A four-spindle, five-channel, five-linkage embedded CNC machine tool

Abstract

This invention discloses a four-spindle, five-channel, five-linkage embedded CNC machine tool, comprising a five-channel linkage CNC system, a bed, a crossbeam, a spindle holder, a slide plate, a worktable, a fourth and fifth axis, a tool magazine, a spare tool magazine, a spindle, a linear scale, and a tool setter. This invention employs a four-spindle, five-channel linkage structure, where each of the four spindles can be controlled by a separate channel. The fifth channel is dedicated to rapid tool change control, enabling tool changing within 4 seconds and achieving five-axis linkage machining. Simultaneously, the four spindles can process in parallel without stopping for adjustments to a single spindle. Combined with a high-capacity tool magazine, it enables the complete machining of complex and precision parts in a single setup.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a four-spindle, five-channel, five-linkage embedded CNC machine tool. Background Technology

[0002] With the increasing demands for processing efficiency and precision in high-end manufacturing, multi-spindle multi-channel CNC machine tool technology has developed rapidly. The core advantages of multi-spindle multi-channel CNC lie in realizing multi-task parallel machining, complex process integration, and high-precision linkage control. It is now widely used in high-end fields such as aerospace, automobile manufacturing, and precision medical devices.

[0003] Existing dual-channel, dual-spindle machining center technology primarily achieves efficient machining of large and complex parts through independent control of the two channels combined with parallel or collaborative operation of the two spindles. For example, a gantry machining center employing a dual-gantry, dual-spindle structure, through a dual five-axis linkage configuration, can complete the hexahedral machining of large integrated die-cast parts for new energy vehicles in a single setup; a dual-spindle vertical machining center achieves seamless "one-in, one-out" process connection through dual worktables, effectively improving the machining efficiency of small and medium-sized precision parts. However, current dual-channel, dual-spindle CNC machine tools have the following shortcomings: 1) The contradiction between processing efficiency and floor space: Although existing dual-spindle equipment has improved efficiency compared to single-spindle equipment, when dealing with the processing of complex and precision parts, due to the limited tool magazine capacity (usually only able to store a small number of tools), the multi-process processing of complex parts still requires multiple machine stops to change tools or transfer workpieces, making it impossible to achieve true one-time complete processing. In addition, the equipment occupies a large area and has low space utilization. 2) Poor environmental adaptability: Existing equipment mostly uses cast iron bed, which has strict requirements for environmental temperature and humidity. It requires a constant temperature and humidity working environment to ensure processing accuracy, which increases the operating cost of the equipment and the difficulty of environmental control. 3) Lack of online measurement and automatic compensation capabilities: Existing equipment generally lacks a high-precision online measurement system, which cannot detect tool status and workpiece size in real time, and cannot automatically calculate tool compensation values ​​and make timely compensations, resulting in uncertain processing stability and a high scrap rate; 4) Limitations of the transmission mechanism: Although some equipment driven by linear motors is faster, it has insufficient rigidity and is not as stable as traditional lead screw transmission, which affects the ability to perform heavy cutting operations. 5) Difficulty in controlling the precision of multiple spindles: In the existing technology, multiple spindles usually adopt a unified compensation strategy, which cannot independently compensate for the position, angle and tool for the individual differences of each spindle (such as manufacturing and assembly deviations, temperature changes, wear, etc.), making it difficult to guarantee the consistency of precision when multiple spindles are processed in parallel. Summary of the Invention

[0004] The purpose of this invention is to provide a four-spindle, five-channel, five-linkage embedded CNC machine tool. It adopts a four-spindle, five-channel linkage structure, in which the four spindles can be controlled by four independent channels. The fifth channel is dedicated to rapid tool change control, enabling tool-to-tool change to be completed within 4 seconds, thus achieving five-axis linkage machining. At the same time, the four spindles can process in parallel without stopping the machine due to the adjustment of a single spindle. With a high-capacity tool magazine, it can realize the full-process machining of complex and precision parts in a single clamping.

[0005] To achieve the above objectives, the following technical solution is adopted: A four-spindle, five-channel, five-linkage embedded CNC machine tool includes a five-channel linkage CNC system, a bed, a crossbeam, a spindle holder, a slide plate, a worktable, a fourth and fifth axis, a tool magazine, a spare tool magazine, a spindle, a linear scale, and a tool setter; The crossbeam is connected to the bed; the slide plate is connected to the crossbeam via linear guides and reciprocates along the X-axis via ball screw transmission; the spindle holder is connected to the slide plate via linear guides and reciprocates along the Z-axis via ball screw transmission; the spindle is directly connected to the spindle holder; the worktable acts on the bed via linear guides and moves independently along the Y-axis via ball screw transmission; the fourth and fifth axes are fixed on the worktable and independently control the movement of the B and C axes to achieve five-axis five-linkage; The five-channel linkage CNC system is used to control channels I, II, III, and IV to achieve their respective X-axis, Y-axis, Z-axis, B-axis, and C-axis linkage machining, and to control channel V to drive the tool magazine and spare tool magazine to complete the tool changing action with the spindle. The grating ruler is used for full closed-loop position control of each axis, and the tool setter is used to realize independent tool setting, detection and automatic tool compensation of multiple spindles.

[0006] Furthermore, the spindle consists of four spindles to form a four-spindle structure; each Z-axis is precisely driven by an independent servo motor in conjunction with a coupling, bearing, and precision ball screw to achieve independent control and compensation of each spindle in the Z-axis direction; the V-channel uses an independent servo motor in conjunction with a coupling and precision ball screw to drive the tool magazine directly below any spindle to complete the tool change action.

[0007] Furthermore, the tool magazine includes a tool head, a rotating component, and a transmission component; the spare tool magazine includes a tray and a robotic arm, and the robotic arm is servo-controlled to perform three degrees of freedom of tool grasping actions; the tool magazine and spare tool magazine use the system's pre-selection tool function to pre-select tools to reduce the impact of tool magazine movement on the entire machine; the tool setter is mounted on a specific bracket, which is set on the machine tool's worktable. When the spindle drives the tool to quickly sweep laterally across the laser beam of the tool setter, the measurement data is transmitted to the CNC system through an interface, so that the CNC system can automatically calculate and update the corresponding tool compensation value.

[0008] Furthermore, the machine tool is equipped with a control strategy for spindle collision prevention. Through position detection and safety distance constraints, the total displacement of the X-axis travel of two adjacent spindles moving in opposite directions is limited to less than the mechanical distance between the two spindles, thereby avoiding collisions.

[0009] Furthermore, the machine tool has a tool holder air-blowing cleaning system, which is an independent branch, and the air-blowing action is performed in parallel with the tool changing mechanical action to clean the tool holder positioning surface without increasing the tool changing auxiliary time; the machine tool also has a tool holder water-flushing cleaning system, which is an independent closed-loop system, including a high-pressure liquid supply unit, a directional nozzle, a liquid control valve and a liquid return device, so that impurities are returned and used to remove stubborn adhering impurities, thereby reducing machining accuracy deviation and the risk of tool changing jamming.

[0010] Furthermore, the five-channel linkage CNC system includes a PLC, and safety interlocking is achieved through PLC hard logic and timing binding, so that the actions and states of the spindle, tool magazine, spare tool magazine and X, Y and Z feed axes form a relationship of mutual constraint and mutual verification; the five-channel linkage CNC system achieves microsecond-level time synchronization through EtherCAT bus DC synchronization technology and performs multi-axis linkage control.

[0011] Furthermore, the five-channel linkage CNC system adopts a 4+1 channel architecture, including four machining channels and one tool changing channel. It achieves seamless connection between machining and tool changing through multi-task scheduling, hardware-level synchronization, and intelligent algorithm collaboration. The five-channel linkage CNC system sets up a dynamic priority adjustment mechanism between channels and establishes a closed-loop process of real-time detection—dynamic evaluation—priority response—fair recovery. This is used to intelligently allocate resources, avoid conflicts, and optimize the overall cycle time when multiple tasks are concurrent. The dynamic priority adjustment mechanism adopts a dynamic preemption mechanism based on weighted scoring. The priority calculation includes urgency × 0.5 + security level × 0.3 + waiting time × 0.2. An aging coefficient is set to increase the scheduling priority of tasks whose waiting exceeds the threshold. The scheduler refreshes the priority queue every 10ms and triggers resource release (i.e., rescheduling) when resources are released.

[0012] Furthermore, the five-channel linkage CNC system employs a strategy combining weighted fair queue (WFQ) and aging mechanism when resource conflicts occur between channels to prevent low-priority tasks from being unexecuted for extended periods. The five-channel linkage CNC system also utilizes a globally optimal S-shaped / trapezoidal acceleration / deceleration planning engine and NURBS interpolation to achieve stable operation under multi-axis linkage trajectories.

[0013] Furthermore, the five-channel linkage CNC system achieves safety interlocking through PLC hard logic combined with timing binding and dynamic envelope detection, and the interlocking includes at least: the tool changing mechanism is prohibited from moving when the spindle is not raised to the safe tool changing height; the spindle rotation action is forcibly locked when the spindle is in the tool release state; and the spindle tool release / clamping action is locked when the spindle has not stopped rotating.

[0014] Furthermore, the five-channel linkage CNC system acquires the axis position, motion status, and resource requests of each channel at a 1ms cycle via the EtherCAT bus. When it detects that two or more channels are requesting to share resources, it enters a resource contention state. Combining position feedback and task status, it records the request time, task type, and priority, and triggers a conflict response process. The five-channel linkage CNC system uses parallel timing logic for the media actions of air blowing, water flushing, and cutting fluid, and executes them in parallel with the tool changing mechanical actions. The cleaning timing is defined through Lua / Python scripts or macro programs, and the timing nesting is implemented by PLC timers.

[0015] By adopting the above solution, the beneficial effects of the present invention are: 1) It adopts a four-spindle five-channel linkage structure. The four spindles can be controlled by four independent channels. The fifth channel is dedicated to rapid tool change control, which can complete the tool-to-tool change action in a short time and realize five-axis linkage machining action, resulting in high work efficiency. At the same time, the four spindles can process in parallel without stopping the machine due to the adjustment of a single spindle. With the high-capacity tool magazine, it can realize the full-process machining of complex and precision parts in one clamping. 2) Through the integrated bed and gantry design, as well as the integrated transmission module layout, this invention can achieve parallel processing of four spindles while effectively reducing the overall footprint of the equipment, improving the space utilization of the factory, and creating more production layout value for customers. 3) Each feed axis is equipped with a high-precision grating ruler to achieve closed-loop control of servo axis position, resulting in high positioning accuracy. Combined with the high-precision interpolation algorithm of five-axis linkage, it enables high-precision machining of precision parts. At the same time, each of the four spindles acts independently in the four Z-axis directions, and can independently adjust the position, angle, and tool compensation according to its own error conditions. This accurately offsets the individual errors of each spindle (such as manufacturing and assembly deviations, temperature changes, wear, etc.), avoids the impact of a single spindle error on the overall machining quality, and ensures the dimensional consistency of multi-spindle parallel machining. 4) The four spindles are equipped with four sets of laser tool setter measurement systems, which can detect tool parameters in real time and automatically complete tool compensation calibration. The detected actual tool parameters are compared with the preset reference values, the deviation is automatically calculated and written into the system tool compensation register, realizing one-click calibration of tool length compensation and radius compensation without manual input. The time for a single tool setting is reduced from several minutes to several seconds. 5) It has reserved an automation interface, which can be seamlessly connected to automated equipment such as robotic arms and automatic loading and unloading systems, supporting the configuration of stand-alone automation and unmanned workshops, and ultimately realizing the precise control of AI + machine tools. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the entire invention; Figure 2 This is a schematic diagram of the bed structure of the present invention; Figure 3 This is a schematic diagram of the beam structure of the present invention; Figure 4 This is a schematic diagram of the spindle clamp structure of the present invention; Figure 5 This is a schematic diagram of the sliding plate structure of the present invention; Figure 6 This is a schematic diagram of the workbench structure of the present invention; Figure 7 This is a schematic diagram of the fourth and fifth axis structure of the present invention; Figure 8 This is a schematic diagram of the tool magazine structure of the present invention; Figure 9 This is a schematic diagram of the tool magazine structure of the present invention; Figure 10 This is a schematic diagram of the spindle structure of the present invention; Figure 11 This is a schematic diagram of the grating ruler structure of the present invention; Figure 12 This is a schematic diagram of the tool setting device structure of the present invention; Figure 13 This is a second-view overall structural diagram of the present invention; Figure 14 This is a third-view overall structural diagram of the present invention; Figure 15 This is an overall structural diagram of the invention from a fourth perspective; Figure 16 This is an overall structural diagram from the fifth perspective of the present invention; Figure 17 This is an overall structural diagram of the main shaft of the present invention; Figure 18 This is a second-view overall structural diagram of the main axis of the present invention; Figure 19 This is a structural diagram of the Z-axis of the present invention; Figure 20 This is an exploded view of the main axis of the present invention; Figure 21 This is a structural diagram of the X-axis of the present invention; Figure 22 This is the structure of the Vth channel of the present invention. Figure 1 ; Figure 23 This is the structure of the Vth channel of the present invention. Figure 2 ; Figure 24 This is an overall structural diagram from the sixth perspective of the present invention; Figure 25 This is a structural diagram of the overall omitted parts of the present invention; Figure 26 This invention relates to the structure of the tool magazine and spare tool magazine. Figure 1 ; Figure 27 This is a structural diagram of the tool magazine of the present invention; Figure 28 This is a structural diagram of the tool magazine and spindle of the present invention; Figure 29 This invention relates to the structure of the tool magazine and spare tool magazine. Figure 2 ; Figure 30 This is an overall structural diagram from the seventh perspective of the present invention; Figure 31 This is an overall structural diagram from the eighth perspective of the present invention; Figure 32 This is a comparison diagram of the present invention and existing machine tools; Figure 33 This is an overall structural diagram from the ninth perspective of the present invention; Figure 34 yes Figure 33 Construction diagram with some structural elements omitted; Figure 35 This is a schematic diagram of the five channels of the present invention; Figure 36 This is an overall structural diagram from the tenth perspective of the present invention; Figure 37 This invention relates to the structure of the tool magazine and spare tool magazine. Figure 3 ; Figure 38 This is an overall structural diagram from the eleventh perspective of the present invention; Figure 39 This is an overall structural diagram from the twelfth perspective of the present invention; Figure 40 This is the overall structural diagram from the thirteenth perspective of the present invention. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0018] Reference Figures 1 to 40 As shown, the present invention provides a four-spindle, five-channel, five-linkage embedded CNC machine tool. In one embodiment, it includes a five-channel linkage CNC system, a bed, a crossbeam, a spindle holder, a slide plate, a worktable, a fourth and fifth axis, a tool magazine, a spare tool magazine, a spindle, a grating ruler, and a tool setter. The crossbeam is connected to the bed; the slide plate is connected to the crossbeam via linear guides and reciprocates along the X-axis via ball screw transmission; the spindle holder is connected to the slide plate via linear guides and reciprocates along the Z-axis via ball screw transmission; the spindle is directly connected to the spindle holder; the worktable acts on the bed via linear guides and moves independently along the Y-axis via ball screw transmission; the fourth and fifth axes are fixed on the worktable and independently control the movement of the B and C axes to achieve five-axis five-linkage; The five-channel linkage CNC system is used to control channels I, II, III, and IV to achieve their respective X-axis, Y-axis, Z-axis, B-axis, and C-axis linkage machining, and to control channel V to drive the tool magazine and spare tool magazine to complete the tool changing action with the spindle. The grating ruler is used for full closed-loop position control of each axis, and the tool setter is used to realize independent tool setting, detection and automatic tool compensation of multiple spindles.

[0019] The system comprises four spindles forming a four-spindle structure. Each Z-axis is precisely driven by an independent servo motor, coupling, bearings, and precision ball screws, enabling independent control and compensation of each spindle in the Z-axis direction. The V-channel uses an independent servo motor, coupling, and precision ball screws for precision transmission, driving the tool magazine directly below any spindle to complete the tool change. The tool magazine includes a tool disc, rotating components, and transmission components. The spare tool magazine includes a tray and a robotic arm, with the robotic arm servo-controlled for three degrees of freedom in tool grasping. The tool magazine and spare tool magazine utilize a pre-selection tool function to pre-select tools, minimizing the impact of tool magazine movement on the entire machine. The tool setting device is mounted on a specific bracket set on the machine tool's worktable. When the spindle drives the tool to quickly sweep laterally across the tool setting area... When the laser beam of the instrument is applied, the measurement data is transmitted to the CNC system via an interface, so that the CNC system can automatically calculate and update the corresponding tool compensation value. The machine tool is equipped with a control strategy for spindle anti-collision. Through position detection and safety distance constraints, the total displacement of the X-axis travel of two adjacent spindles is limited to be less than the mechanical distance between the two spindles, thereby avoiding collisions. The machine tool has a tool holder air-blowing cleaning system. The air-blowing cleaning system is an independent branch, and the air-blowing action is executed in parallel with the tool changing mechanical action to clean the tool holder positioning surface without increasing the tool changing auxiliary time. The machine tool also has a tool holder water-flushing cleaning system. The water-flushing cleaning system is an independent closed-loop system, including a high-pressure liquid supply unit, a directional nozzle, a liquid control valve, and a liquid return device, which allows impurities to flow back and is used to remove stubborn adhering impurities, thereby reducing machining accuracy deviations and the risk of tool changing jamming.

[0020] This invention utilizes a self-developed and designed four-spindle independent compensation technology, a five-channel linkage system, and a five-axis linkage dual high-end control system. All axes are equipped with high-precision grating rulers to achieve fully closed-loop position control. It provides micron-level position feedback for multi-axis interpolation and multi-channel collaboration, forming a dual precision guarantee to ensure consistent machining across all spindles. It features a standard 196-tool-position high-capacity tool magazine, providing one-stop storage for a vast number of tools. Combined with a fully automatic high-precision tool setter, it enables independent tool setting for multiple spindles, micron-level detection, and automatic tool compensation. From motion control, position detection, spindle compensation to tool management, it constructs a complete high-precision and efficient machining system. Complex and irregularly shaped parts can be machined from roughing to finishing in a single setup, combining machining accuracy, efficiency, and flexibility.

[0021] The basic structure of this invention will be described in detail below, such as... Figure 1 The diagram shows the construction of the four-spindle, five-channel, five-axis linkage machine tool of the present invention. The machine tool has a gantry structure, and the main component is part 1, the bed (…). Figure 2 Part 2 crossbeam ( Figure 3 Part 3: Spindle Clamp Figure 4 Part 4 Sliding plate ( Figure 5 Part 5 workbench ( Figure 6 Part 6, fourth and fifth axis ( Figure 7 Part 7 Tool Magazine ( Figure 8 Part 8 Tool magazine ( Figure 9 Part 9 spindle ( Figure 10 Part 10: grating ruler ( Figure 11 Part 11 Tool Setter Figure 12 The machine bed is the lowest part of the entire machine. It is placed on the ground or a prepared foundation via nine adjusting bolts. The crossbeam is connected to the machine bed by 15 M24 bolts. Positioning and limiting are achieved through a reference and pressure block on one side, providing basic support for the entire machine, connecting functional components, and facilitating chip removal. Part 2 is bolted to Part 1, and Part 4 is connected to Part 2 via a linear guide, achieving reciprocating motion in the X-axis direction via ball screw transmission. Part 3 is connected to the slide plate via a linear guide, achieving reciprocating motion in the Z-axis direction via ball screw transmission. Part 3 has a cylindrical structure, minimizing its weight while ensuring connection rigidity and ensuring machining accuracy. Part 9 is directly connected to Part 3, providing high-speed operation. Part 5 acts on the integrated machine bed via a linear guide, achieving independent Y-axis movement via ball screw transmission. The fourth and fifth axes (BC axes) are fixed on the worktable, independently controlling the movement of axes B and C to achieve a five-axis, five-linkage machining effect. Part 7 is connected to Part 1. Part 7 mainly works with Part 9 to complete the tool changing action. Part 8 uses the system's pre-selection tool function to call up the tools in the tool magazine in advance, reducing the impact of the tool magazine movement on the whole machine.

[0022] Part 9 is a general term for the spindles of this invention. Since this invention is a four-channel design containing four spindles, for ease of description, 9.1, 9.2, 9.3, and 9.4 refer to one of the spindles used to illustrate this invention. The main parameters are as follows:

[0023] Table 1 Parameter Table This invention comprises 31 shaft systems: 4X+4Y+4Z+4B+4C+4V+4R+1U+1V+1W, where 4X refers to shafts ⑨ and ⑩. (Figures 13 and 14) Connects with part 4 to transmit left and right directional movement; 4Y refers to the shaft. (Figure 14) Part 5 connects and transmits forward and backward movement; 4Z refers to the shaft. (Figure 14) Part 3 connects and transmits vertical movement; 4B refers to shafts ②④⑥⑧ (Figure 13), part 6 rotates around the Y direction, 4C refers to ①③⑤⑦ (Figure 13), part 6 rotates around the Z direction; 4V refers to shaft (Figure 15) Controls the forward and backward movement of part 7; 4R refers to the shaft. (Figure 15), control the rotational movement of part 7; 1U refers to the shaft. (Figure 15) Controls the left and right movement of part 8; 1V refers to the shaft. (Figure 15) controls the forward and backward movement of part 8; 1W refers to the shaft. (Figure 15) Controls the up and down movement of part 8; the design adopts an integrated bed and crossbeam, and controls high-precision, high-speed and high-stability operation through servo motors. The five axes X, Y, Z, B, and C are an independent channel, of which four channels (I, II, III, IV) realize four sets of independent five-axis linkage (Figure 16). It can process complex and high-precision structural parts and has five major characteristics in terms of mechanical properties, which will be described one by one.

[0024] I. Four-spindle independent compensation structure The four spindles of this invention act independently in the four Z-axis directions, and can independently compensate and adjust their position, angle, and cutting tools according to their own error conditions, thereby offsetting the machining errors caused by manufacturing and assembly deviations, long-term wear, temperature changes and other factors.

[0025] 1. Implementation method Mechanical structure adaptation: In mechanical design, an integrated gantry structure is adopted, such as... Figure 3 Parts 4 (4.1, 4.2, 4.3, 4.4) act on part 2 through their respective independent transmission mechanisms, and parts 3 (3.1, 3.2, 3.3, 3.4) act on parts 4 (4.1, 4.2, 4.3, 4.4) respectively. Figure 17 Parts 9 (9.1, 9.2, 9.3, 9.4) act on parts 3 (3.1, 3.2, 3.3, 3.4) respectively. Figure 18 ).

[0026] Each Z-axis is precision-driven via an independent 17.1.3 (servo motor) + 17.1.1 (coupling) + 17.1.2 (bearing) + 17.1 (precision ball screw) system (Figure 19). The four servo motors can independently control the four axis systems. The vertical movement of the parts, positions 9.1, 9.2, 9.3, and 9.4, affects the height (Z-axis up and down) accordingly. Different control processes can ensure that parts 9.1, 9.2, 9.3, and 9.4 are at different height positions (Figure 20), providing a mechanical basis for independent compensation. The parallel four-spindle machine tool can operate in the X-axis direction (⑨⑩). Each spindle is independently adjusted and compensated for sliding, structurally preventing collisions between spindles while correcting positional deviations and ensuring dimensional accuracy; the movable channel I (①②) is controlled by the system. ), Channel II (③④) ), Channel III (⑤⑥⑩) ), Channel IV (⑦⑧⑨) Simultaneously, the machine tool will employ a high-precision measurement system to collect real-time operating data of each spindle. With axis The mechanical spacing between them is 610mm, and the shaft controlled by shaft 10 is also mentioned. With axis Controlled axis Each axis moves independently, traveling a maximum of 215mm towards the other (half of the X-axis travel), totaling 430mm. This is less than the mechanical clearance, a safe distance that will prevent collisions; axis ⑨ controls the axes. Axis controlled by axis 10 (That is, parts 9.3 and 9.4) each have independent mechanical anti-collision structures, and the system controls the safe distance between them to ensure that parts 9.3 and 9.4 will not collide. Similarly, parts 9.1 and 9.2 will not collide either. Figure 21 ).

[0027] 2. Core Advantages a. Improve machining accuracy: It can accurately offset the individual errors of each spindle, avoiding the impact of a single spindle error on the overall machining quality. In aerospace component machining, this type of compensation technology can help improve the accuracy of part contours.

[0028] b. Improve production efficiency: The four spindles can process simultaneously without having to stop the machine for overall adjustment due to errors in a single spindle. While ensuring accuracy, the high efficiency of multi-spindle parallel processing can be fully utilized, and some equipment can achieve a several-fold increase in processing efficiency.

[0029] c. Enhanced machining flexibility: The four spindles can perform the same machining process or adapt to different machining processes through independent compensation. For example, some machine tools can allow different spindles to be responsible for roughing, finishing, or machining workpieces of different specifications, adapting to diverse production needs.

[0030] II. Five-channel linkage structure This invention, through a unique mechanical structure design, adds a third channel (4V) to the original four channels. By adding this channel, rapid tool changing is achieved, which can complete the tool changing action within 4 seconds, thereby improving processing efficiency.

[0031] 1. Implementation method Mechanical structure adaptation: In terms of mechanical structure design, part 7 acts on the rear side of the machine bed, below the crossbeam, and uses an independent servo motor + coupling + precision ball screw for precision transmission. A specially designed independent channel V ( Figure 22 The channel V is collinear with the drive shaft Y-axis but they do not affect each other. Figure 23 Parts 7.1, 7.2, 7.3, and 7.4 pass through the shaft. The transmission completes the tool changing actions of parts 7.1, 7.2, 7.3, 7.4 and 9.1, 9.2, 9.3, 9.4. Figure 24 ), for example, when part 9.1 requires a tool change, the shaft The tool magazine is pushed by a motor and a leadscrew to directly below part 9.1 to perform a tool change. Part 9.1 places the tool into the empty tool position of part 7.1. Part 7.1 rotates to below the spindle via the system-set tool rotation, picks up the tool, and completes the tool change. The shaft returns to its original position via a lead screw drive. The shaft system is equipped with a precision motor mount and bearing mount to allow for communication with other channels.

[0032] 2. Core Advantages a. A 20-axis linkage achieves a highly efficient tool change motion in 0.6 seconds. The 20-axis (4X+4Y+4Z+4V+4R) configuration utilizes a five-channel linkage CNC system. When the system issues a tool change command, the servo motors of different axis groups drive independent transmissions. Taking channel I (… Figure 25 ) axis For example, the system issues a command to use point-to-point (G0) rapid positioning for the axis. It operates independently from the previous machining position, quickly reaching the tool change point, and the system controls the axes. Simultaneously rotate to the idle position, shaft On the axis Driven by the shaft They move to the tool change position simultaneously within 0.6 seconds at a rapid traverse speed of 30m / min, achieving a smooth tool change action with 20-axis linkage, easily adapting to the composite machining needs of various types of complex surface parts.

[0033] b. Five-channel synchronous linkage control supports multi-process parallel operation and multi-station collaboration, and can complete the full-process machining of parts without multiple clamping, which not only improves machining efficiency, but also effectively ensures the form and position tolerance accuracy of parts.

[0034] c. With the support of five-channel linkage, multi-channel independent control and high-precision synchronization, it realizes multi-process and multi-spindle parallel processing, which greatly shortens the overall processing cycle of complex parts and significantly improves the processing efficiency compared with conventional equipment.

[0035] III. High-capacity tool magazine structure combined with fast tool change technology Based on the advantages of the rapid tool change motion of the Vth channel, this invention independently designs parts 7 and 8 ( Figure 26 The standard model can store 49 tools per channel, and the entire machine can store 196 tools across 4 channels, supporting the categorized storage of tools for all processes such as milling, drilling, and boring. The tool magazine is equipped with a high-precision positioning and tool recognition system, which can be linked with the CNC system to accurately retrieve the required tools, providing sufficient tool reserves for multi-process machining.

[0036] 1. Implementation method Tool magazine mechanical structure design 1: Part 7 adopts a modular and lightweight design. Part 7 mainly consists of three parts: 7.1.1 (tool head), 7.1.2 (rotating components), and 7.1.3 (transmission components). Figure 27 The V-channel drives parts 8 and 7, and parts 9.1, 9.2, 9.3, and 9.4 can independently retrieve tools from parts 7.1, 7.2, 7.3, and 7.4 respectively. Figure 28 This enables simultaneous tool changing and parallel machining at multiple workstations.

[0037] 1.1 Single-channel tool positions: 49 tool positions per channel. Taking channel I as an example, part 7.1.1 has 14 tool positions, and part 8.1.1 has 35 tool positions. Figure 29 The total number of tool positions in Channel I is 49, which meets the tool requirements of commonly used machine tools.

[0038] 1.2 4-channel tool positions: Based on 49 tool positions in a single channel, the 4-channel tool positions of the whole machine provide 196 tool positions to meet the needs of using a large volume of multi-variety tools. Figure 30 ).

[0039] 1.3 Small footprint: The entire machine has 196 tool positions, occupying a machine tool space of 880*1976mm (front and back). Figure 31 A typical chain-type tool magazine has 28 tool positions per channel and occupies 1090mm of front-to-back space. Figure 32 Compared with the commonly used chain tool magazine, the tool magazine of the present invention has 84 more tool positions than the chain tool magazine while occupying less space.

[0040] 1.4 High tool changing efficiency: Part 7.1 is located between part 9.1 and part 8.1 ( Figure 33 Part 7.1 employs a servo mechanism for rapid tool change, controlled by the V-channel (axis 21) servo motor to move the entire part 7.1 directly below part 9.1. Simultaneously, the system controls the motor to drive the umbrella-shaped tool magazine body to rotate (axis 21). To the empty tool position, part 9.1 quickly releases the tool holder to the empty tool position of part 7.1. After part 9.1 is raised to a safe height by shaft 20, part 7.1 rotates to the tool position selected by the system. Part 9.1 descends (tool release state) to grab the selected tool. After grabbing the tool, part 9.1 is then moved by shaft 20... Driven upward, part 7.1 is controlled by the V channel (axis 21) to return to its original position. The tool exchange (tool-to-tool) action between part 7.1 and part 9.1 is completed in 4 seconds to meet the tool requirements for cutting.

[0041] 1.5 Double-layer self-cleaning, anti-vibration blade, spindle chip protection, ensuring high precision. 1.5.1 Air blowing on the tool holder ( Figure 34 The compressed air system is an independent branch (7.1.2), equipped with filters, pressure regulators, and air control components to ensure stable air pressure during blowing and avoid sudden pressure drops caused by the flushing action of other pneumatic tool holders on the machine tool. It operates in parallel with the tool changing action, without increasing tool changing auxiliary time, and is integrated into the timing logic of efficient tool changing. All blowing actions are completed during the mechanical actions of tool changing (quasi-stop, rotation, and tool clamping), with a total blowing time of ≤1.5 seconds for a single tool change. It is more efficient than continuous blowing, providing thorough cleaning while saving air supply, and operates completely in parallel with the tool changing action without changing the original efficient tool changing time (4 seconds). It cleans the tool magazine's tool holder positioning surface to prevent tool holder misalignment in the tool magazine, avoiding excessive tool holder sway during tool changing that could lead to machine collision. 1.5.2 Bladder cleaning ( Figure 34The cleaning system is an independent closed-loop system (8.2.1), with its core consisting of a high-pressure liquid supply unit, directional nozzles, liquid control valves, and a liquid return device for impurity return. The tool magazine uses high-pressure cleaning fluid to flush the tool holder's tapered surface, removing stubborn adhering impurities (such as dry, hard iron filings, cutting fluid sludge, and workpiece dust) that air blowing cannot remove, ensuring the cleanliness of precision mating surfaces and preventing problems such as machining accuracy deviations, spindle taper wear, and tool change jamming from the root. First, water dissolves and impacts stubborn impurities, then air blows dry any remaining liquid, preventing water from entering the spindle and interfering with the tool change sequence, without adding extra effective machining time, thus better ensuring machining accuracy.

[0042] 1.6 Safety interlock, stable and reliable Each channel ( Figure 35 The core of the safety interlock is to use PLC hard logic + hardware detection + timing binding to make the actions, status and media supply of each channel form a relationship of "mutual constraint and mutual verification". If any channel fails to meet the safety conditions, the related channels will be immediately locked, which will prevent accidents such as machine collision, media leakage, mechanism jamming and personal injury from the root. At the same time, it ensures the stable connection of tool changing, cleaning and processing processes, which is the core of machine tool operation safety.

[0043] 1.6.1 Core safety interlock design between channels Exercise Channel Media Channel: Action binding, timing linkage, the motion channel (spindle / tool ​​magazine / feed axis) and the media channel (air blowing / water flushing / cutting fluid) are the core linkage channels for tool changing / cleaning / machining. The motion channels are mutually anti-interference and positioning verification. The interlocking between the components inside the motion channel (part 9, X / Y / Z feed axis, part 7 / part 8) is achieved through position detection, position verification, and action interlocking.

[0044] Part 9 is interlocked with Part 7. Figure 36 ): Part 9.1 not raised to the safe tool change height (Z-axis position signal not triggered) → Part 9.1 extension action lockout; Part 9.1 not completed tool exchange / return to the safe position → Spindle Z-axis downward movement lockout to prevent tool collision between Part 9.1 and Part 7.1; Part 9.1 and Part 8.1 interlock: Part 9.1 not completed tool selection / positioning → Part 9.1 tool pick-up / placement action lockout; Part 9.1 not positioned to the tool pick-up / placement position → Part 7.1 rotation / movement action lockout to prevent tool from falling off and tool change failure; Spindle tool release / clamping and rotation interlock: Spindle in tool release state (tool release signal triggered) → Spindle rotation action forced lockout; Spindle not stopped rotating (no spindle stop signal) → Spindle tool release / clamping action lockout to prevent tool holder from flying out and personnel injury during tool release due to spindle rotation.

[0045] Tool magazine mechanical structure design: 1. The tool magazine can store 140 tools. Part 8 is composed of Part 8.1 (pallet) and Part 8.2 (robotic arm) pallet. Figure 37 Part 8.2 is controlled by a servo motor with three degrees of freedom (axis). The action of grasping the knife () Figure 38 ), where the shaft Control the forward and backward movement of part 8, that is, in the direction parallel to the Y-axis, where the axis... Control the left and right movement of part 8, that is, in the direction parallel to the X-axis, where the axis is... The up and down movement of part 8 is controlled by a mechanical servo mechanism (the aforementioned V channel) between parts 7. The tool gripping or placing actions in parts 7 and 8 are interchanged. Part 8 is located after parts 7 and 9, and part 7 is centered. The three parts are distributed in a straight line.

[0046] 2. The tool magazine can be expanded to hold up to 616 tools. Part 8 is a flat-plate tool magazine, while part 7 is an umbrella-shaped tool magazine. Part 8 can achieve a super-large tool magazine of 616 tools through the optimization of the above structures. Figure 39 ), occupying only 1723mm of front and rear space of the machine tool ( Figure 40 This is a tool magazine capacity that traditional chain-type tool magazines cannot achieve. A high-capacity tool magazine can hold more tools, including some large-sized round cutters, compensating for the size limitations of traditional tool magazines. The tools in parts 8 and 7 are all placed vertically. This reduces the steps of grabbing and placing tools, improves the efficiency of tool changes between parts 7 and 8, and increases the number of tools required in machining.

[0047] 2. Core Advantages a. Strong structural adaptability, compatible with multi-channel machining. It adopts a multi-spindle independent tool changing design. The high-capacity tool magazine is equipped with independent tool changing channels for each of the four spindles. Combined with fast tool changing technology, it can realize high-speed tool changing of all four spindles at the same time. In conjunction with the four-spindle independent compensation technology, it ensures the consistency of machining accuracy after tool changing of each spindle. It realizes high-speed tool picking, tool changing and tool loading between the tool magazine and the spindle. The tool changing time (tool to tool / cutting to cutting) can be controlled to change 4 tools within 4 seconds. Compared with traditional tool changing technology, the efficiency is improved by several times, and the time-consuming problem of switching multiple tools in high-capacity tool magazines is completely solved.

[0048] b. High-precision tool changing positioning ensures machining consistency. The fast tool changing mechanism is equipped with a precision guide and backlash elimination structure. The tool repeatability during tool changing reaches the micron level. Combined with automatic tool compensation by the tool setter and closed-loop control by the grating ruler, it avoids tool position deviation caused by tool changing and ensures the dimensional accuracy of continuous machining with multiple tools. It is compatible with the four-spindle independent compensation technology to achieve the consistency of tool changing accuracy across multiple spindles.

[0049] c. Intelligent scheduling + continuous machining: Adaptable to unmanned production CNC systems, it can intelligently schedule tool magazines and tools, automatically plan tool change sequence according to machining process, and achieve seamless tool switching with rapid tool change technology. The two work together to support long-term continuous machining. With tool wear / damage detection function, it can automatically switch to spare tools to meet the unmanned and intelligent machining needs of high-capacity tool magazines.

[0050] d. Equipped with a high-capacity tool magazine with hundreds of tool positions, it adopts servo drive for precise positioning and is equipped with a servo fast tool change mechanism to achieve high-speed tool change of 4 seconds for tool to tool and Y seconds for cutting to cutting. The tool change repeatability positioning accuracy is ≤0.01mm, providing efficient tool switching guarantee for five-axis linkage multi-process machining.

[0051] IV. Five-axis linkage structure and technology This invention adds BC rotary axes to the worktable. The three linear axes (X, Y, Z) determine the position of the tool in space, and the two added rotary axes (B, C) determine the direction of the tool in space (i.e., the tool axis vector). This achieves the function of five-axis linkage.

[0052] 1. Implementation method (1) Mechanical structure implementation: Based on the linear three-axis system, two rotary axes are added, adopting a five-axis structure layout with one pendulum and one rotation axis. Rotary axis ② acts on the worktable, and rotary axis ① acts on rotary axis ②. Rotary axes ① and ② can rotate independently according to system control. Rotary axis ① can rotate around the linear axis. Rotation can be performed, with rotation axis ② revolving around a linear axis. Rotation is performed, with rotation axes ① and ② A five-axis linkage design was constructed. Similarly, the other three channels can also perform five-axis machining. The rigidity of the Y-axis has been fully considered in the design process, and adding the BC axis will not affect the overall rigidity of the machine tool.

[0053] (2) Powerful software support: It supports a five-axis interpolation algorithm and can calculate the motion trajectory of five axes in real time. It is equipped with five high-performance servo drive units to achieve high precision and high rigidity in dynamic response of rotary axes (especially direct drive torque motors).

[0054] 2. Core Advantages a. With the support of five-axis linkage core technology, multi-face / complex curved surface machining can be completed in one clamping, completely eliminating the positioning error of multiple clamping. Combined with closed-loop control of grating ruler, the machining accuracy of precision parts is further upgraded.

[0055] b. The five-axis real-time adjustment of the tool's optimal cutting angle avoids tool interference, reduces overcutting, improves the surface finish of parts and machining efficiency, and, in conjunction with the tool setter's automatic tool compensation, significantly reduces tool wear and manual adjustment costs.

[0056] c. The deep integration of five-axis linkage, five-channel linkage, and four-spindle independent compensation enables high-precision machining of complex surfaces in a single workstation, as well as parallel machining of multiple spindles, thus meeting the dual needs of precision machining and mass production.

[0057] d. The five-axis linkage system supports RTCP tool tip following function, ensuring that the tool tip remains precisely positioned during machining, unaffected by the movement of the rotary axis. Combined with the high-capacity tool magazine, it enables rapid switching between multiple tools, achieving efficient continuous machining of complex surfaces.

[0058] V. Ultra-precision structures and technologies Each feed axis of the machine tool is equipped with a high-precision component 10 to realize closed-loop control of the servo axis position, control the positioning accuracy within 1 micrometer, and provide accurate position feedback for multi-axis high-precision interpolation machining with five-axis linkage.

[0059] The four spindles are equipped with four sets of laser tool setter measurement systems, which can detect tool parameters with high precision and complete tool compensation calibration. The detected actual tool parameters are compared with the preset reference values ​​of the CNC system, and the deviation is automatically calculated and written into the system tool compensation register. This enables one-click calibration of tool length compensation and tool radius compensation without the need for manual input of compensation parameters.

[0060] 1. Implementation method Matching mechanical structure 1: During the design of the mechanical structure, the mechanical installation position of part 10 is reserved (example 10.1). Taking a certain shaft system as an example, high-precision parts 10 are installed on the linear shafts respectively. It can detect extremely small displacement changes, has no mechanical wear, and has a long service life, forming a "closed-loop control". This greatly improves the positioning accuracy, repeatability, and machining quality of the system, and eliminates errors caused by lead screw thermal expansion, wear, backlash, etc.

[0061] Matching mechanical structure 2: Part 11 is installed on the machine tool worktable with a specially designed bracket (11.1). When the machine tool part 9 drives the tool (usually rotating at a certain speed) to quickly sweep across the laser beam laterally, the cutting edge of the tool will block the laser. The measurement data is transmitted to the CNC system of the machine tool in real time through the interface. The system automatically calculates and updates the corresponding tool compensation value.

[0062] 2. Core Advantages a. Equipped with a high-resolution grating ruler detection system, it compensates for lead screw pitch error and mechanical transmission backlash in real time. Together with the four-spindle independent compensation technology, it forms a dual precision guarantee, which greatly improves the system's positioning accuracy, repeatability, and machining quality. It also eliminates errors caused by lead screw thermal expansion, wear, backlash, etc., ensuring the consistency and accuracy of machining positions of each spindle.

[0063] b. The stability grating ruler is suitable for long-term continuous processing without frequent calibration. Combined with the unmanned processing configuration of machine tools (high-capacity tool magazine + tool detection), it can realize intelligent production with high precision and low intervention, effectively reducing production and maintenance costs.

[0064] c. Automatic tool setter replaces manual tool setting, improving efficiency. It eliminates the traditional tool setting method of manual trial cutting, measurement and adjustment, and reduces the time for a single tool setting from several minutes to several seconds. It is especially suitable for scenarios with frequent switching of multiple tools in high-capacity tool magazines, and greatly reduces the non-processing time of the equipment.

[0065] d. During machining, the tool status can be monitored in real time or periodically. When excessive tool wear, chipping, or breakage is detected, the system automatically alarms and can link with the tool magazine to switch to a spare tool, avoiding the generation of scrap parts and ensuring machining continuity. It replaces the tedious manual tool setting operation, fundamentally ensuring tool dimensional accuracy and reducing tool setting errors.

[0066] e. Machining accuracy calibration, combined with the multi-spindle and multi-channel linkage control of the machine tool, allows for independent tool setting of the tools associated with each spindle, providing accurate tool base parameters for independent compensation of four spindles and linkage of five channels, ensuring dimensional consistency in multi-axis and multi-channel parallel machining.

[0067] Based on the above, this machine tool is a new product developed based on customer needs, and it has certain advantages in many aspects.

[0068] 1. Precision control: The precision of this invention can be controlled within 0.001mm. The reasonable ratio of transmission inertia to rotational inertia maximizes the dynamism of the machine tool.

[0069] 2. Efficiency Control: The entire machine is optimized using multiple methods, including dynamic and static modal simulations and machining state simulations, employing ANSYS and COMSOL, to significantly improve the machine tool's machining performance spectrum, thereby ensuring maximum machining efficiency within the industry. Machining efficiency is increased by more than 2 times.

[0070] 3. Footprint control: Compared with other types of machine tools, this invention has a small footprint, which can effectively save customers' space, create more value, and save labor costs.

[0071] 4. Processing quality control is mainly reflected in the tool marks on the workpiece surface. By controlling the vibration of the whole machine and the assembly accuracy, mirror finishing can be achieved, and the surface roughness can reach 0.1 micrometers.

[0072] 5. Reserved automation interface: This invention is based on customer needs and reserves an automation interface, which can provide configurations for stand-alone automation and unmanned workshops, ultimately realizing AI + machine tool precision control.

[0073] 6. Cost control: Because this invention uses several integrated modules, such as large component integration, transmission integration, electrical integration, and tool magazine integration, the cost can be reduced by 15% compared to other types of machine tools, and the customer's cost recovery time is shorter.

[0074] In addition, the five-channel linkage CNC system includes a PLC, and safety interlocking is achieved through PLC hard logic and timing binding, so that the actions and states of the spindle, tool magazine, spare tool magazine and X, Y and Z feed axes form a relationship of mutual constraint and mutual verification; the five-channel linkage CNC system achieves microsecond-level time synchronization through EtherCAT bus DC synchronization technology and performs multi-axis linkage control.

[0075] The five-channel linkage CNC system adopts a 4+1 channel architecture, including four machining channels and one tool changing channel. It achieves seamless connection between machining and tool changing through multi-task scheduling, hardware-level synchronization, and intelligent algorithm collaboration. The five-channel linkage CNC system sets up a dynamic priority adjustment mechanism between channels and establishes a closed-loop process of real-time detection, dynamic evaluation, priority response, and fair recovery. This is used to intelligently allocate resources, avoid conflicts, and optimize the overall cycle time when multiple tasks are concurrent. The dynamic priority adjustment mechanism adopts a dynamic preemption mechanism based on weighted scoring. The priority calculation includes urgency × 0.5 + security level × 0.3 + waiting time × 0.2. An aging coefficient is set to increase the scheduling priority of tasks whose waiting time exceeds the threshold. The scheduler refreshes the priority queue every 10ms and triggers resource release (i.e., rescheduling) when resources are released.

[0076] Meanwhile, the five-channel linkage CNC system employs a weighted fair queue (WFQ) combined with an aging mechanism to prevent low-priority tasks from being delayed indefinitely when resource conflicts occur between channels. The system also utilizes a globally optimal S-curve / trapezoidal acceleration / deceleration planning engine and NURBS interpolation to achieve stable operation under multi-axis linkage trajectories. Furthermore, the system achieves safety interlocks through PLC hard logic combined with timing binding and dynamic envelope detection. These interlocks include at least: prohibiting the tool changer from moving when the spindle is not raised to the safe tool change height; forcibly locking the spindle rotation when the spindle is in the tool release state; and preventing the spindle from stopping rotation. The spindle tool release / clamping action is locked; the five-channel linkage CNC system collects the axis position, motion status and resource requests of each channel at a 1ms cycle via EtherCAT bus, and enters a resource contention state when it detects that two or more channels are requesting to share resources. It records the request time, task type and priority in combination with position feedback and task status, and triggers a conflict response process; the five-channel linkage CNC system adopts parallel timing logic for the media actions of air blowing, water flushing and cutting fluid and executes them in parallel with the tool changing mechanical action. The cleaning timing is defined by Lua / Python scripts or macro programs and the timing nesting is implemented by PLC timers.

[0077] The core of the system lies in the combination of parallel machining capabilities ("one machine, multiple positions") and independent control of the Vth channel (rapid tool change). Through multi-task scheduling, hardware-level synchronization, and intelligent algorithm collaboration, seamless integration of machining and tool changing is achieved, greatly improving the overall equipment efficiency (OEE). The dynamic priority adjustment mechanism between channels is a key technology ensuring efficient system collaboration and responsiveness. It intelligently allocates resources during multi-task concurrency, avoiding conflicts and optimizing the overall cycle time. To address resource conflicts between channels, the system establishes a closed-loop process of "real-time detection—dynamic evaluation—priority response—fair recovery," ensuring stability, safety, and efficiency even under high load conditions. Specifically: I. Control Methods: Multi-channel Independent and Cooperative Control The equipment adopts a "4+1" channel architecture (4 machining channels + 1 tool change channel). Its control logic is based on the "independent task per channel" and "synchronous control between channels" technologies in the documentation, and introduces a distributed real-time control bus and a multi-core parallel processing architecture to ensure that each channel can operate independently and coordinate as needed. The system realizes task preemption and resource allocation through a dynamic priority scheduling algorithm. The priority is adjusted in real time according to the urgency of machining, tool change requirements, and safety status. When multiple machining channels have access conflicts due to sharing the Y-axis guide or control system resources, the system starts a real-time detection mechanism, which combines position feedback and task status to quickly identify the source of conflict and trigger the response process.

[0078] 1) Channel architecture: Channels I-IV: Each channel contains an independent five-axis linkage system (X, Y, Z, B, C), totaling 4 groups, equipped with independent servo drives and feedback encoders, supporting simultaneous heterogeneous processing tasks, and suitable for flexible production of multiple varieties and small batches.

[0079] Channel V: An independent servo control channel (U, V, W axes) dedicated to the movement of the tool magazine and tool changing actions; this channel adopts a high dynamic response servo system to achieve rapid positioning within 0.6 seconds and supports free switching between any machining channels.

[0080] 2) Control strategy: Independence: Each channel can execute different machining programs (G code), M code, and macro programs, and has its own coordinate system, tool compensation, and feed rate, without interfering with each other.

[0081] Synchronization: Through the real-time operating system based on RT-Linux / Xenomai and DC synchronization technology of EtherCAT bus, microsecond-level time synchronization is achieved to ensure that the motion is executed strictly according to the predetermined sequence.

[0082] Physical isolation and logical coordination: Channel V and channels I-IV are collinear in mechanical structure (Y-axis direction), which poses a risk of spatial interference. In terms of control logic, "logical isolation" is achieved through PLC interlocking, position comparison and dynamic envelope detection to ensure that only one channel is allowed to perform Y-axis movement at any given time.

[0083] II. Interactive Algorithm: PLC Interlocking, Real-time Communication and Intelligent Scheduling The system achieves complex interactions through a "built-in PLC + high real-time RT optimization," with core algorithms integrating safety logic, predictive control, and resource scheduling strategies. Dynamic priority adjustment is driven by a real-time scheduler, which performs weighted scoring based on task type, waiting time, and safety level to achieve optimal resource allocation. For non-tool-changing task conflicts, the system employs a strategy combining a "weighted fair queue" (WFQ) and an "aging mechanism" to prevent low-priority tasks from being left unexecuted for extended periods.

[0084]

[0085] Table 2. Algorithm Logic Table for Interaction Types III. Execution Process: Real-time Detection and Response to Resource Conflicts Between Channels 1) Real-time detection phase Status sampling: The system collects the axis position, motion status, program instructions and resource requests of each channel every 1ms via the EtherCAT bus.

[0086] Conflict detection: When two or more processing channels request to use the Y-axis (shared guide rail), the task manager marks it as "resource contention state" and records the request time, task type and priority.

[0087] Safety verification: Simultaneously check the B / C axis attitude, spindle status, and safe height of each channel to eliminate the risk of unauthorized movement.

[0088] 2) Dynamic evaluation phase Priority calculation: The scheduler calculates a comprehensive score based on the task weight model (urgency × 0.5 + security level × 0.3 + waiting time × 0.2).

[0089] Fairness compensation: For tasks that wait for more than a threshold (e.g., 500ms), an "aging coefficient" is automatically added to increase their scheduling priority and prevent starvation.

[0090] 3) Priority Response Phase Resource allocation: Tasks with high overall scores gain control of the Y-axis, while other tasks enter the waiting queue, and the system sends a "resource occupancy" feedback.

[0091] Preemptive execution: If a high-priority task (such as an exception recovery or emergency stop reset) is inserted, the low-priority task can be forcibly interrupted (subject to the safety stop condition) and enter the execution queue.

[0092] 4) Fair Recovery Phase Queue rescheduling: Once the Y-axis is released, the system immediately triggers the "resource release equals rescheduling" mechanism to re-evaluate the waiting queue and ensure that long-waiting tasks get the opportunity to execute.

[0093] Log recording: All conflict events, scheduling decisions and execution results are written to the system log to support subsequent analysis and optimization.

[0094] The essence of this system lies in "time-sharing multiplexing, trading space for efficiency." By transforming the tool-changing action from the traditional "single-channel shutdown" to "multi-channel parallel operation + independent channel rapid movement," combined with EtherCAT master station management, macro programs, PLC safety interlocks, and multi-axis look-ahead control, it not only achieves massive storage of 196 tools and a 4-second rapid tool change, but also ensures long-term operational stability through intelligent scheduling and safety mechanisms. In non-tool-changing task conflict scenarios, the system effectively balances efficiency and fairness through a "weighted fair queue" and "task aging and promotion" mechanism, avoiding resource monopoly and task starvation, further enhancing the system's robustness and adaptability. This architecture represents the technological forefront of high-end multi-channel CNC equipment development towards "unmanned, highly flexible, and high-cycle-time" operation.

[0095] Furthermore, in terms of hardware, the platform utilizes an x86_64 / ARM64 multi-core processor and an optimized Xenomai / PREEMPT-RT real-time Linux kernel, achieving microsecond-level response accuracy and providing a solid and reliable foundation for complex industrial scenarios. The system supports up to 32 channels operating independently, with each channel flexibly combined into a workgroup for multi-task parallel control. High-precision synchronization is achieved via an EtherCAT bus (supporting IGH master station and DC distributed clock), with a control cycle as low as 0.5ms, fully meeting the needs of high-speed and high-precision applications. Simultaneously, the system integrates bidirectional pitch error compensation, spatial compensation, and friction compensation algorithms, along with a built-in >5000-segment look-ahead function and a globally optimal S-shaped / trapezoidal acceleration / deceleration planning engine, ensuring smooth and efficient operation under complex trajectories. On the software side, it supports development in multiple languages ​​including C++, Python, and Lua, provides a complete Qt secondary development interface, is compatible with macro programs (MACRO) and script extensions, and is equipped with security mechanisms such as categorized and permission-based parameter management, hourly-accurate authorization management, and multiple encryption algorithms to ensure the integrity and confidentiality of system configuration and data. Furthermore, the physical isolation between the control layer and the information layer enhances system robustness and security. The following provides a comprehensive and in-depth customized solution based on the four core security requirements of the application scenario, combined with system architecture and technical parameters: 1) System Multi-Axis Synchronization Safety Solution The system deeply integrates a hard real-time kernel, high-precision bus synchronization, and intelligent compensation mechanism to build a full-link multi-axis synchronization safety guarantee system from the underlying interrupt to the upper-level algorithm. It is suitable for high-dynamic collaborative scenarios such as gantry structures, dual-drive axes, and multi-axis linkage machining.

[0096] Hard real-time kernel guarantee: Relying on the Xenomai / PREEMPT-RT dual-mode real-time architecture, Xenomai achieves kernel-level real-time isolation, while PREEMPT-RT provides a fully preemptible kernel, ensuring that interrupt response latency remains stable at the microsecond level. In multi-axis synchronous control, position feedback or command triggering of any axis can respond within a deterministic time, completely eliminating asynchrony, loss of synchronization, or oscillation between axes caused by system scheduling delays, providing time deterministic guarantees for highly dynamic collaboration.

[0097] High-precision bus synchronization technology: Employing the EtherCAT industrial Ethernet bus, it supports the IGH master protocol stack and DC (Distributed Clock) distributed clock technology. Hardware timestamps enable nanosecond-level clock synchronization for slave devices, coupled with a 0.5ms control cycle, ensuring all axes execute commands within a unified time slice. Even during high-speed interpolation (such as G01 / G02 / G03), it maintains strict synchronization of the position loops of each axis, preventing mechanical vibration or collisions caused by communication jitter.

[0098] Full closed-loop and multi-dimensional error compensation algorithms: The system supports bidirectional pitch error compensation to correct backlash in the forward and reverse transmission of the lead screw; spatial error compensation corrects three-dimensional spatial geometric deviations (such as perpendicularity and parallelism); and friction compensation provides feedforward correction for low-speed crawling phenomena. In gantry shaft or multi-motor cooperative drive scenarios, the above algorithms can be applied to the master and slave shafts respectively, eliminating synchronization deviations caused by mechanical assembly errors or thermal deformation, significantly improving long-term operational stability and machining accuracy.

[0099] Motion planning constraints and dynamic monitoring: Built-in look-ahead function with over 5000 segments, it can identify high-risk trajectories such as sharp turns and corners during the path preprocessing stage. Combined with the globally optimal S-shaped / trapezoidal acceleration and deceleration algorithm, it dynamically adjusts the composite velocity, acceleration, and jerk to ensure that single-axis does not exceed limits and multi-axis resultant force is smooth. The system has real-time axis deviation monitoring capability. Once the position difference between the master and slave axes exceeds the threshold, it immediately triggers a safe stop or a safe speed limit (SLS) to prevent mechanical damage.

[0100] Synchronization Status Visualization and Diagnosis: Provides diagnostic tools such as real-time synchronization deviation curves, DC synchronization status monitoring, and bus jitter analysis to help engineers quickly locate the root cause of synchronization anomalies. It also supports online debugging and parameter optimization through remote diagnostic interfaces to improve maintenance efficiency.

[0101] 2) Multi-channel linkage security solution for the system By fully utilizing the system's multi-channel parallel processing capabilities, logical isolation mechanisms, and advanced programming interfaces, a safe linkage system suitable for complex scenarios such as "one machine with multiple workstations," "master-slave collaboration," and "processing-loading linkage" can be constructed.

[0102] Logical Isolation and Workgroup Mechanism: The system supports up to 32 independent channels, each capable of running G-code programs or PLC logic independently. Through the "arbitrary workgroup formation" function, multiple channels can be divided into logical groups (such as processing groups, handling groups, and detection groups), achieving resource isolation, program independence, and no interference. For example, channel 1 controls the main machining head for milling, while channel 2 drives the robotic arm for loading and unloading; both operate in parallel without instruction conflicts.

[0103] Shaft coupling and virtual axis technology: Supports various advanced axis types such as parallel axis, gantry axis, shaft coupling, tangential coupling, and virtual axis. In dual-spindle synchronous turning, electronic gear coupling can maintain consistent speeds; in gantry structures, after enabling gantry axis mode, the system automatically calculates the master and slave axis compensation amounts to maintain the horizontal beam. Once the coupling axis deviation exceeds the limit, the system automatically enters a safety state, cuts off power output, and ensures equipment safety.

[0104] Hierarchical access control and operation auditing: Based on a categorized and permission-based parameter management mechanism, differentiated operation permissions can be set for different channels. For example, only administrators can modify the tool compensation parameters of the main machining channel, and operators can only start and stop specified programs. All parameter modifications, program loading, and mode switching are recorded in the operation log, supporting traceability and auditing, effectively preventing misoperation or unauthorized behavior.

[0105] Built-in PLC safety logic and interlocking mechanism: The built-in PLC supports complex control logic written in C++ / Python / Lua to achieve hard real-time interlocking across channels. For example, when the safety door of the processing area in channel 1 opens, the PLC immediately sends an "emergency stop" signal to channel 2, forcing the robot arm to pause; or when the detection result of channel 3 is NG, the assembly action in channel 4 is automatically blocked. This logic is deployed in a real-time context with a response time of less than 1ms, ensuring safety and reliability.

[0106] Inter-channel communication and event synchronization: Supports efficient inter-channel communication through shared memory, semaphores, event triggers, etc. For example, after channel 1 completes processing, it triggers a "completion signal," and channel 2 automatically starts the transport program upon receiving it, achieving seamless connection. All communication is arbitrated by the system to avoid resource contention or deadlock.

[0107] 3) System antivirus security solution From the operating system layer and application permission control to data integrity verification, a multi-layered defense-in-depth system is built to effectively resist network threats such as viruses, Trojans, and ransomware, and ensure the long-term stable operation of industrial control systems.

[0108] Linux system-level protection advantages: A customized Linux system running on the x86_64 / ARM64 architecture employs a minimal image design, disabling unnecessary services and ports, significantly reducing the attack surface. The Linux kernel features user permission isolation, ASLR, NX, and other security mechanisms, and is incompatible with Windows viruses, significantly reducing the risk of infection by mainstream ransomware.

[0109] Parameter version compatibility and write protection mechanism: A categorized and permission-based parameter management system is adopted. Critical parameter areas (such as axis configuration, compensation table, and safety threshold) are read-only by default and can only be modified by authorized users after authentication. The system promises "no parameter loss during software upgrades," and uses an atomic update and rollback mechanism at the underlying level to prevent configuration corruption or tampering caused by upgrade anomalies.

[0110] Authorization Management and Multi-layered Encryption: An authorization management mechanism accurate to the hour is introduced, with functional modules activated on demand to prevent unauthorized use. All authorization files and critical data are signed and encrypted using multiple encryption algorithms such as AES / RSA, ensuring that even if the storage medium is physically stolen, the data cannot be cracked or forged.

[0111] Log traceability and integrity verification: It features a complete triple logging system: system logs record kernel and service status; operation logs track user logins, program startup and shutdown, and parameter modifications; and data modification logs monitor changes to key variables. All logs support remote backup and hash verification, and alerts are triggered immediately upon detection of deletion or tampering. The system periodically performs SHA-256 hash verification on core files to detect potential backdoors.

[0112] Peripheral and Network Access Control: Built-in firewall policies restrict USB ports to only whitelisted devices, preventing the spread of USB flash drive viruses. At the network level, IP whitelisting is supported, unnecessary ports (such as SMB and FTP) are closed, and OPCUA security policies (certificate authentication and message encryption) are enabled for data interaction to prevent man-in-the-middle attacks.

[0113] 4) System resource arbitration and isolation solutions Based on a multi-core architecture and a real-time task scheduling mechanism, a multi-layered resource isolation and priority arbitration system from hardware to software is constructed to ensure that critical control tasks still run stably under high load conditions.

[0114] Multi-core CPU resource allocation and affinity binding: Based on the multi-core x86_64 / ARM64 platform and combined with the PREEMPT-RT real-time kernel, it supports binding specific CPU cores to critical tasks. For example, Core 0 is dedicated to EtherCAT master station interrupts, Core 1 handles servo position loops, and the remaining cores are responsible for the graphical interface and network communication. Through CPU affinity settings, cache invalidation and latency fluctuations caused by task migration are avoided, achieving physical-level resource isolation.

[0115] Real-time and non-real-time tasks are separated: The system places high real-time tasks such as EtherCAT master station management and servo control (0.5ms cycle) in a hard real-time context, scheduled by Xenomai or PREEMPT-RT; while low real-time tasks such as Python scripts, Qt interfaces, and OPC / MES communication run in standard Linux processes. The two exchange data through RT-Socket or shared memory to ensure that stuttering in non-real-time tasks does not affect the underlying motion control.

[0116] The open framework's sandbox mechanism provides comprehensive C++ / Python / Qt secondary development interfaces, supporting users to develop custom macro programs or plugins. All third-party scripts run in a restricted execution environment (sandbox), unable to access hardware registers, modify kernel parameters, or terminate critical processes. For example, Python scripts can only read axis status or set variables through APIs, and are prohibited from calling `system()` to execute shell commands, effectively preventing malicious code or bugs from causing system crashes.

[0117] Independent diagnostic and communication channels: Supports arbitrary mixing and matching of EtherCAT IO cards, allowing for physical isolation of safety I / O, emergency stop circuits, sensor signals, and ordinary control signals through wiring, improving system robustness. Simultaneously, OPC UA communication and remote diagnostic services run on independent network threads, with bandwidth limited by QoS policies, ensuring that they do not preempt resources required for motion control even during network storms or large data uploads.

[0118] Memory and I / O resource arbitration: A real-time memory pool management mechanism is employed to pre-allocate fixed memory blocks for critical tasks, preventing memory fragmentation or exhaustion from causing real-time task failures. I / O access uses a priority inheritance protocol to resolve priority inversion issues, ensuring that high-priority tasks acquire resources promptly. All resource requests and releases are monitored, and abnormal resource usage will trigger alarms or automatic recovery.

[0119] Fault isolation and rapid recovery: Supports watchdog monitoring and task health checks. If a channel or task is detected as unresponsive, it can automatically restart the task without affecting other channels. Critical configurations support snapshot backup and one-click recovery, allowing for rapid restoration to a safe state after system anomalies, minimizing downtime.

[0120] In addition, the system has scalability and AI-powered intelligent upgrade capabilities, specifically: Tool magazine expansion: Upgradeable to chain-type or three-dimensional tool magazines, supporting hundreds of tools. The system supports external tool magazine mapping and virtual tool position management, and achieves multi-tool magazine collaborative scheduling through a unified address mapping protocol, supporting automatic addressing and load balancing across tool magazines. To ensure the safety of parallel scheduling of multiple tool magazines, a multi-level conflict detection mechanism is introduced, including spatial topology analysis, temporal window prediction, and resource contention arbitration. The system constructs a global tool topology map based on a digital twin model, mapping the tool occupancy status of each tool magazine, robot, intermediate station, and machining channel in real time. Before the scheduling command is issued, the temporal and spatial intersection of tool changing actions is predicted through a time window overlap detection algorithm. If two channels request to access adjacent tool positions or share robot paths at the same time, a conflict warning is triggered. The system automatically starts a resource arbitration protocol, replanning the scheduling order based on machining priority, tool changing urgency, and path cost function, inserting waiting windows or switching to spare tool positions when necessary. All arbitration logic is executed collaboratively by PLC and edge AI, with a response latency of less than 10ms, ensuring scheduling safety and efficiency under high concurrency. When a backup tool position switch is triggered, the system initiates a hybrid selection algorithm based on A / B algorithm and rule-based reasoning. First, it filters candidate tool positions in the virtual tool position management table that meet the current tool type, size specifications, and spindle interface standards, excluding tool positions that are already occupied or marked as faulty. Then, it constructs a weighted cost graph based on the A / B algorithm, with nodes representing candidate tool positions. The edge weights comprehensively consider the robot's movement distance, rotation angle, probability of dynamic obstacles from other equipment on the path, and total tool change time to calculate the optimal alternative path. At the same time, a rule engine is introduced to prioritize adjacent empty positions within the same tool magazine to reduce robot travel, or to prioritize scheduling to tool positions with cooling recovery time to improve system cycle time. The final decision is made by edge AI that dynamically adjusts the weights based on real-time operating conditions and issues execution commands. The entire process is completed within 20ms, ensuring tool change continuity and system robustness.

[0121] Remote monitoring: All status, alarms, and logs can be uploaded to MES / SCADA via TCP / IP, supporting remote diagnostics and digital twins. The system has a built-in OPC UA server, supporting standardized encapsulation of information models to achieve data connectivity between the device layer and the enterprise layer.

[0122] AI Upgrade: Reinforcement Learning Optimizes Tool Selection Path and Scheduling: A hybrid reinforcement learning framework based on Deep Q-Network (DQN) and Proximal Policy Optimization (PPO) is adopted to construct a multi-agent scheduling model. Each machining channel and tool change channel is modeled as a collaborative agent. The objective function is to minimize the total machining cycle and maximize the station utilization rate to achieve dynamic task allocation and path optimization. The training data comes from historical machining logs, real-time sensor feedback and MES scheduling instructions. The model continuously evolves through online incremental learning and supports adaptive rescheduling in scenarios such as sudden order insertion and equipment failure.

[0123] LSTM Neural Network for Tool Wear Prediction: A multivariate time series prediction model is constructed, taking into account real-time sensor data such as spindle current, vibration spectrum, cutting force, temperature, feed rate, and cumulative cutting time. Combined with the historical usage trajectory of each tool, a bidirectional LSTM network is used to extract time-series features, outputting tool flank wear (VB) and breakage probability to predict remaining service life (RUL). The model is deployed on an edge computing module, using an NVIDIA JetSon AGX platform. Orin's industrial-grade edge AI box is equipped with a TensorRT acceleration engine to achieve model quantization, pruning, and inference optimization. It collects data in real time from the CNC controller and distributed IO module via OPCUA, with a sampling frequency of up to 1kHz, and locally caches the most recent 72 hours of time-series data for sliding window inference. The model performs forward inference every 5 minutes to generate updated predictions and pushes the results to the HMI and MES systems via the MQTT protocol. The user interface displays wear trend curves, confidence intervals, and replacement suggestions, and supports hot updates and A / B testing of edge-side models. Under extreme conditions, it triggers an instant retraining process to fine-tune the model using locally cached data to ensure prediction robustness.

[0124] Virtual debugging and process optimization are achieved by combining a digital twin platform: a high-fidelity digital twin is built based on Unity3D or NVIDIA Omniverse, integrating CAD models, kinematic parameters, control logic, and a physics engine (such as NVIDIA PhysX) to achieve dynamic simulation of the entire machining process; the tool changing process, obstacle avoidance path, and multi-channel collaborative logic are pre-rehearsed in the virtual environment, and potential conflicts are automatically identified and optimization solutions are generated; actual machining data can be imported to drive simulation playback for process parameter tuning and fault reproduction analysis; virtual-real synchronization is achieved through ROS2 or MQTT protocols to build a closed-loop optimization system.

[0125] In summary, the technical advantages of the system's five-channel coordinated control are as follows: 1) Deep decoupling and efficient parallelism: The four processing channels operate independently, supporting multi-task parallelism and improving stability and efficiency; 2) Hard real-time guarantee: Based on Linux + Xenomai architecture, it ensures millisecond-level response for five-axis interpolation and tool change actions; 3) Intelligent collaboration and safety closed loop: Through DC synchronization, PLC scheduling, obstacle avoidance algorithm and multi-sensor fusion, "seamless" tool changing is achieved, reducing auxiliary time and improving equipment utilization under the premise of safety.

[0126] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A four-spindle, five-channel, five-linkage embedded CNC machine tool, characterized in that, Includes a five-channel linkage CNC system, bed, crossbeam, spindle holder, slide plate, worktable, fourth and fifth axes, tool magazine, spare tool magazine, spindle, grating ruler, and tool setter; The crossbeam is connected to the bed; the slide plate is connected to the crossbeam via linear guides and reciprocates along the X-axis via ball screw transmission; the spindle holder is connected to the slide plate via linear guides and reciprocates along the Z-axis via ball screw transmission; the spindle is directly connected to the spindle holder; the worktable acts on the bed via linear guides and moves independently along the Y-axis via ball screw transmission; the fourth and fifth axes are fixed on the worktable and independently control the movement of the B and C axes to achieve five-axis five-linkage; The five-channel linkage CNC system is used to control channels I, II, III, and IV to achieve their respective X-axis, Y-axis, Z-axis, B-axis, and C-axis linkage machining, and to control channel V to drive the tool magazine and spare tool magazine to complete the tool changing action with the spindle. The grating ruler is used for full closed-loop position control of each axis, and the tool setter is used to realize independent tool setting, detection and automatic tool compensation of multiple spindles.

2. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 1, characterized in that, The main spindle consists of four spindles, forming a four-spindle structure. Each Z-axis is precisely driven by an independent servo motor in conjunction with a coupling, bearing, and precision ball screw, so as to achieve independent control and compensation of each spindle in the Z-axis direction. The V-channel uses an independent servo motor in conjunction with a coupling and precision ball screw for precision transmission, driving the tool magazine directly below any spindle to complete the tool change action.

3. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 2, characterized in that, The tool magazine includes a tool head, rotating components, and transmission components; the spare tool magazine includes a tray and a robotic arm, with the robotic arm controlled by a servo to perform three degrees of freedom tool grasping actions; the tool magazine and spare tool magazine use the system's pre-selection tool function to pre-select tools to reduce the impact of tool magazine movement on the entire machine; the tool setter is mounted on a specific bracket, which is set on the machine tool's worktable. When the spindle drives the tool to quickly sweep laterally across the laser beam of the tool setter, the measurement data is transmitted to the CNC system through an interface, so that the CNC system can automatically calculate and update the corresponding tool compensation value.

4. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 3, characterized in that, The machine tool is equipped with a control strategy for spindle collision prevention. Through position detection and safety distance constraints, the total displacement of the X-axis travel of two adjacent spindles moving in opposite directions is limited to less than the mechanical distance between the two spindles, thereby avoiding collisions.

5. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 4, characterized in that, The machine tool has a tool holder air-blowing cleaning system, which is an independent branch, and the air-blowing action is performed in parallel with the tool changing mechanical action to clean the tool holder positioning surface without increasing the tool changing auxiliary time. The machine tool also has a tool holder water-flushing cleaning system, which is an independent closed-loop system, including a high-pressure liquid supply unit, a directional nozzle, a liquid control valve, and a liquid return device, so that impurities are returned and used to remove stubborn adhering impurities, thereby reducing machining accuracy deviation and the risk of tool changing jamming.

6. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 1, characterized in that, The five-channel linkage CNC system includes a PLC, and safety interlocking is achieved through PLC hard logic and timing binding, so that the actions and states of the spindle, tool magazine, spare tool magazine and X, Y and Z feed axes form a relationship of mutual constraint and mutual verification; the five-channel linkage CNC system achieves microsecond-level time synchronization through EtherCAT bus DC synchronization technology and performs multi-axis linkage control.

7. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 6, characterized in that, The five-channel linkage CNC system adopts a 4+1 channel architecture, including four machining channels and one tool change channel. It achieves seamless connection between machining and tool change through multi-task scheduling, hardware-level synchronization, and intelligent algorithm collaboration. The five-channel linkage CNC system sets up a dynamic priority adjustment mechanism between channels and establishes a closed-loop process of real-time detection, dynamic evaluation, priority response, and fair recovery. This is used to intelligently allocate resources, avoid conflicts, and optimize the overall cycle time when multiple tasks are concurrent. The dynamic priority adjustment mechanism adopts a dynamic preemption mechanism based on weighted scoring. The priority calculation includes urgency × 0.5 + security level × 0.3 + waiting time × 0.

2. An aging coefficient is set to increase the scheduling priority of tasks whose waiting time exceeds the threshold. The scheduler refreshes the priority queue every 10ms and triggers resource release (i.e., rescheduling) when resources are released.

8. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 7, characterized in that, The five-channel linkage CNC system employs a strategy combining weighted fair queue (WFQ) and aging mechanism when resource conflicts occur between channels to prevent low-priority tasks from being deprived of execution for extended periods. The five-channel linkage CNC system also utilizes a globally optimal S-shaped / trapezoidal acceleration / deceleration planning engine and NURBS interpolation to achieve stable operation under multi-axis linkage trajectories.

9. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 8, characterized in that, The five-channel linkage CNC system achieves safety interlocking through PLC hard logic combined with timing binding and dynamic envelope detection. The interlocking includes at least the following: the tool changing mechanism is prohibited from moving when the spindle is not raised to the safe tool changing height; the spindle rotation action is forcibly locked when the spindle is in the tool release state; and the spindle tool release / clamping action is locked when the spindle has not stopped rotating.

10. The four-spindle, five-channel, five-linkage embedded CNC machine tool according to claim 9, characterized in that, The five-channel linkage CNC system acquires the axis position, motion status, and resource requests of each channel via the EtherCAT bus at a 1ms cycle. When it detects that two or more channels are requesting to share resources, it enters a resource contention state. Combining position feedback and task status, it records the request time, task type, and priority, and triggers a conflict response process. The five-channel linkage CNC system uses parallel timing logic for the media actions of air blowing, water flushing, and cutting fluid, and executes them in parallel with the tool changing mechanical actions. The cleaning timing is defined by Lua / Python scripts or macro programs, and the timing nesting is implemented by PLC timers.

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