Control system and method suitable for five-axis machining center

Abstract

The invention relates to the field of numerical control machining center control, in particular to a control system and method suitable for a five-axis machining center, and the system comprises a data input module, a path planning module, a data processing module, a data processing module and a control module, the motion path generating module is used for generating a motion path of a cutter according to the geometrical shape and process requirements of a machined part, the motion control module is used for controlling motion of all axes in real time, the interference detection module is used for adjusting the path or posture of the cutter according to a detection result, and the feedback control module is used for collecting state data in the machining process through all sensors. And real-time adjustment and error compensation are carried out on the machining process according to the data, so that the problems of poor machining precision and relatively low working efficiency due to the fact that a machining tool path needs to be manually demonstrated during operation of the five-axis machining center at the present stage and parameters such as tool compensation, feeding amount and cutting speed need to be manually input according to a tool model are solved.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machining center control, and in particular to a control system and method suitable for a five-axis machining center. Background Art

[0002] At present, multi-axis milling is often used for high-precision machining of complex thin-walled parts in the aerospace field. This places higher demands on the comprehensive performance of multi-axis milling equipment. As the top priority of multi-axis linkage equipment, the CNC system is the basis for realizing automation, precision and integration of machining and manufacturing.

[0003] It is difficult to guarantee the processing quality and efficiency of complex thin-walled parts and impellers in the aviation field during multi-axis milling. Five-axis machining centers are often used for rough machining and fine machining respectively. Traditional five-axis machining center control systems usually use G-code-based programming. Since the parts in the aviation field require high precision and large cutting volume, long-term processing is required, and operators are required to perform repeated measurements for a long time to avoid deviations. Therefore, during the processing, the planning of the processing path, the adjustment of the tool posture, the setting of the cutting parameters and whether there is interference in the cutting are particularly important.

[0004] At present, the operation of five-axis machining centers requires manual demonstration of machining tool paths, manual input of tool compensation, feed rate, cutting speed and other parameters according to the tool model, and repeated pauses of the machine for measurement to ensure machining accuracy, resulting in low work efficiency.

[0005] In summary, a control system and method suitable for a five-axis machining center are proposed to solve the problems raised in the above background technology. Summary of the invention

[0006] The present invention provides a control system and method suitable for a five-axis machining center, so as to solve the problems that the current five-axis machining center needs manual demonstration of machining tool paths during operation, manual input of tool compensation, feed rate, cutting speed and other parameters according to the tool model, poor machining accuracy and low work efficiency.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a control system suitable for a five-axis machining center, including a data input module: receiving data of a machining task from an external device or a user interface, parsing the received data into a format recognizable by the system, verifying the parsed data to ensure the integrity and correctness of the data, and storing the verified data in a memory or a database of the system for calling by other modules; Path planning module: connected to the data input module, generates the tool motion path according to the geometric shape and process requirements of the processed parts, optimizes the tool posture according to the geometric characteristics of the processed surface, detects the interference between the tool and the workpiece, fixture or machine tool itself in real time, and adjusts the path to avoid collision; Motion control module: connected to the path planning module, responsible for converting the tool motion path and posture generated by the path planning module into specific motion instructions for the machine tool X, Y, Z axes and two rotation axes, and controlling the motion of each axis in real time; Interference detection module: connected to the motion control system of the machine tool, it detects the dynamic interference between the tool and the workpiece or fixture in real time during the machining process, adjusts the tool path or posture according to the detection results to avoid collision, and activates the emergency stop button to stop the machine when a risk of collision is found; Feedback control module: includes position sensors, temperature sensors, vibration sensors and force sensors installed inside the machine tool. Each sensor collects status data during the processing and makes real-time adjustments and error compensation to the processing process based on the data.

[0008] It is further defined that the data input module is connected to the control panel, and the data input module includes the functions of data reception, data analysis, data verification and data storage. The CAD file storing the part geometry, the NC code used to describe the processing path and parameters, and the file storing the tool parameters and cutting parameters are imported into the data input module of the five-axis machining center. The data input module performs geometric analysis on the CAD file, extracts the geometric features of the processing surface, performs syntax analysis on the NC code, generates the processing path and motion instructions, and after completion, further verifies the parameters to ensure the rationality of the processing path and cutting parameters. The data input module performs file selection, parameter editing and data preview through the control panel.

[0009] It is further defined that the path planning module includes a tool path module, a tool posture optimization module and a tool compensation module. The tool path module generates different tool paths and cutting parameters for various milling cutters according to the shape of the part. First, the path points are evenly distributed in the parameter space according to the equal parameter method or the path density is dynamically adjusted according to the surface curvature according to the adaptive method. The rough machining path and the fine machining path are generated according to the cutting depth, feed speed and feed amount. Then, the tool posture optimization module adjusts the rake angle and roll angle of the tool according to the normal vector of the machining surface and the tool geometric parameters, calculates the optimal posture of the tool, and realizes a smooth transition of the tool posture between the path points to avoid machining errors or machine tool vibrations caused by sudden changes in posture. The tool compensation module compensates for the geometric error, wear error and installation error of the tool in real time during the machining process to ensure machining accuracy and surface quality.

[0010] It is further defined that the tool compensation module includes geometric error compensation, wear error compensation, installation error compensation and dynamic compensation. A tool setting instrument and an angle measuring instrument are installed in the tool magazine. After the part is clamped on the machine tool workbench, the tool length and radius are measured by the tool setting instrument, and the tool length compensation instruction and tool radius compensation instruction are automatically inserted into the NC code. At the same time, the tool length compensation and tool radius compensation are automatically stored in the compensation value of the corresponding tool number in the system tool magazine list, which is convenient for direct call and modification next time. Since the installation offset error of the tool will affect the processing position, the actual installation position of the tool is measured by the tool setting instrument, and compared with the theoretical position to calculate the offset compensation value. The angle measuring instrument is used to measure the actual installation angle of the tool, and the actual installation angle is compared with the theoretical angle to obtain the angle error compensation, and the offset compensation instruction and the angle error compensation instruction are inserted into the NC code. The tool wear condition is inferred by the data fed back by each sensor and data analysis, and the wear value of the end blade is compensated by continuously adjusting the tool length compensation and the wear value of the side blade is compensated by the tool radius compensation. The dynamic compensation is to adjust the compensation parameters in real time according to the changes in cutting force and temperature during the processing.

[0011] It is further defined that the motion control module includes a motion instruction generation function, a multi-axis collaborative control function and a motion error compensation function. The motion instruction generation function converts the tool path and posture generated by the path planning module into motion instructions for each axis of the machine tool, and uses an interpolation algorithm and a motion parameter algorithm to calculate the interpolation of the path and the feed speed and acceleration of each axis. The multi-axis collaborative control function requires the establishment of a dynamic model of the machine tool, including forward dynamics and inverse dynamics. The forward dynamics refers to the calculation of the position and posture of the machine tool tool based on the motion parameters of each axis. The inverse dynamics refers to the use of the position and posture of the tool to calculate the motion parameters of each axis. Through PID control, a collaborative control algorithm is used to achieve high-precision collaborative motion of multiple axes. The motion error compensation function is to collect the motion state of each axis in real time through an encoder or grating, and feed it back to the control system to correct the motion error.

[0012] It is further defined that the interference detection module is responsible for detecting the interference between the tool and the workpiece, the fixture or the machine tool itself in real time during the processing process, and taking timely measures to avoid collision. The interference detection module includes a static interference detection module, a dynamic interference detection module and an emergency module. The static interference module constructs an overall polygonal mesh through the shape and size of the tool, the shape and size of the workpiece, the shape and size of the fixture and the geometric position of the machine tool, and calculates the interference between the tool and the workpiece, the fixture or the machine tool through the geometric intersection method or the space segmentation method. The dynamic interference detection module continuously detects the interference in the tool motion trajectory and determines whether interference occurs by calculating the minimum distance between the tool and the workpiece or the fixture. When it is detected that there is serious interference that cannot be modified or there is an imminent collision between the tool or the spindle, the emergency module activates the emergency stop button to stop the machine.

[0013] It is further defined that it also includes a cutting fluid spray volume control module, which adjusts the amount of cutting fluid spray to correspond to different processing materials, different tool types and different processing types. The cutting fluid spray volume control module is connected to the data input module and the feedback control module. The cutting fluid spray volume control module calls the tool type and processing type in the data input module. The operator inputs the material of the parts to be processed through the control panel. The cutting fluid spray volume control system selects corresponding parameters through a pre-set database. During the cutting process, the feedback control module feeds back the sensor data to the cutting fluid spray volume control module in real time. The cutting fluid spray volume control module adjusts the cutting fluid spray volume vertically through the sensor.

[0014] It is further defined that it also includes an adjustable cutting fluid nozzle installed on the cutting fluid pipeline in the machine tool, the adjustable cutting fluid nozzle is connected to the cutting fluid spray volume control module, and the cutting fluid spray volume control module can adjust the angle of the adjustable cutting fluid nozzle to ensure that the cutting fluid can accurately cover the cutting area.

[0015] It is further defined that a method for a control system suitable for a five-axis machining center is characterized by the following specific steps: Step S1, a drawing of a workpiece to be processed, a type of tool used and parameters are imported into a data input module through an external device and an operation panel, and the data input module analyzes and verifies the workpiece, and stores the data size in the system or data for other modules to call; Step S2, after the parts are clamped on the workbench, the tool setting instrument is called from the tool magazine, and the tool length and radius as well as the actual installation position of the tool are measured by the tool setting instrument, and the tool length compensation instruction, tool radius compensation instruction and offset compensation instruction are automatically inserted into the NC code, and the tool length compensation and tool radius compensation are automatically stored in the compensation value of the corresponding tool number in the system tool magazine list, so as to facilitate direct calling and modification next time; Step S3, generating a motion path of the tool and optimizing the tool posture through the path planning module, and converting it into specific motion instructions of the X, Y, Z axes and two rotation axes through the motion control module, performing rough machining and fine machining of parts, and controlling the movement of each axis in real time; Step S4, during the processing, the interference detection module detects the interference between the tool and the workpiece, the fixture or the machine tool itself in real time, and takes timely measures to avoid collision. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency stop button is activated to stop the machine to prevent malfunction; Step S5, collects processing status data in real time through the feedback control module and various sensors installed inside the machine tool, and makes real-time adjustments and error compensation to the processing process based on the data. At the same time, the data is also synchronously fed back to the cutting fluid spray control module to control the cutting fluid spray volume and ensure processing accuracy.

[0016] The beneficial effects of adopting the above technical solution are: The tool compensation module can be used not only to adjust tool compensation during tool setting, but also to adjust tool compensation during machining. Tool compensation is an important factor in the machining process and improves machining accuracy.

[0017] The data input module is connected to each module, and the specific parameters and data are stored for each module to call at any time, which greatly saves the time of manual search, saves time and improves work efficiency.

[0018] The interference detection module and path planning module can effectively simulate and adjust the tool path and tool posture to avoid collision between the tool and the workpiece or fixture. At the same time, the emergency stop button can be linked to facilitate response to emergencies.

[0019] The various sensors in the feedback control module can detect and feedback the processing status, allowing the operator to observe the current status on the panel, which is convenient and fast, and also facilitates real-time adjustment and error compensation of other modules of the machine tool itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a module link diagram of the control system in the present invention; Figure 2 It is a flow chart of the control method in the present invention. DETAILED DESCRIPTION

[0021] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0022] The present invention is a control system and method suitable for a five-axis machining center, which solves the problems of poor machining accuracy and low work efficiency in the current five-axis machining center, which requires manual demonstration of machining tool paths and manual input of tool compensation, feed rate, cutting speed and other parameters according to the tool model during operation. Example

[0023] like Figure 1 and Figure 2 As shown, a control system suitable for a five-axis machining center includes a data input module: the data input module is connected to a control panel, and provides functions such as file selection, parameter editing and data preview. The data input module includes functions of data reception, data analysis, data verification and data storage. A CAD file storing part geometry, an NC code used to describe machining paths and parameters, and a file storing tool parameters and cutting parameters are imported into the data input module of the five-axis machining center. The data input module performs geometric analysis on the CAD file, extracts geometric features of the machining surface, performs syntax analysis on the NC code, generates machining paths and motion instructions, and further verifies the parameters after completion to ensure the rationality of the machining paths and cutting parameters. The data input module performs file selection, parameter editing and data preview through the control panel. Path planning module: connected to the data input module, generates the motion path of the tool according to the geometric shape and process requirements of the processed parts. First, the path points are evenly distributed in the parameter space according to the equal parameter method or the path density is dynamically adjusted according to the surface curvature by the adaptive method. Then the rough processing path and the fine processing path are generated according to the cutting depth, feed speed and feed amount. Then the tool posture optimization module adjusts the rake angle and roll angle of the tool according to the normal vector of the processed surface and the tool geometric parameters, calculates the optimal posture of the tool, and realizes a smooth transition of the tool posture between the path points to avoid processing errors or machine tool vibration caused by sudden changes in posture. The tool compensation module compensates for the geometric error, wear error and installation error of the tool in real time during the processing to ensure processing accuracy and surface quality. The tool compensation module includes geometric error compensation, wear error compensation, installation error compensation and dynamic compensation. A tool setting instrument and an angle measuring instrument are installed in the tool magazine. When the part is clamped on the machine tool workbench After installation, the tool length and radius are measured by the tool setting instrument, and the tool length compensation instruction and tool radius compensation instruction are automatically inserted into the NC code. At the same time, the tool length compensation and tool radius compensation are automatically stored in the compensation value of the corresponding tool number in the system tool library list, which is convenient for direct call and modification next time. Since the installation offset error of the tool will affect the processing position, the actual installation position of the tool is measured by the tool setting instrument, and compared with the theoretical position, and the offset compensation value is calculated. The angle measuring instrument is used to measure the actual installation angle of the tool, and the actual installation angle is compared with the theoretical angle to obtain the angle error compensation, and the offset compensation instruction and angle error compensation instruction are inserted into the NC code. The tool wear condition is inferred through the data feedback from each sensor and data analysis, and the wear value of the end edge is compensated by continuously adjusting the tool length compensation and the wear value of the side edge is compensated by the tool radius compensation. The dynamic compensation is to adjust the compensation parameters in real time according to the changes in cutting force and temperature during the processing; Motion control module: connected to the path planning module, including motion instruction generation function, multi-axis collaborative control function and motion error compensation function. The motion instruction generation function converts the tool path and posture generated by the path planning module into motion instructions for each axis of the machine tool, and uses the interpolation algorithm and the motion parameter algorithm to calculate the interpolation of the path and the feed speed and acceleration of each axis. The multi-axis collaborative control function requires the establishment of a dynamic model of the machine tool, including forward dynamics and inverse dynamics. The forward dynamics refers to the calculation of the position and posture of the tool of the machine tool based on the motion parameters of each axis. Inverse dynamics refers to the calculation of the motion parameters of each axis using the position and posture of the tool. Through PID control, a collaborative control algorithm is used to achieve high-precision collaborative motion of multiple axes. The motion error compensation function is to collect the motion state of each axis in real time through an encoder or grating, and feed it back to the control system to correct the motion error; Interference detection module: connected to the motion control system of the machine tool, responsible for real-time detection of interference between the tool and the workpiece, fixture or machine tool itself during the processing, and taking timely measures to avoid collision. The interference detection module includes static interference detection module, dynamic interference detection module and emergency module. The static interference module constructs the overall polygonal mesh through the shape and size of the tool, the shape and size of the workpiece, the shape and size of the fixture and the geometric position of the machine tool, and calculates the interference between the tool and the workpiece, fixture or machine tool through geometric intersection method or space segmentation method. The dynamic interference detection module continuously detects the interference in the tool motion trajectory and determines whether interference occurs by calculating the minimum distance between the tool and the workpiece or fixture. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency module activates the emergency stop button to stop the machine; Feedback control module: including position sensors, temperature sensors, vibration sensors and force sensors installed inside the machine tool, which collect the status data of the processing process through various sensors, fuse the data of multiple sensors, fuse the position data and force data to judge the processing status, fuse the temperature data and vibration data to judge the thermal deformation of the machine tool, and make real-time adjustments and error compensation for the processing process according to the data; It also includes a cutting fluid spray volume control module, which also includes an adjustable cutting fluid nozzle installed on the cutting fluid pipeline in the machine tool. The cutting fluid spray volume control module adjusts the amount of cutting fluid spray to correspond to different processing materials, different tool types and different processing types. The cutting fluid spray volume control module is connected to the data input module and the feedback control module. The cutting fluid spray volume control module calls the tool type and processing type in the data input module. The operator inputs the material of the parts to be processed through the control panel. The cutting fluid spray volume control system selects corresponding parameters through a pre-set database. During the cutting process, the feedback control module feeds back the sensor data to the cutting fluid spray volume control module in real time. The cutting fluid spray volume control module adjusts the amount of cutting fluid spray through the vertical sensor. The adjustable cutting fluid nozzle is connected to the cutting fluid spray volume control module. The cutting fluid spray volume control module can adjust the angle of the adjustable cutting fluid nozzle to ensure that the cutting fluid can accurately cover the cutting area.

[0024] A method for a control system suitable for a five-axis machining center, the specific steps are as follows: Step S1, use CAD software to design the 3D model of the part to be processed, and export it to STEP or IGES format, and determine the tool selection for roughing, finishing and semi-finishing. For roughing, a large diameter tool can be selected for roughing, and a small diameter tool can be used for finishing. A ball-end milling cutter is used for milling of fillets and other parts. At the same time, various parameters such as feed rate, spindle speed, cutting speed, etc. are set. The drawings of the workpieces to be processed, the types of tools used and the parameters are imported into the data input module through external devices and operation panels. The data input module analyzes and verifies the drawings and saves the data into the system or data for other modules to call. Step S2, use a special fixture to clamp the workpiece to ensure the stability of the parts during the processing, call the tool setting instrument from the tool magazine, measure the length and radius of the tool and the actual installation position of the tool through the tool setting instrument, automatically insert the tool length compensation instruction, tool radius compensation instruction and offset compensation instruction into the NC code, and automatically store the tool length compensation and tool radius compensation in the compensation value of the corresponding tool number in the system tool magazine list, so as to facilitate direct call and modification next time; Step S3, generate the motion path of the tool and optimize the tool posture through the path planning module, and convert it into specific motion instructions of the X, Y, Z axes and two rotation axes through the motion control module, perform rough machining and finishing of parts, and control the movement of each axis in real time. When using a five-axis machining center to process the impeller, contour milling is usually used to quickly remove the excess during rough machining and semi-finishing. Spiral milling is used to process the flow channel of the impeller to reduce tool wear. Generally, a φ10mm or φ12mm ball head milling cutter is used for rough machining, and a φ4mm or φ6mm ball head milling cutter is used for finishing. A small diameter taper cutter is used for root cleaning. The following is a simple impeller finishing sample code based on the FANCU system: 00001; G21, G17, G90, G54; T01, M06; S5000, M03; G00, G43, H01, Z100,; G00 X0 Y0 Z10.0 (rapidly move to above the starting point) G01 Z-5.0 F500 (cutting at a feed rate of 500 mm / min) G01 X10.0 Y10.0 F1000 (Linear interpolation to point 1) G01 X20.0 Y20.0 (Linear interpolation to point 2) G02 X30.0 Y30.0 I5.0 J5.0 (clockwise arc interpolation to point 3) G01 X40.0 Y40.0 (Linear interpolation to point 4) G03 X50.0 Y50.0 I-5.0 J-5.0 (counterclockwise arc interpolation to point 5) G01 Z10.0 F1000; G00 X0 Y0 Z10.0 (rapidly move to above the starting point) G01 Z-5.0 F500 (cutting at a feed rate of 500 mm / min) G01 X10.0 Y10.0 F1000 (Linear interpolation to point 1) G01 X20.0 Y20.0 (Linear interpolation to point 2) G02 X30.0 Y30.0 I5.0 J5.0 (clockwise arc interpolation to point 3) G01 X40.0 Y40.0 (Linear interpolation to point 4) G03 X50.0 Y50.0 I-5.0 J-5.0 (counterclockwise arc interpolation to point 5) G01 Z10.0 F1000 (lift the tool to a safe height); G00 Z100.0 (Raise the tool quickly to a safe height) M05 (Spindle Stop) Step S4, during the processing, the interference detection module detects the interference between the tool and the workpiece, the fixture or the machine tool itself in real time, and takes timely measures to avoid collision. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency stop button is activated to stop the machine to prevent malfunction; Step S3, generating a motion path of the tool and optimizing the tool posture through the path planning module, and converting it into specific motion instructions of the X, Y, Z axes and two rotation axes through the motion control module, performing rough machining and fine machining of parts, and controlling the movement of each axis in real time; Step S4, during the processing, the interference detection module detects the interference between the tool and the workpiece, the fixture or the machine tool itself in real time, and takes timely measures to avoid collision. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency stop button is activated to stop the machine to prevent malfunction; Step S5, collects processing status data in real time through the feedback control module and various sensors installed inside the machine tool, and makes real-time adjustments and error compensation to the processing process based on the data. At the same time, the data is also synchronously fed back to the cutting fluid spray control module to control the cutting fluid spray volume and ensure processing accuracy.

[0025] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above-mentioned concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A control system suitable for a five-axis machining center, characterized in that: include Data input module: receives data of processing tasks from external devices or user interfaces, parses the received data into a format recognizable by the system, verifies the parsed data to ensure the integrity and correctness of the data, and stores the verified data in the system's memory or database for other modules to call; Path planning module: connected to the data input module, generates the tool motion path according to the geometric shape and process requirements of the processed parts, optimizes the tool posture according to the geometric characteristics of the processed surface, detects the interference between the tool and the workpiece, fixture or machine tool itself in real time, and adjusts the path to avoid collision; Motion control module: connected to the path planning module, responsible for converting the tool motion path and posture generated by the path planning module into specific motion instructions for the machine tool X, Y, Z axes and two rotation axes, and controlling the motion of each axis in real time; Interference detection module: connected to the motion control system of the machine tool, it detects the dynamic interference between the tool and the workpiece or fixture in real time during the machining process, adjusts the tool path or posture according to the detection results to avoid collision, and activates the emergency stop button to stop the machine when a risk of collision is found; Feedback control module: includes position sensors, temperature sensors, vibration sensors and force sensors installed inside the machine tool. Each sensor collects status data during the processing and makes real-time adjustments and error compensation to the processing process based on the data.

2. A control system suitable for a five-axis machining center according to claim 1, characterized in that: The data input module is connected to the control panel. The data input module includes the functions of data reception, data analysis, data verification and data storage. The CAD file storing the geometric shape of the part, the NC code used to describe the processing path and parameters, and the file storing the tool parameters and cutting parameters are imported into the data input module of the five-axis machining center. The data input module performs geometric analysis on the CAD file, extracts the geometric features of the processing surface, performs syntax analysis on the NC code, generates the processing path and motion instructions, and further verifies the parameters after completion to ensure the rationality of the processing path and cutting parameters. The data input module performs file selection, parameter editing and data preview through the control panel.

3. A control system suitable for a five-axis machining center according to claim 1, characterized in that: The path planning module includes a tool path module, a tool posture optimization module and a tool compensation module. The tool path module generates different tool paths and cutting parameters for various milling cutters according to the shape of the part. First, the path points are evenly distributed in the parameter space according to the equal parameter method or the path density is dynamically adjusted according to the surface curvature according to the adaptive method. The rough machining path and the fine machining path are generated according to the cutting depth, feed speed and feed amount. Then, the tool posture optimization module adjusts the rake angle and roll angle of the tool according to the normal vector of the machining surface and the tool geometric parameters, calculates the optimal posture of the tool, and realizes a smooth transition of the tool posture between the path points to avoid machining errors or machine tool vibrations caused by sudden changes in posture. The tool compensation module compensates for the geometric error, wear error and installation error of the tool in real time during the machining process to ensure machining accuracy and surface quality.

4. A control system suitable for a five-axis machining center according to claim 3, characterized in that: The tool compensation module includes geometric error compensation, wear error compensation, installation error compensation and dynamic compensation. A tool setting instrument and an angle measuring instrument are installed in the tool magazine. After the part is clamped on the machine tool workbench, the tool length and radius are measured by the tool setting instrument, and the tool length compensation instruction and tool radius compensation instruction are automatically inserted into the NC code. At the same time, the tool length compensation and tool radius compensation are automatically stored in the compensation value of the corresponding tool number in the system tool magazine list, which is convenient for direct call and modification next time. Since the installation offset error of the tool will affect the processing position, the actual installation position of the tool is measured by the tool setting instrument, and compared with the theoretical position, the offset compensation value is calculated. The angle measuring instrument is used to measure the actual installation angle of the tool, and the actual installation angle is compared with the theoretical angle to obtain the angle error compensation, and the offset compensation instruction and the angle error compensation instruction are inserted into the NC code. The tool wear condition is inferred by the data fed back by each sensor and data analysis, and the wear value of the end blade is compensated by continuously adjusting the tool length compensation and the wear value of the side blade is compensated by the tool radius compensation. The dynamic compensation is to adjust the compensation parameters in real time according to the changes in cutting force and temperature during the processing.

5. The control system suitable for a five-axis machining center according to claim 1, characterized in that: The motion control module includes a motion instruction generation function, a multi-axis collaborative control function and a motion error compensation function. The motion instruction generation function converts the tool path and posture generated by the path planning module into motion instructions for each axis of the machine tool, and uses an interpolation algorithm and a motion parameter algorithm to calculate the interpolation of the path and the feed speed and acceleration of each axis. The multi-axis collaborative control function requires the establishment of a dynamic model of the machine tool, including forward dynamics and inverse dynamics. The forward dynamics refers to the calculation of the position and posture of the tool of the machine tool based on the motion parameters of each axis. The inverse dynamics refers to the calculation of the motion parameters of each axis using the position and posture of the tool. Through PID control, a collaborative control algorithm is used to achieve high-precision collaborative motion of multiple axes. The motion error compensation function is to collect the motion state of each axis in real time through an encoder or grating, and feed it back to the control system to correct the motion error.

6. The control system suitable for a five-axis machining center according to claim 1, characterized in that: The interference detection module is responsible for real-time detection of the interference between the tool and the workpiece, fixture or machine tool itself during the processing process, and taking timely measures to avoid collision. The interference detection module includes a static interference detection module, a dynamic interference detection module and an emergency module. The static interference module constructs an overall polygonal mesh through the shape and size of the tool, the shape and size of the workpiece, the shape and size of the fixture and the geometric position of the machine tool, and calculates the interference between the tool and the workpiece, fixture or machine tool through geometric intersection method or space segmentation method. The dynamic interference detection module continuously detects the interference in the tool motion trajectory and determines whether interference occurs by calculating the minimum distance between the tool and the workpiece or fixture. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency module activates the emergency stop button to stop the machine.

7. The control system suitable for a five-axis machining center according to claim 1, characterized in that: It also includes a cutting fluid spray volume control module, which adjusts the amount of cutting fluid spray to correspond to different processing materials, different tool types and different processing types. The cutting fluid spray volume control module is connected to the data input module and the feedback control module. The cutting fluid spray volume control module calls the tool type and processing type in the data input module. The operator inputs the material of the parts to be processed through the control panel. The cutting fluid spray volume control system selects corresponding parameters through a pre-set database. During the cutting process, the feedback control module feeds back the sensor data to the cutting fluid spray volume control module in real time. The cutting fluid spray volume control module adjusts the amount of cutting fluid spray vertically through the sensor.

8. The control system suitable for a five-axis machining center according to claim 7, characterized in that: It also includes an adjustable cutting fluid nozzle installed on the cutting fluid pipeline in the machine tool. The adjustable cutting fluid nozzle is connected to the cutting fluid spray volume control module. The cutting fluid spray volume control module can adjust the angle of the adjustable cutting fluid nozzle to ensure that the cutting fluid can accurately cover the cutting area.

9. A control system method applicable to a five-axis machining center according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: Step S1, the workpiece drawing to be processed, the tool type and parameters to be used are imported into the data input module through the external device and the operation panel, and the data input module analyzes and verifies them, and saves the data size into the system or data for other modules to call; Step S2, after the parts are clamped on the workbench, the tool setting instrument is called from the tool magazine, and the tool length and radius as well as the actual installation position of the tool are measured by the tool setting instrument, and the tool length compensation instruction, tool radius compensation instruction and offset compensation instruction are automatically inserted into the NC code, and the tool length compensation and tool radius compensation are automatically stored in the compensation value of the corresponding tool number in the system tool magazine list, so as to facilitate direct calling and modification next time; Step S3, generating a motion path of the tool and optimizing the tool posture through the path planning module, and converting it into specific motion instructions of the X, Y, Z axes and two rotation axes through the motion control module, performing rough machining and fine machining of parts, and controlling the movement of each axis in real time; Step S4, during the processing, the interference detection module detects the interference between the tool and the workpiece, the fixture or the machine tool itself in real time, and takes timely measures to avoid collision. When it is detected that there is serious interference that cannot be modified or there is an imminent collision with the tool or the spindle, the emergency stop button is activated to stop the machine to prevent malfunction; Step S5, collects processing status data in real time through the feedback control module and various sensors installed inside the machine tool, and makes real-time adjustments and error compensation to the processing process based on the data. At the same time, the data is also synchronously fed back to the cutting fluid spray control module to control the cutting fluid spray volume and ensure processing accuracy.

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