Multi-axis linkage CNC machining control method, device, equipment and storage medium

Abstract

The present invention provides a multi-axis linkage CNC machining control method, device, equipment and storage medium. The method includes: modeling and analyzing the kinematic characteristics and static stiffness characteristics of a multi-axis CNC machine tool to generate a kinematic model and a static stiffness analysis model. Based on these models, the posture of the target workpiece is optimized in multiple objectives to obtain the optimal workpiece posture parameters, and the original tool path of the machine tool is replanned accordingly to generate an optimized tool path. According to the static stiffness analysis model and the optimized path, a static deformation compensation strategy in the machining process is formulated to obtain an adaptive stiffness compensation scheme. Through the optimized path and the adaptive stiffness compensation scheme, the machining process of the machine tool is controlled and adaptively adjusted in real time to achieve closed-loop control. The present invention takes into account the kinematic characteristics and static stiffness characteristics of the machine tool, optimizes the workpiece posture and tool path, and compensates for static deformation in the machining process in real time, thereby achieving efficient and high-precision CNC machining.

Description

Technical Field

[0001] The present invention relates to the field of workpiece processing, and in particular to a multi-axis linkage numerical control processing control method, device, equipment and storage medium. Background Art

[0002] With the increasing demand for high-precision and complex parts processing in modern manufacturing, the application of multi-axis linkage CNC machine tools is becoming more and more widespread. Multi-axis linkage CNC machining technology can effectively improve machining efficiency and machining accuracy by controlling multiple motion axes at the same time, especially showing great advantages in the machining of complex three-dimensional surfaces and high-precision parts. However, due to the complex kinematic characteristics of multi-axis CNC machine tools, their posture control, tool path planning and stiffness characteristics optimization in high-speed machining have become key factors affecting machining accuracy.

[0003] Existing multi-axis CNC machining methods usually ignore the change of static stiffness during the movement of the machine tool, resulting in the accumulation of workpiece position offset and tool path error during the machining process, which ultimately affects the machining quality. In addition, in the machining of complex parts, the change of machine tool stiffness and dynamic deformation will lead to machining errors. The existing machining control methods lack real-time compensation for machining stiffness and path planning, making it difficult to maintain high-precision machining under changing machining conditions. Summary of the invention

[0004] The main purpose of the present invention is to solve the technical problem that the existing multi-axis CNC machining method ignores the change of static stiffness during the movement of the machine tool, resulting in machining errors;

[0005] A first aspect of the present invention provides a multi-axis linkage CNC machining control method, the multi-axis linkage CNC machining control method comprising:

[0006] Modeling and analyzing the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool to obtain a kinematic model and a static stiffness analysis model of the multi-axis CNC machine tool;

[0007] According to the kinematic model and the static stiffness analysis model, a multi-objective optimization process is performed on the posture of the target workpiece to obtain the optimal workpiece posture parameters of the target workpiece, and based on the optimal workpiece posture parameters, an original tool path of the multi-axis CNC machine tool is replanned to obtain an optimized tool path;

[0008] According to the static stiffness analysis model and the optimized tool path, a compensation strategy is formulated for the static deformation of the multi-axis CNC machine tool during the machining process to obtain an adaptive stiffness compensation scheme;

[0009] Based on the optimized tool path and the adaptive stiffness compensation scheme, the processing of the target workpiece by the multi-axis CNC machine tool is controlled in real time and adaptively adjusted to obtain a closed-loop control strategy.

[0010] Optionally, in a first implementation of the first aspect of the present invention, the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool are modeled and analyzed to obtain the kinematic model and static stiffness analysis model of the multi-axis CNC machine tool, including:

[0011] Performing homogeneous coordinate transformation analysis on each coordinate system of the multi-axis CNC machine tool to obtain a first transformation matrix, wherein the first transformation matrix is ​​used to describe the relationship between the machine tool coordinate system, the worktable coordinate system and the tool coordinate system;

[0012] According to the first transformation matrix, mapping processing is performed on the correspondence between the tool path of the multi-axis CNC machine tool and the machine tool motion parameter to obtain a kinematic model of the multi-axis CNC machine tool;

[0013] Based on the equivalent deformation point displacement transfer theory, the structural topological relationship of the multi-axis CNC machine tool is analyzed and processed to obtain a static stiffness transfer model, and the support parts of each feed mechanism of the multi-axis CNC machine tool are subjected to finite element analysis and regression processing to obtain an analytical flexibility matrix of each support part;

[0014] According to the static stiffness transfer model and the analytical flexibility matrix, a global analysis process is performed on the static deformation characteristics of the multi-axis CNC machine tool during the machining process to obtain a static stiffness analysis model.

[0015] Optionally, in a second implementation of the first aspect of the present invention, performing multi-objective optimization processing on the posture of the target workpiece according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and replanning the original tool path of the multi-axis CNC machine tool based on the optimal workpiece posture parameters to obtain the optimized tool path includes:

[0016] According to the kinematic model and the static stiffness analysis model, a multi-dimensional constraint condition set corresponding to the workpiece posture parameters of the target workpiece is constructed;

[0017] Based on the multidimensional constraint condition set, a multi-objective optimization function of the posture of the target workpiece is constructed, and the multi-objective optimization function is solved according to a preset genetic algorithm to obtain the optimal posture parameters of the target workpiece;

[0018] According to the optimal posture parameters, coordinate transformation processing is performed on the original tool path of the multi-axis CNC machine tool to obtain a tool location point sequence, and singular point identification and local adjustment processing are performed on the tool location point sequence to obtain an optimized tool path.

[0019] Optionally, in a third implementation of the first aspect of the present invention, the coordinate transformation processing is performed on the original tool path of the multi-axis CNC machine tool according to the optimal posture parameters to obtain the tool position point sequence, which includes:

[0020] Constructing a second transformation matrix between the workpiece coordinate system and the worktable coordinate system according to the optimal posture parameters of the target workpiece;

[0021] Performing coordinate transformation operation on each tool position point in the original tool path of the multi-axis CNC machine tool according to the second transformation matrix to obtain transformed tool position point space coordinates;

[0022] The kinematic model of the multi-axis CNC machine tool is used to perform inverse kinematics solution on the spatial coordinates of the tool position point to obtain the multi-axis motion parameters of the machine tool corresponding to each tool position point, and the multi-axis motion parameters of the machine tool are subjected to continuity analysis and interpolation processing to obtain a tool position point sequence.

[0023] Optionally, in a fourth implementation of the first aspect of the present invention, the static deformation of the multi-axis CNC machine tool during machining is compensated according to the static stiffness analysis model and the optimized tool path, and the adaptive stiffness compensation scheme is obtained, including:

[0024] According to the static stiffness analysis model, static deformation calculation is performed on each tool position point in the optimized tool path to obtain expected static deformation, and stiffness performance information of the multi-axis CNC machine tool at different positions and postures is calculated;

[0025] Classifying and analyzing the expected static deformation to obtain a key processing area of ​​the target workpiece, and performing a reverse offset on the optimized tool path corresponding to the key processing area to obtain a compensation tool path;

[0026] According to the compensation tool path, dynamically adjusting the processing parameters of the multi-axis CNC machine tool to obtain an optimized processing parameter combination of the multi-axis CNC machine tool, and constructing a compensation amount dynamic adjustment model based on the optimized processing parameter combination and the stiffness performance information;

[0027] The compensation tool path is optimized according to the compensation amount dynamic adjustment model, and the optimized compensation tool path is combined with the compensation tool path to obtain an adaptive stiffness compensation solution.

[0028] Optionally, in a fifth implementation of the first aspect of the present invention, the classifying and analyzing the expected static deformation to obtain the key processing area of ​​the target workpiece, and reversely offsetting the optimized tool path corresponding to the key processing area to obtain the compensation tool path includes:

[0029] Performing spatial distribution analysis on the expected static deformation to obtain a three-dimensional distribution diagram of the expected static deformation, and clustering the expected static deformation according to the three-dimensional distribution diagram to obtain a deformation clustering result;

[0030] Based on the deformation clustering result, the surface of the target workpiece is divided into regions to obtain workpiece surface sub-regions with different deformation characteristics;

[0031] Evaluate the deformation degree of the sub-areas on the surface of the workpiece to obtain a key processing area where the deformation degree exceeds a preset threshold;

[0032] According to the deformation characteristics of the key processing area, vector decomposition and reverse offset calculation are performed on the corresponding optimized tool path to obtain a compensation tool path in three-dimensional space.

[0033] Optionally, in a sixth implementation of the first aspect of the present invention, based on the optimized tool path and the adaptive stiffness compensation scheme, the processing of the target workpiece by the multi-axis CNC machine tool is controlled in real time and adaptively adjusted to obtain a closed-loop control strategy including:

[0034] Performing real-time data acquisition and processing on the spindle, servo motor and tool position of the multi-axis CNC machine tool to obtain processing parameters of the multi-axis CNC machine tool;

[0035] According to the machining parameters and the optimized tool path, the deviation between the actual machining trajectory and the theoretical trajectory is calculated to obtain real-time machining error data;

[0036] Based on the real-time machining error data and the adaptive stiffness compensation scheme, dynamically correct and calculate the optimized tool path and the machining parameters to obtain a corrected machining instruction;

[0037] The processing instructions are input into a preset processing process optimization model, the processing process is predicted and analyzed, optimization suggestions are obtained, and processing parameters of subsequent processing processes are adjusted according to the optimization suggestions to obtain a closed-loop control strategy.

[0038] A second aspect of the present invention provides a multi-axis linkage CNC machining control device, the multi-axis linkage CNC machining control device comprising:

[0039] A modeling and analysis module, used for modeling and analyzing the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool, to obtain a kinematic model and a static stiffness analysis model of the multi-axis CNC machine tool;

[0040] A parameter optimization module, for performing multi-objective optimization processing on the posture of the target workpiece according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and replanning the original tool path of the multi-axis CNC machine tool based on the optimal workpiece posture parameters to obtain the optimized tool path;

[0041] A compensation module, for formulating a compensation strategy for the static deformation of the multi-axis CNC machine tool during machining according to the static stiffness analysis model and the optimized tool path, and obtaining an adaptive stiffness compensation scheme;

[0042] The control module is used to perform real-time control and adaptive adjustment processing on the processing process of the target workpiece by the multi-axis CNC machine tool based on the optimized tool path and the adaptive stiffness compensation scheme to obtain a closed-loop control strategy.

[0043] The third aspect of the present invention provides a multi-axis linkage CNC machining control device, comprising: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected through lines; the at least one processor calls the instructions in the memory to enable the multi-axis linkage CNC machining control device to execute the steps of the above-mentioned multi-axis linkage CNC machining control method.

[0044] A fourth aspect of the present invention provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer executes the steps of the above-mentioned multi-axis linkage CNC machining control method.

[0045] The above-mentioned multi-axis linkage CNC machining control method, device, equipment and storage medium generate a kinematic model and a static stiffness analysis model by modeling and analyzing the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool. Based on these models, the posture of the target workpiece is optimized in multiple objectives to obtain the optimal workpiece posture parameters, and the original tool path of the machine tool is replanned accordingly to generate an optimized tool path. According to the static stiffness analysis model and the optimized path, a static deformation compensation strategy is formulated during the machining process to obtain an adaptive stiffness compensation scheme. Through the optimized path and the adaptive stiffness compensation scheme, the machining process of the machine tool is controlled and adaptively adjusted in real time to achieve closed-loop control. The present invention takes into account the kinematic characteristics and static stiffness characteristics of the machine tool, optimizes the workpiece posture and tool path, and compensates for static deformation during the machining process in real time, thereby achieving efficient and high-precision CNC machining.

[0046] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of a first embodiment of a multi-axis linkage CNC machining control method in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of an embodiment of a multi-axis linkage CNC machining control device in an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram of an embodiment of a multi-axis linkage CNC machining control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The terms "including" and "having" and any variations thereof mentioned in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device end including a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or device ends.

[0053] To facilitate understanding of this embodiment, a multi-axis linkage CNC machining control method disclosed in an embodiment of the present invention is first described in detail. Figure 1 As shown, the method comprises the following steps:

[0054] 101. Model and analyze the kinematic characteristics and static stiffness characteristics of multi-axis CNC machine tools to obtain the kinematic model and static stiffness analysis model of multi-axis CNC machine tools;

[0055] In one embodiment of the present invention, the modeling and analysis of the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool to obtain the kinematic model and static stiffness analysis model of the multi-axis CNC machine tool includes: performing homogeneous coordinate transformation analysis on each coordinate system of the multi-axis CNC machine tool to obtain a first transformation matrix, wherein the first transformation matrix is ​​used to describe the relationship between the machine tool coordinate system, the worktable coordinate system and the tool coordinate system; mapping the correspondence between the tool path and the machine tool motion parameters of the multi-axis CNC machine tool according to the first transformation matrix to obtain the kinematic model of the multi-axis CNC machine tool; analyzing and processing the structural topological relationship of the multi-axis CNC machine tool based on the equivalent deformation point displacement transfer theory to obtain a static stiffness transfer model, and performing finite element analysis and regression processing on the support parts of each feed mechanism of the multi-axis CNC machine tool to obtain the analytical flexibility matrix of each support part; performing global analysis and processing on the static deformation characteristics of the multi-axis CNC machine tool during the machining process according to the static stiffness transfer model and the analytical flexibility matrix to obtain a static stiffness analysis model.

[0056] Specifically, to achieve the modeling and analysis of the kinematic characteristics and static stiffness characteristics of multi-axis CNC machine tools, it is first necessary to perform homogeneous coordinate transformation analysis on each coordinate system of the machine tool. This process involves establishing the relationship between the machine tool coordinate system (MCS), the table coordinate system (TCS), and the tool coordinate system (DCS). By using a 4x4 homogeneous transformation matrix, the transformation relationship between these coordinate systems can be described. Taking a 5-axis machine tool as an example, assuming that the machine tool has three linear axes X, Y, and Z and two rotation axes B and C, the transformation matrix from MCS to TCS is constructed by performing translation and rotation transformations in sequence. For a BC-type double-cradle 5-axis machine tool, the transformation matrix from MCS to TCS is expressed as:

[0057] ;

[0058] in Represent the translation transformation matrices of the X, Y, and Z axes respectively, Represent the rotation transformation matrices of the B axis and the C axis respectively. Next, based on the obtained first transformation matrix, the corresponding relationship mapping between the tool path of the multi-axis CNC machine tool and the machine tool motion parameters is performed. The core of this step is to establish the relationship between the tool position and direction and the motion parameters of each axis of the machine tool. For a 5-axis machine tool, it is necessary to establish a mapping relationship between the tool position vector P and the tool direction vector O and the five axis motion parameters of the machine tool (x, y, z, b, c). This can be achieved by solving the equation group:

[0059] ;

[0060] in is the transformation matrix obtained in the previous step, which is a function of x, y, z, b, and c. By solving this set of equations, the forward kinematics model is obtained, that is, given the machine tool motion parameters, the position and direction of the tool can be calculated. Then, based on the displacement transfer theory of equivalent deformation points, the structural topological relationship of the multi-axis CNC machine tool is analyzed, and a static stiffness transfer model is constructed. The core of this step is to divide the machine tool structure into two transfer chains, the tool end and the workpiece end, and analyze the stiffness transfer relationship between the various components. First, define the equivalent deformation point of each feed mechanism, and then establish the displacement transfer relationship between these equivalent deformation points. For linear axes, the formula is used to describe the displacement transfer between adjacent equivalent deformation points. The formula is as follows:

[0061] ;

[0062] in is the displacement of the i+1th equivalent deformation point, is the position vector between the equivalent deformation points of the i-th level and the i+1-th level, is the deformation of the i+1-th level support itself. Perform finite element analysis and regression processing on the support of each feed mechanism of the multi-axis CNC machine tool to obtain the analytical flexibility matrix of each support. This step involves detailed finite element modeling and analysis of each component of the machine tool. Apply a unit force or torque to each support, and then calculate its deformation response. By performing regression analysis on multiple sets of data, the flexibility coefficients of the support at different positions are obtained. For example, for the support in the Y direction, its flexibility matrix S_Y is in the form of

[0063] ;

[0064] in is a function of the Y-axis position, which indicates the deformation response in each direction when a unit force or torque is applied in the Y direction. Finally, based on the static stiffness transfer model and the analytical flexibility matrix, the static deformation characteristics of the multi-axis CNC machine tool during the machining process are globally analyzed and processed to construct a static stiffness analysis model. The core of this step is to integrate the information of each part obtained in the previous steps to form a comprehensive model that can describe the static stiffness characteristics of the entire machine tool. Use the following formula to describe the static deformation of the machine tool at a given position and posture:

[0065] ;

[0066] in is the total deformation of the tool relative to the workpiece, is the comprehensive flexibility matrix of the machine tool, is the total force and moment acting on the tool-workpiece contact point. The calculation is done through the flexibility matrix and static stiffness transfer model of each component obtained in the previous step. This model is used to predict the static stiffness performance of the machine tool at different positions and postures, providing a basis for the subsequent compensation strategy formulation.

[0067] 102. According to the kinematic model and the static stiffness analysis model, the posture of the target workpiece is optimized by multi-objective optimization to obtain the optimal workpiece posture parameters of the target workpiece, and based on the optimal workpiece posture parameters, the original tool path of the multi-axis CNC machine tool is replanned to obtain the optimized tool path;

[0068] In one embodiment of the present invention, the posture of the target workpiece is multi-objective optimized according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and based on the optimal workpiece posture parameters, the original tool path of the multi-axis CNC machine tool is re-planned to obtain the optimized tool path, which includes: constructing a multi-dimensional constraint condition set corresponding to the workpiece posture parameters of the target workpiece according to the kinematic model and the static stiffness analysis model; constructing a multi-objective optimization function of the posture of the target workpiece based on the multi-dimensional constraint condition set, and solving the multi-objective optimization function according to a preset genetic algorithm to obtain the optimal posture parameters of the target workpiece; according to the optimal posture parameters, the original tool path of the multi-axis CNC machine tool is coordinate transformed to obtain a tool position point sequence, and singular point identification and local adjustment are performed on the tool position point sequence to obtain an optimized tool path.

[0069] Specifically, to achieve multi-objective optimization of the target workpiece posture and tool path replanning, it is first necessary to construct a multidimensional constraint set corresponding to the workpiece posture parameters based on the established kinematic model and static stiffness analysis model. These constraints include singularity avoidance, machining space accessibility, and ideal stiffness machining space. For singularity avoidance, it is achieved by limiting the angle between the tool axis vector and the Z axis, for example, setting a threshold β*, usually between 1° and 5°, to ensure that any angle between the tool axis vector and the Z axis is greater than this threshold. The machining space accessibility constraint ensures that all tool position points are within the working range of the machine tool, which involves the travel limit of the linear axis and the rotary axis. The ideal stiffness machining space constraint requires that the tool position point fall within the spatial area where the machine tool deformation is small, which can be determined by the static stiffness analysis model.

[0070] Based on these multi-dimensional constraint sets, a multi-objective optimization function for the target workpiece posture is then constructed. This optimization function usually contains two main objectives: motion coordination and processing stiffness. The motion coordination evaluation function considers the coherence of the motion of each axis and quantifies it by analyzing the number and degree of velocity mutation points. For example, a mutation index can be defined

[0071] ;

[0072] in is the travel distance between adjacent mutation points, span is the travel span of the entire tool path, is the angle change at the mutation point, is the number of tool positions between two adjacent mutation points. The machining stiffness evaluation function is based on the static stiffness analysis model to calculate the cumulative deformation of the entire tool path sequence. Then, the preset genetic algorithm is used to solve this multi-objective optimization function. The genetic algorithm is chosen because it can effectively handle complex multi-objective optimization problems. In this process, the position and orientation parameters of the workpiece are encoded as chromosomes, and new solutions are generated through operations such as crossover and mutation. The quality of the solution is evaluated using non-dominated sorting and crowding calculation. After multiple generations of iterations, a set of Pareto optimal solutions is finally obtained, from which the best workpiece posture parameters are selected as the final result. After obtaining the optimal posture parameters, the original tool path of the multi-axis CNC machine tool is subjected to coordinate transformation. This step first uses the optimal posture parameters to update the transformation relationship between the workpiece coordinate system and the machine tool coordinate system, and then transforms each tool position in the original tool path from the workpiece coordinate system to the machine tool coordinate system. Specifically, for each tool position, the homogeneous coordinate transformation matrix is ​​applied for coordinate transformation to obtain a new tool position sequence. Finally, the obtained new tool position sequence is subjected to singular point identification and local adjustment. Singular point identification is usually based on the kinematic model of the machine tool, checking whether each tool position point is close to a singular configuration. For identified singular points or areas close to singularity, local adjustments need to be made. Adjustment methods include inserting transition points, fine-tuning the tool axis vector, or replanning local paths. For example, additional tool position points can be added near the singular point to make the tool posture change smoother, or the tool axis direction can be slightly changed to keep it away from the singular configuration. These adjustments need to be made while ensuring machining accuracy, and multiple iterations may be required to obtain satisfactory results.

[0073] Furthermore, the coordinate transformation processing is performed on the original tool path of the multi-axis CNC machine tool according to the optimal posture parameters to obtain a tool position point sequence, including: constructing a second transformation matrix between the workpiece coordinate system and the worktable coordinate system according to the optimal posture parameters of the target workpiece; performing coordinate transformation operation on each tool position point in the original tool path of the multi-axis CNC machine tool according to the second transformation matrix to obtain the transformed tool position point space coordinates; using the kinematic model of the multi-axis CNC machine tool to perform inverse kinematics solution on the tool position point space coordinates to obtain the machine tool multi-axis motion parameters corresponding to each tool position point, and performing continuity analysis and interpolation processing on the machine tool multi-axis motion parameters to obtain a tool position point sequence.

[0074] Specifically, the process of realizing coordinate transformation of the original tool path of a multi-axis CNC machine tool based on the optimal posture parameters first requires constructing a second transformation matrix between the workpiece coordinate system and the worktable coordinate system according to the optimal posture parameters of the target workpiece. This step uses the workpiece position and orientation parameters obtained by the previous optimization to establish a 4x4 transformation matrix through the homogeneous coordinate transformation method. Specifically, for a 5-axis machine tool system, assuming that the optimal posture parameters include the translation of the workpiece in the x, y, and z directions and the rotation angles around the x, y, and z axes, the transformation matrix can be constructed by performing translation and rotation transformations in sequence. For example, the transformation matrix It can be expressed as

[0075] ;

[0076] in represents the translation transformation, Represents the rotation transformation around the x, y, and z axes respectively. Next, the constructed second transformation matrix is ​​used to perform coordinate transformation operations on each tool position point in the original tool path of the multi-axis CNC machine tool. This step requires traversing all tool position points in the original tool path and applying the second transformation matrix to each tool position point for coordinate transformation. The specific operation is to transform the coordinates of each tool position point and the tool axis direction vector from the workpiece coordinate system to the worktable coordinate system. For each tool position point, the transformation matrix T is applied. , and obtain the new coordinates and tool axis direction in the worktable coordinate system. This process can be expressed as

[0077] ;

[0078] ;

[0079] in and are the position and direction vector of the original tool position point, and are the transformed position and direction vectors, yes The rotating part. Then, the kinematic model of the multi-axis CNC machine tool is used to perform inverse kinematics solution on the transformed tool position point space coordinates. The purpose of this step is to convert the position and direction of the tool position point in the worktable coordinate system into the motion parameters of each axis of the machine tool. For a 5-axis machine tool, it is necessary to solve the positions of the three linear axes X, Y, and Z and the angles of the two rotation axes. This process usually involves solving a set of nonlinear equations, which can be implemented using numerical methods such as the Newton-Raphson method or the Jacobi iteration method. For example, for a 5-axis machine tool with an XYZBC structure, the following set of equations needs to be solved

[0080] ;

[0081] Where f is a function defined by the machine tool kinematic model, and [x, y, z, b, c] are the machine tool axis motion parameters to be solved. Finally, the obtained machine tool multi-axis motion parameters are subjected to continuity analysis and interpolation processing. The purpose of this step is to ensure smooth motion between adjacent tool positions and avoid mutations and shocks. Continuity analysis includes checking the rate of change of each axis motion parameter and identifying mutation points that may lead to a decrease in machining quality. For the discontinuous points found, interpolation processing is required. The interpolation method can be selected from linear interpolation, spline interpolation, or higher-order interpolation methods, depending on the required smoothness and computational complexity. For example, cubic spline interpolation can be used to generate a smooth trajectory of the motion parameters of each axis to ensure the continuity of velocity and acceleration. After interpolation processing, a new, optimized sequence of tool position points is obtained, which not only meets the optimal posture requirements of the workpiece, but also ensures the smoothness of the machine tool motion.

[0082] 103. Based on the static stiffness analysis model and optimized tool path, a compensation strategy is formulated for the static deformation of multi-axis CNC machine tools during machining, and an adaptive stiffness compensation scheme is obtained;

[0083] In one embodiment of the present invention, according to the static stiffness analysis model and the optimized tool path, a compensation strategy is formulated for the static deformation of the multi-axis CNC machine tool during the machining process to obtain an adaptive stiffness compensation scheme, including: according to the static stiffness analysis model, static deformation calculation is performed on each tool position in the optimized tool path to obtain expected static deformation, and stiffness performance information of the multi-axis CNC machine tool at different positions and postures is calculated; the expected static deformation is classified and analyzed to obtain the key machining area of ​​the target workpiece, and the optimized tool path corresponding to the key machining area is reversely offset to obtain a compensation tool path; according to the compensation tool path, the machining parameters of the multi-axis CNC machine tool are dynamically adjusted to obtain an optimized machining parameter combination of the multi-axis CNC machine tool, and a compensation amount dynamic adjustment model is constructed based on the optimized machining parameter combination and the stiffness performance information; the compensation tool path is optimized according to the compensation amount dynamic adjustment model, and the optimized compensation tool path and the compensation tool path are combined to obtain an adaptive stiffness compensation scheme.

[0084] Specifically, to realize the adaptive stiffness compensation scheme based on the static stiffness analysis model and the optimized tool path, it is first necessary to use the static stiffness analysis model to calculate the static deformation of each tool position in the optimized tool path. This step involves applying an estimated cutting force to each tool position, and then using the static stiffness analysis model to calculate the expected deformation of the tool relative to the workpiece. Specifically, for each tool position, it is necessary to consider the deformation caused by the weight of the machine tool and the deformation caused by the cutting force. At the same time, the static stiffness analysis model is used to calculate the stiffness performance information of the multi-axis CNC machine tool at different positions and postures, which includes the stiffness coefficients of each axis of the machine tool at different positions and the coupling stiffness characteristics between each component. Next, the calculated expected static deformation is classified and analyzed to determine the key processing area of ​​the target workpiece. This step usually includes clustering analysis of the deformation to identify the area with larger deformation. For example, the K-means clustering algorithm can be used to classify tool positions with similar deformation into one category, and then determine which categories belong to the key processing area based on the preset threshold. For the identified key processing area, the corresponding optimized tool path needs to be reversed. The purpose of reverse offset is to pre-compensate the expected deformation during the machining process, thereby improving the machining accuracy. The specific operation is to offset each tool position point in the opposite direction of the expected deformation by a certain distance, which is usually equal to the size of the expected deformation. Then, based on the compensated tool path, the machining parameters of the multi-axis CNC machine tool are dynamically adjusted. The purpose of this step is to optimize the machining parameters to balance the machining efficiency and deformation control. The machining parameters that need to be considered include feed rate, cutting depth and cutting width. By adjusting these parameters, the machining efficiency can be improved as much as possible while ensuring the machining quality. For example, the feed rate and cutting amount can be appropriately increased in areas with small deformation, while these parameters need to be reduced in areas with large deformation. Based on the optimized machining parameter combination and the previously calculated stiffness performance information, a compensation amount dynamic adjustment model is constructed. The role of this model is to dynamically adjust the compensation amount according to the real-time position and posture information during the machining process. Finally, the compensation tool path is further optimized using the constructed compensation amount dynamic adjustment model. The core of this step is to transform the static compensation strategy into a dynamic adaptive strategy. In the specific implementation, the compensation amount of each tool position needs to be carefully adjusted, taking into account the actual stiffness performance of the machine tool at that point and the expected processing conditions. The optimization process may involve iterative calculations, and the compensation amount is continuously adjusted until the preset accuracy requirements are met. The optimized compensation tool path is compared and synthesized with the original compensation tool path to obtain the final adaptive stiffness compensation solution. This solution not only includes the optimized tool path, but also includes the corresponding dynamic processing parameter adjustment strategy.

[0085] Furthermore, the expected static deformation is classified and analyzed to obtain the key processing area of ​​the target workpiece, and the optimized tool path corresponding to the key processing area is reversely offset to obtain the compensation tool path, including: spatial distribution analysis of the expected static deformation to obtain a three-dimensional distribution map of the expected static deformation, and clustering the expected static deformation according to the three-dimensional distribution map to obtain a deformation clustering result; based on the deformation clustering result, the surface of the target workpiece is divided into regions to obtain workpiece surface sub-regions with different deformation characteristics; the deformation degree of the workpiece surface sub-region is evaluated to obtain the key processing area where the deformation degree exceeds a preset threshold; according to the deformation characteristics of the key processing area, the corresponding optimized tool path is vector decomposed and reverse offset calculated to obtain a compensation tool path in three-dimensional space.

[0086] Specifically, to realize the classification analysis of the expected static deformation and the generation of the compensation tool path, it is necessary to first analyze the spatial distribution of the expected static deformation. This step involves mapping the expected static deformation of each tool position point into a three-dimensional space to form a spatial distribution map of the deformation. The specific operation includes using an interpolation algorithm, such as Kriging interpolation or radial basis function interpolation, to convert discrete deformation data into a continuous three-dimensional distribution function. This three-dimensional distribution map intuitively shows the degree of deformation of different areas on the workpiece surface, which is helpful for subsequent analysis and processing. Based on the generated three-dimensional distribution map, the expected static deformation is then clustered. The purpose of clustering is to group areas with similar deformation characteristics into a group, which is convenient for subsequent regional division and analysis. Commonly used clustering algorithms include K-means clustering, hierarchical clustering, or density clustering. For example, when using the K-means clustering algorithm, it is necessary to pre-set the number of clusters K, and then assign all points to K clusters according to the size and spatial position of the deformation. The clustering results reflect the overall distribution characteristics of the deformation of the workpiece surface and provide a basis for subsequent regional division. Then, the surface of the target workpiece is regionally divided based on the deformation clustering results. The core of this step is to map the clustering results onto the actual surface of the workpiece to form surface sub-regions with different deformation characteristics. The region division process needs to consider the geometric characteristics and processing requirements of the workpiece to ensure that the divided sub-regions are consistent in processing technology. For example, for complex curved surface workpieces, it may be necessary to combine the curvature information of the workpiece for region division to ensure that the processing conditions in each sub-region are relatively consistent. The next key step is to evaluate the deformation degree of the divided workpiece surface sub-regions. The evaluation process involves calculating statistical characteristics such as the average deformation, maximum deformation, and standard deviation of deformation distribution in each sub-region. By setting a preset threshold, such as 1.5 times the standard deviation of the average deformation, areas with deformation exceeding the threshold can be identified, and these areas are defined as critical processing areas. These critical processing areas are usually the focus of processing accuracy control and require special compensation processing. Finally, according to the deformation characteristics of the identified critical processing areas, the corresponding optimized tool path is vector decomposed and reverse offset calculated. This step first requires decomposing the expected deformation of each tool position point into three directional components in the tool coordinate system. Then, reverse offset calculation is performed on the deformation component in each direction. The distance of the reverse offset is usually equal to the expected deformation, but in the opposite direction. When operating, it is necessary to consider the actual geometric characteristics of the tool and the processing requirements to ensure that the offset tool position still meets the processing requirements. For example, for a ball-end tool, it may be necessary to adjust the tool center point position and tool axis direction at the same time to ensure the correct contact between the cutting edge and the workpiece surface.

[0087] 104. Based on the optimized tool path and adaptive stiffness compensation scheme, the processing process of the multi-axis CNC machine tool machining the target workpiece is controlled in real time and adaptively adjusted to obtain a closed-loop control strategy.

[0088] In one embodiment of the present invention, based on the optimized tool path and the adaptive stiffness compensation scheme, the processing process of the target workpiece by the multi-axis CNC machine tool is controlled and adaptively adjusted in real time to obtain a closed-loop control strategy, including: real-time data acquisition and processing of the spindle, servo motor and tool position of the multi-axis CNC machine tool to obtain the processing parameters of the multi-axis CNC machine tool; based on the processing parameters and the optimized tool path, the deviation between the actual processing trajectory and the theoretical trajectory is calculated to obtain real-time processing error data; based on the real-time processing error data and the adaptive stiffness compensation scheme, the optimized tool path and the processing parameters are dynamically corrected and calculated to obtain corrected processing instructions; the processing instructions are input into a preset processing process optimization model, the processing process is predicted and analyzed to obtain optimization suggestions, and based on the optimization suggestions, the processing parameters of the subsequent processing process are adjusted to obtain a closed-loop control strategy.

[0089] Specifically, to achieve real-time control and adaptive adjustment of the multi-axis CNC machine tool machining process based on optimized tool path and adaptive stiffness compensation scheme, it is first necessary to collect and process real-time data of the spindle, servo motor and tool position of the multi-axis CNC machine tool. This step involves the use of high-precision sensor systems, such as acceleration sensors installed on the spindle to monitor cutting vibration, current sensors of servo motors to estimate actual cutting force, and high-precision position measurement devices such as laser trackers or grating rulers to track the actual position of the tool in real time. After digital filtering and signal processing, the collected raw data is converted into real-time machining parameters of the multi-axis CNC machine tool including cutting force, vibration frequency and amplitude, actual feed speed, spindle speed, etc. Next, the deviation between the actual machining trajectory and the theoretical trajectory is calculated using the obtained machining parameters and the pre-planned optimized tool path. This step includes comparing the measured tool position with the theoretical tool path, calculating the position deviation in the three directions of X, Y, and Z, and also considering the deviation of the tool posture in 5-axis machining, that is, the angular deviation between the tool axial direction and the theoretical direction. By comprehensively analyzing these deviation data, machining error data reflecting the real-time status of the machining process is obtained. For example, for a complex curved workpiece, the deviation can be analyzed at key feature points, such as the inflection point of the surface or the area with large curvature changes. Then, based on the calculated real-time machining error data and the pre-established adaptive stiffness compensation scheme, the optimized tool path and machining parameters are dynamically corrected and calculated. The core of this step is to adjust the compensation amount and machining parameters according to the real-time error data to reduce the machining error. The specific operation includes real-time fine-tuning of the position and posture of the subsequent tool position points according to the size and change trend of the error, combined with the compensation strategy in the adaptive stiffness compensation scheme. At the same time, it is also necessary to dynamically adjust the machining parameters such as feed speed and spindle speed to balance the machining efficiency and accuracy requirements. The dynamic characteristics of the machine tool need to be considered during the adjustment process to avoid vibration or other instability caused by excessive adjustment. After these adjustments, the corrected machining instructions are obtained, including the adjusted tool path and optimized machining parameters. Inputting the corrected machining instructions into the pre-established machining process optimization model is the next key step. This optimization model is usually based on machine learning algorithms, such as support vector regression (SVR) or long short-term memory network (LSTM), which can predict future machining trends based on historical machining data and current machining status. The input of the model includes the revised machining instructions, the current machining parameters, and the real-time monitoring of the machine tool status information, and the output is the prediction results and optimization suggestions for the subsequent machining process. These suggestions may include further adjusting the machining parameters, modifying the tool path, or changing the cutting strategy. For example, if the model predicts that excessive cutting forces will appear in a certain area, it may suggest reducing the feed speed or adjusting the cutting depth in that area. Finally, according to the optimization suggestions output by the machining process optimization model, the machining parameters of the subsequent machining process are adjusted.This step involves converting the model's recommendations into specific control instructions. The adjustment process needs to take into account the physical limitations and process requirements of the machine tool to ensure that the adjusted parameters are within the feasible range. At the same time, the smoothness of the adjustment needs to be considered to avoid fluctuations in machining quality caused by sudden changes in parameters. Through continuous monitoring, prediction and adjustment, a closed-loop control strategy is formed to enable the machining process to dynamically adapt to different machining conditions and workpiece characteristics. This closed-loop control strategy is continuously iterated and optimized. As the machining progresses, more machining data and experience are accumulated to further improve the accuracy of prediction and control.

[0090] In this embodiment, the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool are modeled and analyzed to generate a kinematic model and a static stiffness analysis model. Based on these models, the posture of the target workpiece is optimized for multiple objectives to obtain the optimal workpiece posture parameters, and the original tool path of the machine tool is replanned accordingly to generate an optimized tool path. According to the static stiffness analysis model and the optimized path, a static deformation compensation strategy during the machining process is formulated to obtain an adaptive stiffness compensation scheme. Through the optimized path and the adaptive stiffness compensation scheme, the machining process of the machine tool is controlled and adaptively adjusted in real time to achieve closed-loop control. The present invention takes into account the kinematic characteristics and static stiffness characteristics of the machine tool, optimizes the workpiece posture and tool path, and compensates for static deformation during the machining process in real time, thereby achieving efficient and high-precision CNC machining.

[0091] The above describes the multi-axis linkage CNC machining control method in the embodiment of the present invention. The following describes the multi-axis linkage CNC machining control device in the embodiment of the present invention. Figure 2 In one embodiment of the present invention, a multi-axis linkage CNC machining control device includes:

[0092] A modeling and analysis module 201 is used to model and analyze the kinematic characteristics and static stiffness characteristics of a multi-axis CNC machine tool to obtain a kinematic model and a static stiffness analysis model of the multi-axis CNC machine tool;

[0093] A parameter optimization module 202 is used to perform multi-objective optimization processing on the posture of the target workpiece according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and re-plan the original tool path of the multi-axis CNC machine tool based on the optimal workpiece posture parameters to obtain an optimized tool path;

[0094] A compensation module 203 is used to formulate a compensation strategy for the static deformation of the multi-axis CNC machine tool during the machining process according to the static stiffness analysis model and the optimized tool path, and obtain an adaptive stiffness compensation scheme;

[0095] The control module 204 is used to perform real-time control and adaptive adjustment processing on the processing of the target workpiece by the multi-axis CNC machine tool based on the optimized tool path and the adaptive stiffness compensation scheme to obtain a closed-loop control strategy.

[0096] In an embodiment of the present invention, the multi-axis linkage CNC machining control device runs the multi-axis linkage CNC machining control method, and the multi-axis linkage CNC machining control device models and analyzes the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool to generate a kinematic model and a static stiffness analysis model. Based on these models, the posture of the target workpiece is multi-objective optimized to obtain the optimal workpiece posture parameters, and the original tool path of the machine tool is replanned accordingly to generate an optimized tool path. According to the static stiffness analysis model and the optimized path, a static deformation compensation strategy in the machining process is formulated to obtain an adaptive stiffness compensation scheme. Through the optimized path and the adaptive stiffness compensation scheme, the machining process of the machine tool is controlled and adaptively adjusted in real time to achieve closed-loop control. The present invention takes into account the kinematic characteristics and static stiffness characteristics of the machine tool, optimizes the workpiece posture and tool path, and compensates for static deformation in the machining process in real time, thereby achieving efficient and high-precision CNC machining.

[0097] above Figure 2 The multi-axis linkage CNC machining control device in the embodiment of the present invention is described in detail from the perspective of modular functional entity, and the multi-axis linkage CNC machining control device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0098] Figure 3 It is a structural schematic diagram of a multi-axis linkage CNC machining control device provided by an embodiment of the present invention. The multi-axis linkage CNC machining control device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 310 (for example, one or more processors) and a memory 320, and one or more storage media 330 (for example, one or more mass storage device terminals) storing application programs 333 or data 332. Among them, the memory 320 and the storage medium 330 can be short-term storage or permanent storage. The program stored in the storage medium 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the multi-axis linkage CNC machining control device 300. Furthermore, the processor 310 can be configured to communicate with the storage medium 330, and execute a series of instruction operations in the storage medium 330 on the multi-axis linkage CNC machining control device 300 to implement the steps of the above-mentioned multi-axis linkage CNC machining control method.

[0099] The multi-axis linkage CNC machining control device 300 may also include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input and output interfaces 360, and / or one or more operating systems 331, such as WindowsServe, MacOSX, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that Figure 3 The structure of the multi-axis linkage CNC machining control device shown does not constitute a limitation on the multi-axis linkage CNC machining control device provided by the present invention, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0100] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the multi-axis linkage CNC machining control method.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0102] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0103] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-axis linkage CNC machining control method, characterized in that: The multi-axis linkage CNC machining control method comprises: Modeling and analyzing the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool to obtain a kinematic model and a static stiffness analysis model of the multi-axis CNC machine tool; According to the kinematic model and the static stiffness analysis model, a multi-objective optimization process is performed on the posture of the target workpiece to obtain the optimal workpiece posture parameters of the target workpiece, and based on the optimal workpiece posture parameters, an original tool path of the multi-axis CNC machine tool is replanned to obtain an optimized tool path; According to the static stiffness analysis model and the optimized tool path, a compensation strategy is formulated for the static deformation of the multi-axis CNC machine tool during the machining process to obtain an adaptive stiffness compensation scheme; Based on the optimized tool path and the adaptive stiffness compensation scheme, the processing of the target workpiece by the multi-axis CNC machine tool is controlled in real time and adaptively adjusted to obtain a closed-loop control strategy.

2. The multi-axis linkage CNC machining control method according to claim 1, characterized in that: The kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool are modeled and analyzed to obtain the kinematic model and static stiffness analysis model of the multi-axis CNC machine tool, including: Performing homogeneous coordinate transformation analysis on each coordinate system of the multi-axis CNC machine tool to obtain a first transformation matrix, wherein the first transformation matrix is ​​used to describe the relationship between the machine tool coordinate system, the worktable coordinate system and the tool coordinate system; According to the first transformation matrix, mapping processing is performed on the correspondence between the tool path of the multi-axis CNC machine tool and the machine tool motion parameter to obtain a kinematic model of the multi-axis CNC machine tool; Based on the equivalent deformation point displacement transfer theory, the structural topological relationship of the multi-axis CNC machine tool is analyzed and processed to obtain a static stiffness transfer model, and the support parts of each feed mechanism of the multi-axis CNC machine tool are subjected to finite element analysis and regression processing to obtain an analytical flexibility matrix of each support part; According to the static stiffness transfer model and the analytical flexibility matrix, a global analysis process is performed on the static deformation characteristics of the multi-axis CNC machine tool during the machining process to obtain a static stiffness analysis model.

3. The multi-axis linkage CNC machining control method according to claim 1, characterized in that: The method of performing multi-objective optimization processing on the posture of the target workpiece according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and replanning the original tool path of the multi-axis CNC machine tool based on the optimal workpiece posture parameters to obtain the optimized tool path includes: Constructing a multidimensional constraint condition set corresponding to the workpiece posture parameters of the target workpiece according to the kinematic model and the static stiffness analysis model; Based on the multidimensional constraint condition set, a multi-objective optimization function of the posture of the target workpiece is constructed, and the multi-objective optimization function is solved according to a preset genetic algorithm to obtain the optimal posture parameters of the target workpiece; According to the optimal posture parameters, coordinate transformation processing is performed on the original tool path of the multi-axis CNC machine tool to obtain a tool location point sequence, and singular point identification and local adjustment processing are performed on the tool location point sequence to obtain an optimized tool path.

4. The multi-axis linkage CNC machining control method according to claim 3, characterized in that: The coordinate transformation process is performed on the original tool path of the multi-axis CNC machine tool according to the optimal posture parameters to obtain a tool position point sequence, which includes: Constructing a second transformation matrix between the workpiece coordinate system and the worktable coordinate system according to the optimal posture parameters of the target workpiece; Performing coordinate transformation operation on each tool position point in the original tool path of the multi-axis CNC machine tool according to the second transformation matrix to obtain transformed tool position point space coordinates; The kinematic model of the multi-axis CNC machine tool is used to perform inverse kinematics solution on the spatial coordinates of the tool position point to obtain the multi-axis motion parameters of the machine tool corresponding to each tool position point, and the multi-axis motion parameters of the machine tool are subjected to continuity analysis and interpolation processing to obtain a tool position point sequence.

5. The multi-axis linkage CNC machining control method according to claim 1, characterized in that: The method of formulating a compensation strategy for the static deformation of the multi-axis CNC machine tool during machining based on the static stiffness analysis model and the optimized tool path to obtain an adaptive stiffness compensation scheme includes: According to the static stiffness analysis model, static deformation calculation is performed on each tool position point in the optimized tool path to obtain expected static deformation, and stiffness performance information of the multi-axis CNC machine tool at different positions and postures is calculated; Classifying and analyzing the expected static deformation to obtain a key processing area of ​​the target workpiece, and performing a reverse offset on the optimized tool path corresponding to the key processing area to obtain a compensation tool path; According to the compensation tool path, dynamically adjusting the processing parameters of the multi-axis CNC machine tool to obtain an optimized processing parameter combination of the multi-axis CNC machine tool, and constructing a compensation amount dynamic adjustment model based on the optimized processing parameter combination and the stiffness performance information; The compensation tool path is optimized according to the compensation amount dynamic adjustment model, and the optimized compensation tool path is combined with the compensation tool path to obtain an adaptive stiffness compensation solution.

6. The multi-axis linkage CNC machining control method according to claim 5, characterized in that: The method of classifying and analyzing the expected static deformation to obtain the key processing area of ​​the target workpiece, and performing reverse offset on the optimized tool path corresponding to the key processing area to obtain the compensation tool path includes: Performing spatial distribution analysis on the expected static deformation to obtain a three-dimensional distribution diagram of the expected static deformation, and clustering the expected static deformation according to the three-dimensional distribution diagram to obtain a deformation clustering result; Based on the deformation clustering result, the surface of the target workpiece is divided into regions to obtain workpiece surface sub-regions with different deformation characteristics; Evaluate the deformation degree of the sub-areas on the surface of the workpiece to obtain a key processing area where the deformation degree exceeds a preset threshold; According to the deformation characteristics of the key processing area, vector decomposition and reverse offset calculation are performed on the corresponding optimized tool path to obtain a compensation tool path in three-dimensional space.

7. The multi-axis linkage CNC machining control method according to claim 1, characterized in that: Based on the optimized tool path and the adaptive stiffness compensation scheme, the processing of the target workpiece by the multi-axis CNC machine tool is controlled in real time and adaptively adjusted to obtain a closed-loop control strategy including: Performing real-time data acquisition and processing on the spindle, servo motor and tool position of the multi-axis CNC machine tool to obtain processing parameters of the multi-axis CNC machine tool; According to the machining parameters and the optimized tool path, the deviation between the actual machining trajectory and the theoretical trajectory is calculated to obtain real-time machining error data; Based on the real-time machining error data and the adaptive stiffness compensation scheme, dynamically correct and calculate the optimized tool path and the machining parameters to obtain a corrected machining instruction; The processing instructions are input into a preset processing process optimization model, the processing process is predicted and analyzed, optimization suggestions are obtained, and processing parameters of subsequent processing processes are adjusted according to the optimization suggestions to obtain a closed-loop control strategy.

8. A multi-axis linkage CNC machining control device, characterized in that: The multi-axis linkage CNC machining control device comprises: A modeling and analysis module, used for modeling and analyzing the kinematic characteristics and static stiffness characteristics of the multi-axis CNC machine tool, to obtain a kinematic model and a static stiffness analysis model of the multi-axis CNC machine tool; A parameter optimization module, for performing multi-objective optimization processing on the posture of the target workpiece according to the kinematic model and the static stiffness analysis model to obtain the optimal workpiece posture parameters of the target workpiece, and replanning the original tool path of the multi-axis CNC machine tool based on the optimal workpiece posture parameters to obtain the optimized tool path; A compensation module, for formulating a compensation strategy for the static deformation of the multi-axis CNC machine tool during machining according to the static stiffness analysis model and the optimized tool path, and obtaining an adaptive stiffness compensation scheme; The control module is used to perform real-time control and adaptive adjustment processing on the processing process of the target workpiece by the multi-axis CNC machine tool based on the optimized tool path and the adaptive stiffness compensation scheme to obtain a closed-loop control strategy.

9. A multi-axis linkage CNC machining control device, characterized in that: The multi-axis linkage CNC machining control device comprises: a memory and at least one processor, wherein the memory stores instructions; The at least one processor calls the instructions in the memory to enable the multi-axis linkage CNC machining control device to execute the steps of the multi-axis linkage CNC machining control method as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the steps of the multi-axis linkage CNC machining control method as described in any one of claims 1-7 are implemented.

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