028] In response to the back-off frequency corresponding coordinate not satisfying the machine group axis motion constraint, the cutting tool continues to back off, and the machine group axis motion constraint of the back-off frequency corresponding coordinate is judged again until the new avoidance coordinate is confirmed.

[0029] Preferably, the new avoidance coordinate is added before the collision coordinate, comprising:

[0030] Judging whether the machining interval of the cutting tool before reaching the collision coordinate is greater than a preset interval standard;

[0031] In response to the machining interval being greater than the preset interval standard, the collision checking is continued;

[0032] In response to the machining interval not being greater than the preset interval standard, the collision coordinate is disabled, and the motion path parameters of the cutting tool are re-planned.

[0033] Preferably, the collision coordinates are disabled, and the motion path parameters of the cutting tool are re-planned, including:

[0034] The path between the coordinates after the cutting tool is backed off and the starting coordinates of the workpiece processing is optimally trajectory-planned to obtain a first optimized trajectory, and the path between the coordinates after the cutting tool is backed off and the preset end coordinates of the workpiece processing is optimally trajectory-planned to obtain a second optimized trajectory;

[0035] The trajectory before the coordinates after the cutting tool is backed off is connected to the first and last coordinates of the first optimized trajectory and the second optimized trajectory, and the motion path parameters of the cutting tool are updated.

[0036] Preferably, the updated motion path parameters are path-optimized according to the initial segmentation result and the initial trajectory planning result, including:

[0037] The sub-ranges in the workpiece processing range are projected to a preset processing coordinate system according to the initial segmentation result and the initial trajectory planning result;

[0038] The initialized particle trajectory points are randomly projected to the preset processing coordinate system in which the sub-ranges are located;

[0039] The processing trajectory of the processing range is iteratively optimized based on the positions of the particle trajectory points in the preset processing coordinate system and the positions of the sub-ranges in the preset processing coordinate system.

[0040] Preferably, the processing trajectory of the processing range is iteratively optimized based on the positions of the particle trajectory points in the preset processing coordinate system and the positions of the sub-ranges in the preset processing coordinate system, including:

[0041] In response to the position of the particle trajectory point not having a corresponding sub-range, the particle trajectory point is adjusted in position according to a preset step distance;

[0042] In response to the position of the particle trajectory point having a corresponding sub-range, the surrounding processing intervals of the sub-range are traversed to determine the fitting probability of the processing trajectory;

[0043] In response to no fitting processing trajectory position, the particle trajectory point restores the corresponding sub-range to the initial projection position of the sub-range in the preset processing coordinate system.

[0044] A multi-axis linkage numerical control processing path intelligent planning method, which is applicable to the multi-axis linkage numerical control processing path intelligent planning system described above, includes:

[0045] Obtain the morphological attribute parameter information of the processed workpiece and the shaft motion attribute parameter information of the multi-axis processing unit;

[0046] According to the shape attribute parameter information and the shaft motion attribute parameter information, the workpiece machining range is initially divided to obtain initial segmentation results of the machining range and initial trajectory planning results, wherein the initial trajectory planning results include coordinate information of each trajectory segment.

[0047] According to the initial trajectory planning results, collision checking is performed on the collision between the cutting tool motion path and the workpiece feature range during the machining process.

[0048] In response to the existence of the collision coordinates, the collision checking is performed on the previous coordinates of the collision coordinates, the frequency of the cutting tool motion is recorded, the newly added avoidance coordinates are determined before the collision coordinates according to the frequency, and the motion path parameters of the cutting tool are updated.

[0049] According to the initial segmentation results and the initial trajectory planning results, the updated motion path parameters are path optimized.

[0050] Compared with the prior art, the beneficial effects of the present application are:

[0051] (1) The present application obtains workpiece shape attribute parameters and machine set shaft motion attribute parameter information through a data acquisition unit, realizes automatic and intelligent path planning, which helps to reduce human intervention, improve machining accuracy and flexibility, and through a collision checking unit, the collision between the cutting tool motion path and the workpiece feature range can be checked in real time, and through a collision avoidance unit, the path can be automatically adjusted, thereby avoiding possible machining errors and equipment damage, and the intelligent collision avoidance greatly improves the safety and stability of the machining;

[0052] (2) Through the frequency of backtracking and the machine set shaft motion constraint judgment mechanism, the system can flexibly adjust the motion path of the cutting tool to reduce the probability of collision, and if collision occurs, the system can quickly back up and re-plan the path, thereby ensuring smooth machining, and the dynamic backtracking and adjustment mechanism effectively avoids unnecessary downtime, improves production efficiency, and in the initial segmentation division process, through iterative segmentation processing and space distance minimization allocation, the system can ensure that the machining path of each segment is as close to the optimal solution as possible, reducing unnecessary path redundancy, and at the same time, the system also performs path iterative optimization based on particle trajectory points, further improving the accuracy of path planning.

[0053] (3) The present application determines the initial segmentation according to the morphological attributes and the axial motion attributes, the system can flexibly adapt to different machining units and workpiece requirements, and provides personalized path planning and optimization scheme, and the strong adaptability design enables the system to be widely applied to different types of multi-axis numerical control machine tools, through the precise collision avoidance and path optimization algorithm, the system can maximize the machining efficiency while ensuring the machining precision, avoids unnecessary backtracking and path adjustment, and improves the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 It is a system architecture schematic diagram of the overall system in an embodiment of the present application.

[0055] Figure 2 It is a step flow schematic diagram of the overall method in an embodiment of the present application.

[0056] In the figure: 1, data acquisition unit; 2, initial division unit; 3, collision checking unit; 4, collision avoidance unit; 5, path optimization unit. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0058] Embodiment one, please refer to Figure 1 The present application provides a technical solution: a multi-axis linkage numerical control machining path intelligent planning system, comprising:

[0059] The data acquisition unit 1 is used for acquiring morphological attribute parameter information of a machined workpiece and axial motion attribute parameter information of a multi-axis machining unit;

[0060] The initial division unit 2 is used for initially dividing the workpiece machining range according to the morphological attribute parameter information and the axial motion attribute parameter information, to obtain initial segmentation results and initial trajectory planning results of the machining range, wherein the initial trajectory planning results include coordinate information of each trajectory segment;

[0061] The collision checking unit 3 is used for checking the collision between the cutting tool motion path and the workpiece feature range in the machining process according to the initial trajectory planning results;

[0062] The collision avoidance unit 4 is configured to, in response to the collision check being performed on the collision coordinate, retreat to a previous coordinate of the collision coordinate to perform the collision check, record a retreat frequency of the tool movement, determine a new avoidance coordinate before the collision coordinate according to the retreat frequency, and update the movement path parameter of the tool.

[0063] The path optimization unit 5 is configured to perform path optimization on the updated movement path parameter according to the initial segmentation result and the initial trajectory planning result.

[0064] Need to explain, collect the form attribute of the processed workpiece (such as the size, shape, etc. of the workpiece) and the shaft motion attribute of the multi-axis machining unit (such as the motion range of the machine tool, the motion parameters of each shaft, etc.); These data provide the basis for subsequent path planning; For example: assuming that a complex shaped metal part, such as a part of an automobile engine, needs to be processed; In this unit, the system will collect the size (length, width, height) and shape (such as concave and convex, curve, etc.) of the part, as well as the motion range of the numerical control machine tool (such as the maximum moving distance and rotation angle of X, Y and Z axes); These data help the system understand the constraints and possible range of processing; According to the collected workpiece and machine tool data, the processing range and trajectory are preliminarily divided; This step produces preliminary processing segmentation (i.e. the workpiece processing process is divided into several small segments for step-by-step processing) and preliminary path planning results; Assuming that the workpiece to be processed is a complex gear part, the system will first divide it into several parts for processing according to the size and shape of the workpiece; For example, first process the external contour, then process the tooth shape, and finally drill the inner hole; Each part has corresponding trajectory planning, which includes the coordinate points of each processing path; Collision checking is performed on the preliminary planned path to ensure that the cutting tool does not collide with the workpiece or other parts of the machine tool during processing; Assuming that the cutting tool needs to be cut in a complex cavity, and a part of the cavity is very close to the fixed part of the machine tool; If the preliminary path planning fails to consider this, it may cause the cutting tool to collide with the machine tool during processing; At this time, the collision checking unit will identify the problem; When a collision is detected, the system will back up to a safe position before the collision, recalculate the path and generate a new evasive trajectory to avoid collision; This process also records the back-up frequency so that the system can optimize subsequent paths; For example: in the above example, assuming that the cutting tool touches a fixed part of the machine tool during processing, the system will back up to a safe coordinate point before the collision and re-plan the path; If multiple back-ups occur, the system will optimize the path so that the tool avoids entering the dangerous area; After handling the collision problem, the system will optimize the processing path to make the processing process more efficient and accurate, reducing unnecessary back-ups and waste; For example: after solving the collision problem, the system will optimize the path, such as reducing the number of tool back-ups, shortening the processing time, improving the processing accuracy, etc.; If the processing path is optimized, it may be found that some parts do not need to be cut multiple times, thereby improving processing efficiency;

[0065] The workpiece feature range refers to the collective term for the set of geometric boundaries and process constraint areas directly related to the CNC machining path planning surrounding the workpiece. Its core function is to define two types of key areas: the machining area that the tool must cover (ensuring that the final shape of the workpiece meets the design requirements); and the protected area where the tool is strictly prohibited from intruding (to avoid collisions with the workpiece, fixture, or machined surfaces, preventing scrap). The workpiece feature range specifically includes the workpiece geometric entity range, the machining process constraint range, and the functionally related feature range. Among them, the workpiece geometric entity range is the physical geometric boundary of the workpiece itself, which is the basis of the feature range. The machining process constraint range is the constraint area added based on the machining process, tool characteristics, and clamping method, which is the key to avoiding process errors. The functionally related feature range is the high-precision and high-reliability constraint area that is strongly related to the final use function of the workpiece and must be prioritized.

[0066] Typical examples of workpiece geometric entity range: - Basic shape: the length (X0-X50), width (Y0-Y30), and height (Z0-Z40) boundaries of a cuboid workpiece; - Internal features: the boundaries (X20-X30, Y10-Y20, Z0-Z20) of a φ10mm deep 20mm hole; - Complex features: the NURBS surface boundaries of curved workpieces, and the thickness boundaries of thin-walled structures (such as the two sides of a 2mm thin wall, Z10-Z12).

[0067] Typical examples of machining process constraints: - Machining surface allowance boundary: design dimension + machining allowance (e.g., design height 40mm, leave 0.5mm allowance, blank boundary Z0-Z40.5); - Machining surface protection boundary: actual dimensions of the machined surface (e.g., Z40.2-Z40.5 after roughing, the tool must not enter below Z40.2 during finishing); - Clamping area: spatial position of the fixture (e.g., vise clamping the Y0-Y10 area, the tool is prohibited from entering).

[0068] Typical examples of functionally related feature ranges: - Assembly reference surface range: such as the axial tolerance zone of the locating pin hole (φ10±0.01mm), the flatness constraint of the assembly surface (0.02mm / 100mm); - Key functional feature range: such as the cylindricity boundary of the bearing housing's inner hole, the involute boundary of the gear tooth surface.

[0069] The method for determining the feature range of a workpiece includes the following specific steps:

[0070] For parametric models (such as models designed in SolidWorks and UG): directly read the model's "feature parameters" (such as the diameter, depth, and center coordinates of the "cylindrical hole" feature, and the length, width, and depth of the "rectangular groove"), and automatically generate geometric boundaries (such as the cylindrical surface equation of the hole and the hexahedral boundary of the groove).

[0071] For non-parametric models (such as point cloud models obtained by scanning, B-rep models): analyze the model topology through the "face / edge / vertex (F / V / E) extraction algorithm", fit the point cloud into a surface (such as a NURBS surface), or generate a closed boundary through the connection relationship of edges (such as the vertex coordinate string of the polygon outline);

[0072] The radius and length of the tool will affect the actual motion path (such as a ball nose tool with a radius of 5mm, the tool center needs to be offset by 5mm when machining a plane to ensure the size of the machined surface), so the tool parameters (obtained from the "axis motion attribute parameter information") need to be integrated into the feature range: the range of the surface to be machined = the theoretical design boundary + the tool radius / length compensation value; Example: machining a φ10mm hole, the end mill radius is 4mm, the tool center path needs to be within the hole center ±(5-4)=±1mm range (i.e. X24-X26, Y14-Y16), to avoid the tool side wall exceeding the hole boundary;

[0073] According to the process of "rough machining → semi-finish machining → finish machining", set the allowance for each process and correct the range of the surface to be machined, example: the final size of the cuboid workpiece is X0-X50, leave 1mm allowance for rough machining, the blank size is X0-X52, the range to be machined during rough machining is X1-X51 (the tool needs to cover this range); leave 0.3mm allowance for semi-finish machining, the range to be machined is X0.3-X50.3;

[0074] Assemble the CAD model of the fixture (such as the vice, positioning pin) with the workpiece model, determine the space range occupied by the fixture (prohibit the tool from entering) through Boolean operation or collision detection, and include it in the "prohibited area" of the workpiece feature range;

[0075] Collect the actual coordinates of the key feature points of the workpiece (such as the shape vertex, hole center, reference surface), compare them with the theoretical coordinates, calculate the deviation value (such as X direction deviation 0.2mm, Z direction inclination 0.1mm), adjust the coordinates of the theoretical feature range according to the deviation value (such as the original hole center X25 is corrected to X25.2), generate the "actual workpiece feature range", and ensure that the subsequent collision checking and path planning fit the actual working condition.

[0076] In an optional embodiment, according to the morphological attribute parameter information and the axis motion attribute parameter information, the workpiece machining range is initially divided to obtain an initial segmentation result of the machining range and an initial trajectory planning result, including:

[0077] Segment the workpiece machining range until the preset iteration termination condition is reached to obtain an initial machining segmentation and an initial segmentation trajectory starting point;

[0078] Different reference machining paths are planned for the initial segmentation trajectory starting points that are within the motion range coverage area of the multi-axis machining equipment and have a distance from the machining origin less than a preset distance threshold.

[0079] The initial segment trajectory starting point of the planned reference machining path is planned a reference machining path different from the self reference machining path to the nearest un-planned reference machining path initial segment trajectory starting point in space position until all initial segment trajectory starting points are planned reference machining paths;

[0080] According to the reference machining path of the initial segment trajectory starting point, a different auxiliary machining path is planned for other machining points in the same initial machining segment.

[0081] It is necessary to segment the machining range of the entire workpiece, and the segmentation standard is based on the morphology and machining requirements of the workpiece. Then, the system iteratively optimizes according to some preset conditions (such as error threshold, time limit, etc.) until the preset termination condition (such as maximum number of iterations or error less than a certain threshold) is reached, thereby obtaining the preliminary machining segmentation result and the starting point of the trajectory; for example: assuming that a complex aviation component is being machined, there are multiple grooves and protruding parts on the workpiece; the system will first divide the machining task into multiple regions (such as the outer contour, grooves, internal holes, etc.), and generate preliminary trajectory planning for each region; then, the system will iteratively adjust the boundaries and paths of each segment based on these segments until the paths meet the accuracy requirements, ensuring that each segment can be machined smoothly; the system will plan different reference machining paths based on the initial segmentation trajectory starting point; the reference path is a main path that has been calculated and meets the machining requirements, while ensuring that these paths have sufficient distance from other paths to avoid conflicts; the planning of the path also ensures that the path points overlap with the motion range of the device, and the distance from the previous path point is less than a preset threshold, to ensure the coherence of the machining path; for example: assuming that multiple regions need to be planned paths in the machining task; the starting point of the initial segmentation trajectory is the starting position of a part of the machining process, and the system will first plan a reference path for this starting point to ensure that the path can cover the entire machining region and avoid conflicts with other paths; the planning of the path also takes into account the motion range of the machine tool, ensuring that the tool can move smoothly between these paths; when the starting point of the initial segmentation trajectory has been planned with a reference path, the system will find the nearest un-planned region to these paths in space and plan a new reference machining path for these regions until all the trajectories of the regions are planned; for example: when machining a gear, the initial path may plan the machining path of the outer contour, while the next path may be the gear shape machining path; the system will automatically calculate the nearest un-planned region to the existing path and plan a new path for this region until all the machining regions are processed; these paths are determined based on the shortest distance, the order of machining, and the motion range of the device, etc.; once the initial reference path planning is complete, the system will plan auxiliary machining paths for other machining points in the same segment based on the path; auxiliary paths are usually used for detail processing or some small range precision machining to ensure that the entire segment is machined and the accuracy meets the requirements; for example: for example, when machining a gear, after the initial path planning is complete, the system will generate auxiliary paths for each tooth shape part of the gear for fine cutting or grinding; these auxiliary paths may be used to remove excess material or perform detailed machining on certain areas, such as tooth shape fine tuning;The system plans a preliminary machining trajectory for each region and iteratively optimizes within each region until all segments meet the accuracy requirements; the machining origin (also known as the "workpiece coordinate system origin") is the "spatial reference zero point" of the entire machining process, which is an artificially defined core reference point in the preset machining coordinate system used to uniformly label "workpiece machining point coordinates", "tool movement coordinates", and "equipment movement range coordinates". All processing-related position parameters are calculated based on this reference point, which is the key to ensuring machining accuracy and avoiding equipment overtravel.

[0082] In an optional embodiment, the workpiece machining range is segmented until the preset iteration termination condition is reached to obtain the initial machining segment and the initial segment trajectory starting point, including:

[0083] The spatial coordinates of the workpiece machining range are initialized, and a number of machining points are randomly selected from the machining range as initial segment centers;

[0084] Based on the spatial distance between other machining points and the initial segment centers, the other machining points are assigned to the segment in which the initial segment center with the smallest spatial distance is located, obtaining a plurality of machining segments;

[0085] Based on the morphological attribute parameter information corresponding to all machining points within the machining segment, the machining segment is iteratively segmented until the segment centers no longer change or the preset iteration number is reached, and the segment centers are taken as the initial segment trajectory starting point of the initial machining segment.

[0086] It should be noted that the machining range of the workpiece is determined, and the spatial coordinates of all machining points in the workpiece range are initialized; then, the system randomly selects several machining points as initial "segment centers" from the machining points, and these center points will serve as the core of the preliminary segmentation; for example: assuming that a car part, such as an engine cover, needs to be machined; the system will first determine a spatial coordinate system according to all points on the surface of the cover (such as holes, convex parts, etc. on the cover) and initialize the coordinates of these points; then, the system will randomly select several points as initial segmentation centers, such as the center of a hole, a point on an edge, and a point on a convex part; next, the system will calculate the spatial distance between each machining point and all initial segmentation centers, and assign each machining point to the initial segmentation center closest to it; in this way, the machining range of the entire workpiece will be divided into multiple segments, and the machining points in each segment will have the smallest distance to the center of that segment; for example: continuing with the example of the engine cover, assuming that three initial segmentation centers are selected; the system will calculate the distance between each machining point (such as a convex part, a hole, or a point on an edge) and the three initial centers; for example, if a point is close to the center of a hole, it will be assigned to the segment where the hole is located; if another point is closer to a convex part, it will be assigned to the segment where the convex part is located; in this way, the entire machining area is divided into multiple sub-areas (each area represents a machining segment).

[0087] After the first round of segmentation is completed, the system will perform iterative optimization based on the morphological attributes (such as shape, size, angle, etc.) of all machining points in each segment; in each iteration, the system will recalculate the center of each segment and redivide the segments based on these new center points until the segmentation centers no longer change or the maximum number of iterations is reached; for example: assuming that the machining points in the first segment include a small hole and some flat areas, the system will recalculate the segmentation center based on the morphological information of these machining points (such as the diameter of the hole and the size of the flat areas); the new segmentation center may be slightly offset to better represent the machining features within the segment; if the segmentation centers do not change after multiple iterations or the maximum number of iterations is reached, the iteration will stop; when the center points of all segments are stable, these segmentation centers will become the starting points for machining path planning; the system can plan specific machining paths based on these initial segmentation trajectory starting points; for example: finally, assuming that in the machining of the engine cover, the system determines the center positions of each segment after iterative optimization; for example, the center of one segment is located at the center of a hole, and the center of another segment is located at the center of a convex part; these center points will serve as the starting points for subsequent path planning, and the system will plan precise machining trajectories based on these points.

[0088] In an optional embodiment, according to the rollback frequency, the newly added avoidance coordinates are determined before the collision coordinates, comprising:

[0089] determining whether the frequency of the tool's backtracking between adjacent path segments is greater than a preset first base number;

[0090] In response to the frequency of backtracking being greater than the preset first base number, offset coordinates that meet the axis motion constraints of the machine tool are traversed before reaching the collision coordinates as new avoidance coordinates, and the new avoidance coordinates are added before the collision coordinates to adjust the tool's motion path with the new avoidance coordinates.

[0091] In response to the frequency of backtracking not being greater than the preset first base number, no new avoidance coordinates are added, and the original machining path is maintained.

[0092] It should be noted that the frequency of backtracking of the cutting tool on adjacent path segments is recorded. The frequency of backtracking refers to the number of path adjustments that the tool needs to make during the machining process, such as when the tool deviates or the path is not ideal, it needs to backtrack and re-plan. The system sets a base number (for example, 5 times), and if the frequency of backtracking exceeds this base number, it indicates that the tool path needs to be adjusted more frequently, which may lead to a decrease in efficiency. For example, suppose a complex-shaped part is being machined. The tool backtracks 7 times between two adjacent path segments due to the complex shape or errors. The first base number is set to 5 times, so the frequency of backtracking (7 times) is greater than the preset base number (5 times), and the system will proceed to the next step to evaluate whether the path needs to be adjusted. When the frequency of backtracking is greater than the preset base number, the system checks whether it is possible to introduce new avoidance coordinates (i.e., path adjustment points) based on the axis motion constraints of the machine tool. The axis motion constraints of the machine tool refer to the movement limitations of the machine tool, such as the rotation range or load capacity of the machine. By traversing offset coordinates that meet these constraints, the system can determine which points can serve as new avoidance points, thereby adjusting the tool's path before the coordinates where a collision may occur, avoiding unnecessary backtracking. For example, suppose during the machining process, the tool's path encounters a complex hole region, causing frequent backtracking. At this time, the system calculates some offset coordinates (e.g., on the other side of the workpiece or slightly offset from the path) as new avoidance points, which meet the motion constraints of the machine tool. These points are inserted into the path to ensure that the tool passes through these new avoidance points before encountering the complex region, avoiding a collision. If the frequency of backtracking does not exceed the preset first base number, the system considers that the existing path is already efficient enough and does not need additional adjustments. Therefore, the system maintains the original path and continues to execute the existing machining path planning. For example, suppose the tool's frequency of backtracking between two path segments is only 3 times, which is lower than the preset base number of 5 times. At this time, the system considers that the machining path is already good enough and does not need to be adjusted. The tool will continue to machine along the original path.

[0093] In an optional embodiment, traversing offset coordinates that meet the axis motion constraints of the machine tool before reaching the collision coordinates as new avoidance coordinates includes:

[0094] obtaining a collision coordinate of the cutting tool motion, starting from the collision coordinate, performing backoff one by one, and after each backoff, performing collision checking on the cutting tool motion path and the workpiece feature range;

[0095] judging whether the machine group axis motion constraint corresponding to the backoff frequency coordinate meets the condition;

[0096] in response to the backoff frequency coordinate meeting the machine group axis motion constraint, confirming the backoff frequency coordinate as a new avoidance coordinate;

[0097] in response to the backoff frequency coordinate not meeting the machine group axis motion constraint, the cutting tool continues to perform backoff, and the machine group axis motion constraint corresponding to the backoff frequency coordinate is judged again until the new avoidance coordinate is confirmed.

[0098] It needs to be explained that the current motion path of the tool is obtained, and whether the tool collides is detected, especially when encountering complex areas or non-ideal paths; the collision coordinates refer to the position where the collision between the cutting tool and the workpiece occurs; the system analyzes the tool path and gradually retreats to the previous trajectory point to detect collisions to identify the problem area; for example: assuming that the tool collides during machining, the system records the collision coordinates (such as a protruding part on the workpiece); then, the system starts from the collision coordinates and gradually retreats to find the specific reason for the collision; at each retreat, the system will judge whether the retreat coordinates meet the machine set axis motion constraints (i.e. the movement limits of the machine tool); these limits include the working range, carrying capacity, speed, etc. of the machine tool; if the retreat coordinates exceed the limits of the machine tool, the tool cannot move to that point, which may cause unsafe or unstable machining; for example: assuming that during the retreat process, the system finds a potential avoidance coordinate; the system will check whether the coordinate is within the working range of the machine tool; if the coordinate exceeds the working range of the machine tool, the system will consider that this coordinate does not meet the machine set axis motion constraints, and the tool cannot continue to move along this path; if the retreat coordinates meet the machine set axis motion constraints, it is considered that this point can be used as a new avoidance point, and the system will adjust the tool path before the collision to avoid the collision through this new avoidance point; for example: assuming that after the retreat, the system determines a new coordinate as an avoidance point, and the point meets the movement constraints of the machine tool, the system will accept this point as a new path point; in the subsequent machining process, the tool will bypass the collision area and process along the new path; if the retreat coordinates do not meet the machine set axis motion constraints, the system will continue to retreat to find other possible avoidance coordinates; this process will continue until an avoidance coordinate that meets the machine constraints is found; for example: assuming that the system retreats to a coordinate point, but the point cannot meet the axis motion constraints of the machine tool (such as exceeding the working range of the machine tool); the system will continue to retreat to find the next possible avoidance point; this process will be repeated until an avoidance coordinate that meets the conditions is found.

[0099] In an optional embodiment, a new avoidance coordinate is added before the collision coordinate, including:

[0100] determining whether the machining interval before the cutting tool reaches the collision coordinate is greater than a preset interval standard;

[0101] in response to the machining interval being greater than the preset interval standard, the collision verification is continued;

[0102] in response to the machining interval being not greater than the preset interval standard, the collision coordinate is disabled, and the motion path parameters of the cutting tool are re-planned.

[0103] It needs to be noted that the distance between the tool and the workpiece will be monitored during the machining process, especially when approaching the coordinates where collision may occur; it compares the current machining clearance with the preset standard to determine whether it is greater than a set value; for example: assuming that during the machining process, the system detects that the tool is about to approach a collision area; it will calculate the distance between the tool and the collision point, and if this distance (machining clearance) is greater than the preset standard value (for example, 10 mm), the system will consider that there is no collision risk on this path and continue to perform collision checking; if the machining clearance is greater than the preset standard, it means that the tool still has a certain margin from the collision point, at which time the system can continue to check the path for collision to ensure that the tool will not collide along the current path; for example: assuming that in the above example, the machining clearance is greater than 10 mm, and the system considers that it does not need to adjust the path immediately; therefore, the system continues to perform collision checking to ensure that the tool path will not encounter other potential collision risks; if the machining clearance is less than or equal to the preset standard, it means that the tool is very close to the collision area and there is a high risk of collision; in this case, the system will disable the current collision coordinates and re-plan the tool movement path to avoid collision; for example: assuming that in the previous example, the machining clearance between the tool and the collision area is only 5 mm, which is less than the preset standard (10 mm); at this time, the system considers that there is a high risk of collision and cannot continue to machine according to the current path; therefore, the system disables this collision coordinate and adjusts the tool path to re-plan the cutting tool movement parameters to avoid the collision area.

[0104] The machining clearance refers to the trajectory interval between the collision point and the previous safe point. The collision coordinate is denoted as Pc, which represents the coordinate point where the tool collides with the feature range of the workpiece. The closest valid safe coordinate before the collision coordinate is usually the "no collision coordinate" confirmed by the rollback process (e.g., P1 obtained by rolling back once from Pc) and the trajectory point confirmed to have no collision in the initial trajectory planning (e.g., the previous preset point of Pc in the original path).

[0105] In an optional embodiment, the collision coordinate is disabled, and the movement path parameters of the cutting tool are re-planned, including:

[0106] Optimal trajectory planning is performed on the path between the coordinate after the rollback of the cutting tool and the machining start coordinate of the workpiece to obtain a first optimized trajectory, and optimal trajectory planning is performed on the path between the coordinate after the rollback of the cutting tool and the preset machining end coordinate of the workpiece to obtain a second optimized trajectory.

[0107] The trajectory before the coordinate after the rollback of the cutting tool is connected to the first and last coordinates of the first and second optimized trajectories, and the movement path parameters of the cutting tool are updated.

[0108] It should be noted that after the cutting tool retracts, the system will replan the path from the retraction point to the machining start point, ensuring that this path is optimal, i.e., avoiding unnecessary movement and ensuring that the tool does not collide with the workpiece. For example, assuming the cutting tool retracts from its original planned trajectory, and the retraction point is a certain distance (e.g., 20 mm) from the workpiece's machining start coordinates, the system will calculate the optimal path from this retraction point to the machining start coordinates, avoiding unnecessary movement or collision risks. In addition to the initial path after retraction, the system will also plan the path from the retraction coordinates to the machining end point. The purpose is to ensure that even after the tool retracts, the movement path to the machining end point is optimal, avoiding repetitive operations or unnecessary errors. For example, assuming the cutting tool... After the tool retracts, the original machining endpoint is 50 mm away from the retraction point. The system calculates the optimal path from the retraction point to the machining endpoint based on the current tool position, preventing the tool from re-entering a potential collision area. Finally, the system connects the trajectory before retraction with the two optimized trajectories (the initial optimized trajectory and the endpoint optimized trajectory) to form a complete and smooth path. Path optimization can prevent unnecessary pauses or deviations in the tool's movement. For example, suppose the cutting tool moves along a path before retraction, and this path reaches a potential collision area. The system calculates the optimized initial and endpoint trajectories and connects their beginnings and ends. In this way, the tool's movement path forms a smooth, collision-free optimized path.

[0109] Assume the workpiece's initial machining coordinates are S, the coordinates after retraction are P0, the workpiece's preset machining endpoint coordinates are E, the collision coordinates are Pc, and the trajectory before the retraction is denoted as... The first optimized trajectory is denoted as T1, and the second optimized trajectory is denoted as T2;

[0110] The trajectory before the rewind coordinates ( This refers to the original trajectory of the tool from the "workpiece machining start coordinate (S)" to the "return coordinate (P0)" before it reaches the collision coordinate (Pc). For example, if the original path is S→P1→P0→Pc→E (where Pc is the collision coordinate), then the trajectory before the "return coordinate" (P0) is... ")" refers to the path S→P1→P0;

[0111] Connection method: Connection with the first optimized trajectory (T1: S→P0): Same endpoint substitution. The "starting point (S)" and "ending point (P0)" of T1 completely overlap, both being "paths from S to P0," differing only in path shape (such as trajectory curve and empty travel length). Therefore, T1 is used to represent them. the "low efficiency section" or "overall", but the connection points remain unchanged S and P0, for example, is "S→P1→P2→P0" (empty stroke length), T1 is "S→P0" (straight line optimization path), the starting point of the replaced path is still S, the ending point is still P0, only the intermediate trajectory section is optimized, no new or changed connection points are added; the end point (P0) of T1 and the starting point (P0) of T2 are completely coincident—P0 is the only transition point of the "first optimized trajectory (T1)" and the "second optimized trajectory (T2)", is first optimized by T1 (the connection point S→P0 remains unchanged), then connected through the end point P0 of T1 and the starting point P0 of T2, indirectly realizing the continuous path of "S→P0→E", and finally forming the complete trajectory of "S→P0→E", but in this process, itself is only connected with S and P0, not directly connected with T2 or E.

[0112] In an optional embodiment, the updated motion path parameters are path-optimized according to the initial segmentation result and the initial trajectory planning result, including:

[0113] Projecting the sub-range in the workpiece machining range into the preset machining coordinate system according to the initial segmentation result and the initial trajectory planning result;

[0114] Randomly projecting the initialized particle trajectory points into the preset machining coordinate system where the sub-range is located;

[0115] Iteratively optimizing the machining trajectory for the machining range based on the positions of the particle trajectory points in the preset machining coordinate system and the positions of the sub-range in the preset machining coordinate system.

[0116] ​It should be noted that the machining range of the workpiece is usually divided into multiple sub-ranges (or sub-areas); first, according to the initial segmentation result and trajectory planning, the positions and ranges of these sub-ranges in the preset machining coordinate system are calculated; the so-called "projection" is actually the mapping of these areas into a unified coordinate system, which is convenient for subsequent path optimization; for example: suppose a large metal plate needs to be machined, the total machining range of the workpiece can be divided into multiple sub-areas (for example: left area, right area and center area); the initial segmentation and planned trajectory (such as path distribution, machining sequence, etc.) have been set; now the positions of these sub-areas in the preset machining coordinate system (such as the motion coordinate system of the robot) need to be mapped in order to accurately control the path later; the particle swarm optimization algorithm (PSO) searches for the optimal solution by randomly generating multiple "particles" in the initial trajectory; each particle represents a possible trajectory point (or path point); these particles will be projected into the coordinate system of the sub-range according to some random factors, that is, "initialize" the particle swarm, and give them preliminary machining path points; for example: suppose there are 5 sub-areas in the center area of the workpiece, and there can be multiple trajectory points in each sub-area; through particle swarm optimization, 10 particles (path points) are randomly projected in each sub-area; these particles represent possible trajectory points, which will explore the optimal path; the initial position of each particle is random, but they will gradually approach the better path according to the future optimization process; this process is the core part of particle swarm optimization; after the initial particle trajectory points are generated, the algorithm compares the positions of the particle swarm with the positions of the sub-ranges in the preset machining coordinate system, and uses certain evaluation functions (such as minimizing path deviation or collision risk) to calculate the fitness of each particle; then, through iteration, the trajectory of the particle is constantly adjusted so that the optimized path can meet the preset machining goals, such as accuracy requirements, minimum machining time, collision avoidance, etc.; for example: after initialization, each particle in the particle swarm represents a possible trajectory; the system calculates the position of each particle in the workpiece machining coordinate system and judges whether these positions are within the machining range, while evaluating their matching degree with the workpiece shape, collision risk, path smoothness, etc.; by constantly adjusting the position of the particle, the algorithm will gradually approach the optimal path, that is, the trajectory that avoids collision, has the shortest path and is the most efficient;

[0117] The essence of the particle trajectory point is the search particle in the optimization algorithm corresponding to the spatial coordinates in the preset machining coordinate system. Each particle trajectory point corresponds to a potential local machining path candidate scheme, and its coordinates are completely aligned with the "preset machining coordinate system", ensuring that it can be directly compared with the "workpiece sub-range coordinates" and "tool motion constraint coordinates" in position (such as judging whether it exceeds the machining range or is close to the collision area). A single particle trajectory point not only contains "its own spatial coordinates (such as X, Y, Z axis coordinates, and A, B, C axis coordinates for multi-axis machining)", but also implies "the motion parameters from this point to the next particle trajectory point" (such as feed speed and axis motion acceleration). Multiple consecutive particle trajectory points can be connected in series to form a "complete candidate machining path". The core attributes of the particle trajectory point include position attributes and motion attributes. The position attribute is the accurate coordinates of the particle trajectory point in the preset machining coordinate system (such as X=20mm, Y=15mm, Z=5mm, A=0°). The motion attribute is the "velocity vector" of the particle trajectory point (such as X direction velocity 5mm / s, Z direction velocity 2mm / s).

[0118] In an optional embodiment, the machining range is iteratively optimized based on the position of the particle trajectory point in the preset machining coordinate system and the position of the sub-range in the preset machining coordinate system, including:

[0119] In response to the position of the particle trajectory point not having a corresponding sub-range, the particle trajectory point is adjusted in position according to a preset step distance;

[0120] In response to the position of the particle trajectory point having a corresponding sub-range, the surrounding machining interval of the sub-range is traversed to determine the fitting probability of the machining trajectory;

[0121] In response to no fitting machining trajectory position, the particle trajectory point restores the corresponding sub-range to the initial projection position of the sub-range in the preset machining coordinate system.

[0122] It should be noted that at each iteration, if the position of the particle does not correspond to a sub-range (i.e., the particle is not within a certain pre-set machining area), the position of the particle needs to be adjusted so that it re-enters the effective machining area; this adjustment is made according to a pre-set step distance, which is a parameter for controlling the movement of the particle, ensuring that the particle is always within the machining range; for example: assuming that some particles are randomly initialized in the left area of a workpiece; if a particle moves outside the machining range (for example, beyond the left boundary of the workpiece), the position of the particle needs to be adjusted by the step distance so that it returns to the effective area; for example, a step distance of 0.5 units can be set, and the particle will be moved 0.5 units to a new position until it returns to the effective area; if the position of the particle falls within a certain effective sub-range, the next step is to calculate the fitness probability of the machining trajectory determined by the particle at that position; the fitness probability includes but is not limited to the position matching degree and the collision risk degree, the position matching degree refers to the "spatial distance deviation" of the particle trajectory point and the sub-range, and the collision risk degree refers to the "minimum safety distance" of the particle trajectory point and the workpiece feature range;

[0123] The calculation method of the position matching degree is as follows: calculate the Euclidean distance between the particle trajectory point coordinates (Xp, Yp, Zp) and the sub-range "to-be-machined region center coordinates" (Xc, Yc, Zc): D²=[(Xp-Xc)²+(Yp-Yc)²+(Zp-Zc)²]; if the particle is in the sub-range, the smaller D is, the closer to the to-be-machined core region, and when the position matching degree is higher than a pre-set position matching threshold, the corresponding candidate path cannot meet the machining requirements, i.e., it is determined as "unfit";

[0124] The calculation method of the collision risk degree is as follows: calculate the shortest distance from the particle trajectory point to the "workpiece feature range prohibited area" (such as a clamp, a machined surface, and a thin-walled boundary): S=min (the distance from the particle to each boundary of the prohibited area); if S<security threshold (such as tool radius+0.1mm), it is determined as "high collision risk"; a pre-set collision risk threshold needs to be set for the fitness probability, which is a "qualified standard" defined in advance according to the core requirements of the machining scene (such as precision, safety, and efficiency), and the particle trajectory point lower than the collision risk threshold cannot meet the machining requirements, i.e., it is determined as "unfit".

[0125] Embodiment two, please refer to Figure 2 The present application provides a technical solution: a multi-axis linkage numerical control machining path intelligent planning method, which is applicable to the above-mentioned multi-axis linkage numerical control machining path intelligent planning system, comprising:

[0126] S1, obtaining the morphological attribute parameter information of the machining workpiece and the shaft motion attribute parameter information of the multi-axis machining unit;

[0127] S2, according to the shape attribute parameter information and the axis motion attribute parameter information, the workpiece machining range is initially divided to obtain the initial segmentation result of the machining range and the initial trajectory planning result, wherein the initial trajectory planning result includes coordinate information of each trajectory segment;

[0128] S3, according to the initial trajectory planning result, the collision between the cutting tool motion path and the workpiece feature range in the machining process is checked;

[0129] S4, in response to the existence of the collision coordinate, the collision checking is performed to the previous coordinate of the collision coordinate, the frequency of the cutting tool motion is recorded, the newly added avoidance coordinate is determined before the collision coordinate according to the frequency, and the motion path parameter of the cutting tool is updated;

[0130] S5, according to the initial segmentation result and the initial trajectory planning result, the updated motion path parameter is path optimized.

[0131] The embodiments of the application are described in detail above in combination with the drawings, but the application is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A multi-axis NC machining path intelligent planning system, characterized by, The method comprises the following steps: a data acquisition unit is configured to acquire form attribute parameter information of a workpiece and shaft motion attribute parameter information of a multi-axis machining unit; an initial division unit is configured to divide a machining range of the workpiece according to the form attribute parameter information and the shaft motion attribute parameter information, to obtain initial segmentation results and initial trajectory planning results of the machining range, wherein the initial trajectory planning results comprise coordinate information of each trajectory segment; a collision checking unit is configured to check a collision between a tool path and a feature range of the workpiece during machining according to the initial trajectory planning results; a collision avoidance unit is configured to, in response to a collision coordinate being found in the collision checking, perform the collision checking from a previous coordinate of the collision coordinate, record a frequency of tool path rollback, determine a new avoidance coordinate before the collision coordinate according to the frequency of tool path rollback, and update a tool path parameter; a path optimization unit is configured to optimize the updated tool path parameter according to the initial segmentation results and the initial trajectory planning results.

2. The multi-axis NC machining path intelligent planning system according to claim 1, wherein, The initial segmentation and the initial trajectory planning results are obtained by dividing the machining range of the workpiece according to the form attribute parameter information and the shaft motion attribute parameter information, comprising: segmenting the machining range of the workpiece until a preset iteration termination condition is met, to obtain initial machining segments and initial segment trajectory starting points; planning different reference machining paths for the initial segment trajectory starting points that are within a movement range coverage area of the multi-axis machining device and have a distance from a machining origin that is less than a preset distance threshold; planning a reference machining path that is different from the reference machining path of the initial segment trajectory starting point for the initial segment trajectory starting point that is closest in space to the initial segment trajectory starting point that has not yet been planned a reference machining path, until all initial segment trajectory starting points have been planned a reference machining path; planning different auxiliary machining paths for other machining points in the same initial machining segment according to the reference machining paths of the initial segment trajectory starting points.

3. The multi-axis NC machining path intelligent planning system according to claim 2, wherein, The initial machining segments and the initial segment trajectory starting points are obtained by segmenting the machining range of the workpiece until a preset iteration termination condition is met, comprising: initializing spatial coordinates of the machining range of the workpiece, and randomly selecting a plurality of machining points as initial segment centers from the machining range; allocating other machining points to the segment in which the initial segment center with the smallest spatial distance is located, to obtain a plurality of machining segments; iteratively segmenting the form attribute parameter information of all machining points in the machining segments until the segment centers of the machining segments no longer change or a preset iteration number is reached, and taking the segment centers as initial segment trajectory starting points of the initial machining segments.

4. The multi-axis NC machining path intelligent planning system according to claim 3, wherein, The new avoidance coordinate is determined before the collision coordinate according to the frequency of tool path rollback, comprising: determining whether the frequency of tool path rollback of the cutting tool in adjacent trajectory segments is greater than a preset first base number; In response to the backtracking frequency being greater than the preset first base, offset coordinates meeting the machine group axis motion constraint are traversed before the collision coordinates are reached, as the newly added avoidance coordinates, and the newly added avoidance coordinates are added before the collision coordinates, so that the cutting tool adjusts the motion path with the newly added avoidance coordinates. In response to the backtracking frequency not being greater than the preset first base, the newly added avoidance coordinates are not increased, and the original machining path is maintained.

5. The multi-axis NC machining path intelligent planning system according to claim 4, wherein, Traversing offset coordinates meeting the machine group axis motion constraint before the collision coordinates are reached, as the newly added avoidance coordinates, includes: Obtaining collision coordinates of the cutting tool motion, taking the collision coordinates as a starting point, and performing backtracking one by one, and after each backtracking, performing collision checking on the cutting tool motion path and the workpiece feature range; Judging whether the machine group axis motion constraint of the backtracking frequency corresponding coordinates is satisfied; In response to the backtracking frequency corresponding coordinates satisfying the machine group axis motion constraint, the backtracking frequency corresponding coordinates are confirmed as the newly added avoidance coordinates; In response to the backtracking frequency corresponding coordinates not satisfying the machine group axis motion constraint, the cutting tool continues to backtrack, and the machine group axis motion constraint of the backtracking frequency corresponding coordinates is judged again until the newly added avoidance coordinates are confirmed.

6. The multi-axis NC machining path intelligent planning system according to claim 5, wherein, Adding newly added avoidance coordinates before the collision coordinates, includes: Judging whether the machining distance of the cutting tool before reaching the collision coordinates is greater than a preset distance standard; In response to the machining distance being greater than the preset distance standard, the collision checking is continued; In response to the machining distance not being greater than the preset distance standard, the collision coordinates are disabled, and the motion path parameters of the cutting tool are re-planned.

7. The multi-axis NC machining path intelligent planning system according to claim 6, wherein, Disabling the collision coordinates and re-planning the motion path parameters of the cutting tool, includes: Optimal trajectory planning processing is performed on the path between the coordinates of the cutting tool after backtracking and the workpiece machining starting coordinates to obtain a first optimized trajectory, and optimal trajectory planning processing is performed on the path between the coordinates of the cutting tool after backtracking and the workpiece preset machining end point coordinates to obtain a second optimized trajectory; The trajectory before the coordinates of the cutting tool after backtracking is connected with the first and second optimized trajectories corresponding to the first and second optimized trajectories, and the motion path parameters of the cutting tool are updated.

8. The multi-axis NC machining path intelligent planning system according to claim 7, wherein, Path optimization of the updated motion path parameters according to the initial segmentation result and the initial trajectory planning result, includes: Projecting the sub-ranges in the workpiece machining range into a preset machining coordinate system according to the initial segmentation result and the initial trajectory planning result; Randomly projecting the initialized particle trajectory points into the preset machining coordinate system in which the sub-ranges are located; Iterative optimization of the machining trajectory for the machining range based on the positions of the particle trajectory points in the preset machining coordinate system and the positions of the sub-ranges in the preset machining coordinate system.

9. The multi-axis NC machining path intelligent planning system of claim 8, wherein, Iterative optimization of the machining trajectory for the machining range based on the positions of the particle trajectory points in the preset machining coordinate system and the positions of the sub-ranges in the preset machining coordinate system, includes: In response to the particle trajectory point being located in a position without a corresponding sub-range, adjusting the position of the particle trajectory point according to a preset step distance; In response to the corresponding sub-range corresponding to the position of the particle trajectory point, the periphery processing interval of the sub-range is traversed to determine the fitting probability of the processing trajectory; In response to no fitting processing trajectory position, the particle trajectory point restores the corresponding sub-range to the initial projection position of the sub-range in the preset processing coordinate system.

10. A multi-axis linkage numerical control machining path intelligent planning method, which is suitable for the multi-axis linkage numerical control machining path intelligent planning system of any one of claims 1-9, characterized in that, Comprise: Obtain the morphological attribute parameter information of the processing workpiece and the shaft motion attribute parameter information of the multi-axis processing unit; According to the morphological attribute parameter information and the shaft motion attribute parameter information, the workpiece processing range is initially divided to obtain the initial segmentation result of the processing range and the initial trajectory planning result, wherein the initial trajectory planning result includes the coordinate information of each trajectory segment; According to the initial trajectory planning result, the collision between the cutting tool motion path and the workpiece feature range during the processing is checked; In response to the existence of the collision coordinate, the previous coordinate of the collision coordinate is rolled back to perform the collision check, the rollback frequency of the cutting tool motion is recorded, the newly added avoidance coordinate is determined before the collision coordinate according to the rollback frequency, and the motion path parameter of the cutting tool is updated; According to the initial segmentation result and the initial trajectory planning result, the updated motion path parameter is path optimized.

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