Multi-axis linkage numerical control machine tool control system

Abstract

The invention discloses a multi-axis linkage numerical control machine tool control system, which comprises a cutter adjusting module, which is used for carrying out parameter adjustment according to first state data, second state data and third state data to obtain fourth state data of a cutter; the trajectory planning module is used for simulating motion trajectories of a plurality of shafts according to the fourth state data by utilizing simulation software, and performing precision compensation on the motion trajectories of the shafts; and the risk prevention module is used for predicting the first risk and the second risk and implementing prevention measures. The angle and the cutting speed of the cutter are adjusted in a self-adaptive mode, the cutter is matched with the curvature of the surface of the workpiece, so that the flatness of the machining face is improved, the situation that the extrusion force of the cutter on the workpiece is too large is avoided, deformation, except for cutting, of the workpiece is prevented, and the machining precision is improved. A plurality of main shafts and slave shafts are subjected to analog simulation, the cutting angle and the cutting speed of the cutter are further adjusted according to the simulation result, and safe operation of equipment is guaranteed on the premise that the machining precision is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machine tool control, and particularly relates to a multi-axis linkage numerical control machine tool control system. Background Art

[0002] Multi-axis linkage numerical control machine tools complete more complex machining tasks by simultaneously controlling the movement of multiple axes. Common multi-axis numerical control machine tools include three-axis, four-axis, five-axis, and even six-axis machine tools. Through multi-axis linkage control, the machine tool can achieve more complex cutting paths, improve machining accuracy, reduce the number of workpiece clamping times, shorten the machining cycle, and greatly improve production efficiency.

[0003] In the application document with the application number 202210187600.8, a precision detection method for multi-axis linkage accuracy of a numerical control machine tool is provided. When obtaining the data of the multi-axis linkage numerical control machine tool, compensation software is used to adjust the temperature, humidity, and pressure data during acquisition to make the above data consistent with the temperature, humidity, and pressure data during the acquisition of the virtual scene model of the multi-axis linkage numerical control machine tool in the database, reducing the obstruction and influence of the performance of the workpiece to be machined on the tool movement and avoiding the influence of tool deformation on the detection accuracy. However, although the above technology takes into account the influence of environmental factors on the machining accuracy of the machine tool, in actual machining, it is difficult to adjust the environmental parameters around the machine tool, and it is difficult to always maintain the consistency of temperature, humidity, and pressure data, thus reducing the machining accuracy. Summary of the Invention

[0004] The technical problem solved by the present invention is that in actual machining, it is difficult to adjust the environmental parameters around the machine tool, and it is difficult to always maintain the consistency of temperature, humidity, and pressure data, thus reducing the machining accuracy.

[0005] To solve the above technical problem, the present invention provides the following technical solution: A multi-axis linkage numerical control machine tool control system, comprising:

[0006] A tool adjustment module, configured to perform parameter adjustment according to the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment to obtain the fourth state data of the tool;

[0007] A trajectory planning module, configured to use simulation software to simulate the movement trajectories of multiple axes according to the adjusted fourth state data and perform accuracy compensation on the movement trajectories of the axes;

[0008] A risk prevention module, configured to predict the first risk of the fourth state data and the second risk during the accuracy compensation process, and implement preventive measures according to the first risk and the second risk.

[0009] Preferably, the first state data includes the first stiffness, surface roughness, machining point curvature, machining point thickness, and first thermal expansion coefficient of the workpiece;

[0010] The second state data includes the second stiffness, wear degree, second feed rate, second rotational speed, second angle, and second thermal expansion coefficient of the tool;

[0011] The third state data includes the machine tool vibration frequency, temperature within a preset range, and air pressure within a preset range;

[0012] The fourth state data includes the fourth feed rate, fourth rotational speed, and fourth angle of the adjusted tool.

[0013] Preferably, the first stiffness, surface roughness, and first thermal expansion coefficient are determined by the material of the workpiece, and the second stiffness and second thermal expansion coefficient are determined by the material of the tool, both being fixed values;

[0014] The calculation method of the curvature of the machining point is as follows: Establish a spatial coordinate system based on a multi-axis linkage numerical control machine tool, use a vision sensor to identify the position coordinates of the workpiece, calculate the first derivative and second derivative of the machining point, and calculate the curvature of the machining point using the Gaussian surface method;

[0015] The calculation method of the thickness of the machining point is as follows: Calculate the partial derivatives of the machining point with respect to the x coordinate, y coordinate, and z coordinate, obtain the normal vector of the machining point using the partial derivatives, and define the distance between the two intersection points of the straight line where the normal vector is located and the workpiece as the thickness of the machining point;

[0016] The wear degree is measured by an optical detection instrument, and both the second feed rate and the second rotational speed are initial speeds;

[0017] Use a sensor to monitor the vibration signal of the machine tool at a preset rotational speed, perform Fourier analysis on the vibration signal using data processing software, convert the time-domain signal into a frequency-domain signal, and obtain the machine tool vibration frequency;

[0018] Taking the tool as the center, take the range with a radius of the first value as the preset range, and use a temperature sensor and an air pressure sensor to detect the temperature and air pressure within the preset range.

[0019] Preferably, the tool adjustment module includes a data acquisition unit, a parameter adjustment unit, and a first instruction execution unit;

[0020] The data acquisition unit is used to acquire the first state data, second state data, and third state data;

[0021] The parameter adjustment unit is used to perform parameter adjustment according to the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment to obtain the fourth state data of the tool;

[0022] The first instruction execution unit is used to receive the fourth state data and issue an adjustment instruction.

[0023] Preferably, the working process of the parameter adjustment unit is as follows:

[0024] Input the first state data, the second state data, and the third state data into the angle adjustment model to obtain a fourth angle;

[0025] Input the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain a fourth speed, and calculate the feed speed component and the rotational speed component of the fourth speed according to the curvature of the machining point, denoted as the fourth feed speed and the fourth rotational speed.

[0026] Preferably, the training logic of the angle adjustment model is: training the first machine learning model with a first training set, and obtaining the optimal cutting angle by a large number of trial machining and recording the machining effect of the machining surface;

[0027] Input the first state data, the second state data, and the third state data into the angle adjustment model to obtain the optimal cutting angle, denoted as the fourth angle;

[0028] The training logic of the speed adjustment model is: training the second machine learning model with a second training set, and under the premise of the optimal cutting angle, recording the deformation degree of the workpiece under the extrusion force of the tool, taking the cutting speed under the lowest deformation degree as the optimal speed, and combining the curvature of the machining point to obtain the optimal feed speed and the optimal rotational speed;

[0029] Input the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain the optimal feed speed and the optimal rotational speed, denoted as the fourth feed speed and the fourth rotational speed.

[0030] Preferably, the first instruction execution unit is used to issue an adjustment instruction according to the fourth state data, wherein the adjustment instruction includes a tool angle adjustment instruction and a tool speed adjustment instruction.

[0031] Preferably, the trajectory planning module includes a simulation unit, a planning unit, and a second instruction execution unit;

[0032] The simulation unit uses simulation software to draw a machine tool model, and imports the parameters in the first state data, the third state data, and the fourth state data into the machine tool model to simulate the actual operation of the machine tool. Among them, the machine tool model includes each axis, the tool, and the workpiece. Among them, the axis controlling the tool feed is denoted as the first main axis, the axis controlling the tool rotation is denoted as the second main axis, the axis controlling the tool angle adjustment is denoted as the third main axis, and the remaining axes are respectively denoted as the first slave axis, the second slave axis... the nth slave axis;

[0033] The planning unit is used to identify the collisions of each axis during the simulation process:

[0034] When there is no collision, the movement is carried out according to the original trajectory without accuracy compensation;

[0035] When there is a collision, the tool angle is gradually increased or decreased, thereby changing the feed speed and rotation speed until no collision occurs. The current tool angle is output as the fifth angle, and accuracy compensation is performed on the fourth angle;

[0036] The second instruction execution unit is used to receive the result of the planning unit and issue an accuracy compensation instruction, and the accuracy compensation instruction includes not performing accuracy compensation and performing accuracy compensation according to the fifth angle.

[0037] Preferably, the risk prevention module includes a risk prediction unit and an emergency execution unit;

[0038] The risk prediction unit is used to predict the first risk of the fourth state data and the second risk during the accuracy compensation process. The first risk includes that the fourth feed speed, the fourth rotation speed or the fourth angle exceeds the first threshold group, and the second risk includes that the fifth angle exceeds the second threshold.

[0039] Preferably, the emergency execution unit is used to issue an emergency stop instruction and stop the operation of the machine tool.

[0040] Advantages of the present invention: The present invention takes into account the influence of various parameters of the tool, surrounding environment factors, and various parameters of the workpiece on the machining accuracy, enables the adaptive adjustment of the tool angle and cutting speed, realizes the matching of the tool and the surface curvature of the workpiece, thereby improving the flatness of the machining surface. Moreover, by changing the cutting speed of the tool, the excessive extrusion force on the workpiece is avoided, thereby preventing the workpiece from deforming except for cutting, and improving the machining accuracy. On the other hand, the present invention simulates the first spindle, the second spindle, the third spindle and multiple slave axes, and further adjusts the cutting angle of the tool through the simulation results, ensuring the safe operation of the equipment on the premise of ensuring the machining accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a system block diagram of a multi-axis linkage numerical control machine tool control system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments.

[0043] Embodiment 1, referring to Figure 1, which is an embodiment of the present invention, provides a multi-axis linkage numerical control machine tool control system, including:

[0044] A tool adjustment module, configured to perform parameter adjustment according to the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment to obtain the fourth state data of the tool;

[0045] A trajectory planning module, configured to use simulation software to simulate the motion trajectories of multiple axes according to the adjusted fourth state data and perform accuracy compensation on the motion trajectories of the axes;

[0046] A risk prevention module, configured to predict the first risk of the fourth state data and the second risk during the accuracy compensation process, and implement preventive measures according to the first risk and the second risk.

[0047] The first state data includes the first stiffness, surface roughness, machining point curvature, machining point thickness, and first thermal expansion coefficient of the workpiece;

[0048] The second state data includes the second stiffness, wear degree, second feed rate, second rotation speed, second angle, and second thermal expansion coefficient of the tool;

[0049] The third state data includes the machine tool vibration frequency, temperature within a preset range, and air pressure within a preset range;

[0050] The fourth state data includes the fourth feed rate, fourth rotation speed, and fourth angle of the adjusted tool.

[0051] The first stiffness, surface roughness, and first thermal expansion coefficient are determined by the material of the workpiece, and the second stiffness and second thermal expansion coefficient are determined by the material of the tool, both of which are fixed values;

[0052] The calculation method of the machining point curvature is as follows: establish a space coordinate system based on the multi-axis linkage numerical control machine tool, use a vision sensor to identify the position coordinates of the workpiece, calculate the first derivative and second derivative of the machining point, and calculate the machining point curvature using the Gaussian surface method;

[0053] Specifically, calculating the machining point curvature of each point can accurately describe the change trend of the workpiece surface shape, so as to adjust the cutting angle of the tool during the cutting process, avoid over-cutting or under-cutting, and achieve precise cutting processing of irregular curved surface workpieces.

[0054] The calculation method of the machining point thickness is as follows: calculate the partial derivatives of the machining point with respect to the x coordinate, y coordinate, and z coordinate, use the partial derivatives to obtain the normal vector of the machining point, and define the distance between the two intersections of the straight line where the normal vector is located and the workpiece as the machining point thickness;

[0055] Specifically, when the thickness of the machining point is too thin, applying a very small pressure to the workpiece by the cutting tool may cause the workpiece to deform. Therefore, it is important to change the machining pressure according to the thickness of the machining point, which can not only ensure sufficient cutting but also avoid extrusion deformation of the workpiece other than normal cutting, thus being beneficial to improving the quality of the workpiece.

[0056] The degree of wear is measured by an optical detection instrument, and both the second feed rate and the second rotational speed are initial speeds.

[0057] Use a sensor to monitor the vibration signal of the machine tool at a preset rotational speed, and use data processing software to perform Fourier analysis on the vibration signal to convert the time-domain signal into a frequency-domain signal to obtain the vibration frequency of the machine tool. The data processing software can be Python, Matlab, etc.

[0058] Taking the cutting tool as the center, a range with a radius of the first value is used as the preset range, and a temperature sensor and a pressure sensor are used to detect the temperature and the air pressure within the preset range.

[0059] In actual machining, data such as temperature and air pressure within a certain range of the machining point also have a great impact on machining accuracy. For example, when the temperature is too high, the workpiece or the cutting tool will have a thermal expansion phenomenon, resulting in low machining accuracy. Therefore, the present invention takes these influencing factors into consideration simultaneously, avoiding the influence of external factors on the machining accuracy of the machine tool.

[0060] The cutting tool adjustment module includes a data acquisition unit, a parameter adjustment unit, and a first instruction execution unit.

[0061] The data acquisition unit is used to acquire the first state data, the second state data, and the third state data.

[0062] The parameter adjustment unit is used to perform parameter adjustment according to the first state data of the workpiece, the second state data of the cutting tool, and the third state data of the machining environment to obtain the fourth state data of the cutting tool.

[0063] The first instruction execution unit is used to receive the fourth state data and issue an adjustment instruction.

[0064] The working process of the parameter adjustment unit is as follows:

[0065] Input the first state data, the second state data, and the third state data into the angle adjustment model to obtain the fourth angle.

[0066] Input the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain the fourth speed, and calculate the feed rate component and the rotational speed component of the fourth speed according to the curvature of the machining point, denoted as the fourth feed rate and the fourth rotational speed.

[0067] The training logic of the angle adjustment model is as follows: training the first machine learning model with the first training set, recording the machining effect of the machined surface through a large number of trial machinings, and obtaining the optimal cutting angle;

[0068] Inputting the first state data, the second state data, and the third state data into the angle adjustment model to obtain the optimal cutting angle, denoted as the fourth angle;

[0069] In this embodiment, by using the angle adjustment model, based on data such as the curvature of the machining point and the thickness of the machining point of the workpiece, the tool angle most suitable for the current machining point is obtained. Then, the tool is rotated by a certain angle according to the initial angle to reach the optimal angle, so that the tool can meet the machining requirements of the workpiece surface as much as possible and achieve the best machining quality.

[0070] The training logic of the speed adjustment model is as follows: training the second machine learning model with the second training set, recording the deformation degree of the workpiece under the extrusion force of the tool on the premise of the optimal cutting angle, taking the cutting speed under the lowest deformation degree as the optimal speed, and combining with the curvature of the machining point to obtain the optimal feed speed and the optimal rotation speed;

[0071] Inputting the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain the optimal feed speed and the optimal rotation speed, denoted as the fourth feed speed and the fourth rotation speed.

[0072] In this embodiment, after the cutting angle is determined, if the cutting continues at the initial cutting speed, the tool may exert too large or too small extrusion force on the curved surface. Due to different parameters such as material stiffness and thermal expansion coefficient, this too large or too small extrusion force will cause undercutting or over-extrusion, affecting the cutting accuracy. Therefore, it is necessary to adjust the feed speed and rotation speed of the tool according to the actual situation to make the cutting force moderate and avoid undercutting or over-extrusion.

[0073] The first instruction execution unit is used to issue an adjustment instruction according to the fourth state data, where the adjustment instruction includes a tool angle adjustment instruction and a tool speed adjustment instruction.

[0074] The trajectory planning module includes a simulation unit, a planning unit, and a second instruction execution unit;

[0075] The simulation unit uses simulation software to draw a machine tool model, and imports the parameters in the first state data, the third state data, and the fourth state data into the machine tool model to simulate the actual operation of the machine tool. Among them, the machine tool model includes each axis, a tool, and a workpiece. Among them, the axis that controls the tool feed is denoted as the first main axis, the axis that controls the tool rotation is denoted as the second main axis, the axis that controls the tool angle adjustment is denoted as the third main axis, and the remaining axes are respectively denoted as the first slave axis, the second slave axis... the nth slave axis;

[0076] The planning unit is used to identify the collisions of each axis during the simulation process:

[0077] When there is no collision, the movement is carried out according to the original trajectory without precision compensation;

[0078] When there is a collision, gradually increase or decrease the tool angle, thereby changing the feed speed and the rotation speed until there is no collision, output the current tool angle as the fifth angle, and perform precision compensation on the fourth angle;

[0079] The second instruction execution unit is used to receive the result of the planning unit and issue a precision compensation instruction, and the precision compensation instruction includes not performing precision compensation and performing precision compensation according to the fifth angle.

[0080] In this embodiment, after the fourth angle has been obtained, the system will issue an instruction to make the third main axis drive the tool to rotate a certain angle, so that the feed and rotation speeds of the first main axis and the second main axis change. For a multi-axis linkage numerical control machine tool, once the movement trajectories of one or more of the axes change, then to a certain extent, the original steady-state balance will be lost, which may cause collisions or interferences between the main axis and the slave axis. Therefore, after the fourth angle is determined, it needs to be detected. If there will be no collisions or interferences of the axes, then the fourth angle is the best angle for machining. If there will be collisions or interferences of the axes, then the fourth angle needs to be appropriately adjusted, and the machining accuracy is appropriately reduced, but the safe operation of the equipment is ensured. Therefore, the present invention achieves the effect of improving the machining accuracy as much as possible on the premise of ensuring the safe and normal operation of the equipment.

[0081] The risk prevention module includes a risk prediction unit and an emergency execution unit;

[0082] The risk prediction unit is used to predict the first risk of the fourth state data and the second risk during the precision compensation process. The first risk includes that the fourth feed speed, the fourth rotation speed, or the fourth angle exceeds the first threshold group, and the second risk includes that the fifth angle exceeds the second threshold.

[0083] The emergency execution unit is used to issue an emergency stop instruction and stop the operation of the machine tool. The tool adjustment module includes a data acquisition unit, a parameter adjustment unit, and a first instruction execution unit;

[0084] The data acquisition unit is used to acquire the first state data, the second state data, and the third state data;

[0085] The parameter adjustment unit is used to perform parameter adjustment according to the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment, and obtain the fourth state data of the tool;

[0086] The first instruction execution unit is used to receive the fourth state data and issue an adjustment instruction.

[0087] The present invention takes into account the influence of various parameters of the tool, surrounding environmental factors, and various parameters of the workpiece on the machining accuracy, enables the angle and cutting speed of the tool to be adaptively adjusted, realizes the matching of the tool and the surface curvature of the workpiece, thereby improving the flatness of the machined surface. Moreover, by changing the cutting speed of the tool, the excessive extrusion force of the tool on the workpiece is avoided, thereby preventing the workpiece from deforming except for cutting, and improving the machining accuracy. On the other hand, the present invention simulates and emulates the first spindle, the second spindle, the third spindle, and multiple slave shafts, and further adjusts the cutting angle of the tool according to the simulation results, ensuring the safe operation of the equipment while guaranteeing the machining accuracy.

[0088] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, abbreviated as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviated as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, abbreviated as EPROM), programmable read-only memory (Programmable Red-Only Memory, abbreviated as PROM), read-only memory (Read-Only Memory, abbreviated as ROM), magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device, and the instruction device realizes the processFigure 1 one process or multiple processes and / or boxes Figure 1 functions specified in one box or multiple boxes.

[0089] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered by the scope of the claims of the present invention.

Claims

1. A multi-axis linkage numerical control machine tool control system, characterized in that, Including: A tool adjustment module, configured to perform parameter adjustment based on the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment to obtain the fourth state data of the tool; A trajectory planning module, configured to use simulation software to simulate the motion trajectories of multiple axes according to the adjusted fourth state data and perform accuracy compensation on the motion trajectories of the axes; A risk prevention module, configured to predict the first risk of the fourth state data and the second risk during the accuracy compensation process, and implement preventive measures according to the first risk and the second risk.

2. The multi-axis linkage numerical control machine tool control system according to claim 1, wherein: The first state data includes the first stiffness, surface roughness, machining point curvature, machining point thickness, and first thermal expansion coefficient of the workpiece; The second state data includes the second stiffness, wear degree, second feed rate, second rotation speed, second angle, and second thermal expansion coefficient of the tool; The third state data includes the machine tool vibration frequency, temperature within a preset range, and air pressure within a preset range; The fourth state data includes the fourth feed rate, fourth rotation speed, and fourth angle of the adjusted tool.

3. The multi-axis linkage numerical control machine tool control system according to claim 2, characterized in that: The first stiffness, surface roughness, and first thermal expansion coefficient are determined by the material of the workpiece, and the second stiffness and second thermal expansion coefficient are determined by the material of the tool, both being fixed values; The calculation method of the machining point curvature is as follows: establish a spatial coordinate system based on the multi-axis linkage numerical control machine tool, use a vision sensor to identify the position coordinates of the workpiece, calculate the first derivative and second derivative of the machining point, and calculate the machining point curvature using the Gaussian surface method; The calculation method of the machining point thickness is as follows: calculate the partial derivatives of the machining point with respect to the x coordinate, y coordinate, and z coordinate, use the partial derivatives to obtain the normal vector of the machining point, and define the distance between the two intersection points of the straight line where the normal vector is located and the workpiece as the machining point thickness; The wear degree is measured by an optical detection instrument, and the second feed rate and the second rotation speed are both initial speeds; Use a sensor to monitor the vibration signal of the machine tool at a preset rotational speed, use data processing software to perform Fourier analysis on the vibration signal, convert the time-domain signal into a frequency-domain signal, and obtain the machine tool vibration frequency; Taking the tool as the center, take the range with a radius of the first value as the preset range, and use a temperature sensor and an air pressure sensor to detect the temperature within the preset range and the air pressure within the preset range.

4. The multi-axis linkage numerical control machine tool control system according to claim 1, wherein: The tool adjustment module includes a data acquisition unit, a parameter adjustment unit, and a first instruction execution unit; The data acquisition unit is configured to acquire the first state data, the second state data, and the third state data; The parameter adjustment unit is configured to perform parameter adjustment based on the first state data of the workpiece, the second state data of the tool, and the third state data of the machining environment to obtain the fourth state data of the tool; The first instruction execution unit is configured to receive the fourth state data and issue an adjustment instruction.

5. The multi-axis linkage numerical control machine tool control system according to claim 4, wherein: The working process of the parameter adjustment unit is as follows: Input the first state data, the second state data, and the third state data into the angle adjustment model to obtain the fourth angle; Input the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain a fourth speed, and calculate the feed speed component and the rotational speed component of the fourth speed based on the curvature of the machining point, denoted as the fourth feed speed and the fourth rotational speed.

6. The multi-axis linkage numerical control machine tool control system according to claim 5, characterized in that: The training logic of the angle adjustment model is: use the first training set to train the first machine learning model, and obtain the optimal cutting angle by a large number of trial machinings and recording the machining effects of the machining surface; Input the first state data, the second state data, and the third state data into the angle adjustment model to obtain the optimal cutting angle, denoted as the fourth angle; The training logic of the speed adjustment model is: use the second training set to train the second machine learning model. On the premise of the optimal cutting angle, record the deformation degree of the workpiece under the extrusion force of the tool, take the cutting speed under the lowest deformation degree as the optimal speed, and combine with the curvature of the machining point to obtain the optimal feed speed and the optimal rotational speed; Input the first state data, the second state data, the third state data, and the fourth angle into the speed adjustment model to obtain the optimal feed speed and the optimal rotational speed, denoted as the fourth feed speed and the fourth rotational speed.

7. The multi-axis linkage numerical control machine tool control system according to claim 4, characterized in that: The first instruction execution unit is used to issue an adjustment instruction according to the fourth state data, wherein the adjustment instruction includes a tool angle adjustment instruction and a tool speed adjustment instruction.

8. The multi-axis linkage numerical control machine tool control system according to claim 1, characterized in that: The trajectory planning module includes a simulation unit, a planning unit, and a second instruction execution unit; The simulation unit uses simulation software to draw a machine tool model, and imports the parameters in the first state data, the third state data, and the fourth state data into the machine tool model to simulate the actual operation of the machine tool. The machine tool model includes each axis, the tool, and the workpiece. The axis controlling the tool feed is denoted as the first main axis, the axis controlling the tool rotation is denoted as the second main axis, the axis controlling the tool angle adjustment is denoted as the third main axis, and the remaining axes are respectively denoted as the first slave axis, the second slave axis... the nth slave axis; The planning unit is used to identify the collisions of each axis during the simulation process: When there is no collision, move according to the original trajectory without accuracy compensation; When there is a collision, gradually increase or decrease the tool angle, thereby changing the feed speed and the rotational speed until there is no collision, output the current tool angle as the fifth angle, and perform accuracy compensation on the fourth angle; The second instruction execution unit is used to receive the result of the planning unit and issue an accuracy compensation instruction, and the accuracy compensation instruction includes not performing accuracy compensation and performing accuracy compensation according to the fifth angle.

9. The multi-axis linkage numerical control machine tool control system according to claim 1, characterized in that: The risk prevention module includes a risk prediction unit and an emergency execution unit; The risk prediction unit is used to predict the first risk of the fourth state data and the second risk during the accuracy compensation process. The first risk includes that the fourth feed speed, the fourth rotational speed, or the fourth angle exceeds the first threshold group, and the second risk includes that the fifth angle exceeds the second threshold.

10. The multi-axis linkage numerical control machine tool control system according to claim 9, characterized in that: The emergency execution unit is used to issue an emergency stop instruction and stop the operation of the machine tool.

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