A multi-axis linkage CNC machining path intelligent planning system and method

Abstract

This invention relates to the field of machining control technology, specifically to an intelligent planning system and method for multi-axis CNC machining paths. The system includes: a data acquisition unit for acquiring morphological attribute parameters of the workpiece and axial motion attribute parameters of the multi-axis machining center; and an initial segmentation unit for initially segmenting the workpiece machining range based on the morphological and axial motion attribute parameters, obtaining initial segmentation results and initial trajectory planning results for the machining range, wherein the initial trajectory planning results include coordinate information for each trajectory segment. This invention utilizes a collision check unit to check for collisions between the cutting tool's motion path and the workpiece's feature range in real time, and an automatic path adjustment unit to avoid potential machining errors and equipment damage. This intelligent collision avoidance significantly improves the safety and stability of machining.

Description

Technical Field

[0001] This invention relates to the field of machining control technology, specifically to an intelligent planning system and method for multi-axis linkage CNC machining paths. Background Technology

[0002] As global manufacturing shifts towards higher precision and efficiency, traditional processing methods can no longer meet the high precision and high quality requirements of modern industry for complex parts. Modern CNC machine tools have greatly improved in precision, but if path planning is not intelligent and refined enough, processing errors can still easily occur. Therefore, adopting an intelligent path planning system can dynamically optimize the path in real time, thereby ensuring the precision of each processing step and reducing errors and unnecessary losses in production.

[0003] Currently, traditional systems often rely on manual path planning and adjustment, which is easily limited by the operator's experience and judgment. This results in inaccurate path planning during the machining process, leading to errors and instability. Collision checks between the cutting tool and the workpiece's movement path are often not real-time or intelligent enough, lacking dynamic adjustment mechanisms. If a collision occurs, it may not be detected in time, leading to equipment damage or machining errors, thereby reducing the safety and stability of the machining process. Furthermore, path planning is generally simple, which can easily lead to unnecessary path redundancy, resulting in long machining times and low efficiency. Traditional systems lack dynamic adjustment and rollback mechanisms, making them unable to flexibly respond to complex machining needs, which may lead to low production efficiency and resource waste.

[0004] In addition, traditional systems typically lack sophisticated path optimization and collision avoidance algorithms, making it impossible to finely adjust and optimize paths through efficient algorithms. This results in insufficient processing accuracy and a tendency to produce errors. When a collision or an inappropriate path occurs, traditional systems cannot quickly adjust the path and often require long downtime for manual intervention, leading to low production efficiency. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-axis linkage CNC machining path intelligent planning system, comprising:

[0006] The data acquisition unit is used to acquire the morphological attribute parameters of the workpiece being processed and the axial motion attribute parameters of the multi-axis machining center.

[0007] An initial division unit is used to initially divide the workpiece processing range according to the morphological attribute parameter information and the axial motion attribute parameter information, so as to obtain the initial segmentation result and the initial trajectory planning result of the processing range, wherein the initial trajectory planning result includes the coordinate information of each trajectory segment;

[0008] The collision check unit is used to check the collision between the cutting tool's motion path and the workpiece's feature range during the machining process based on the initial trajectory planning results.

[0009] The collision avoidance unit is used to respond to the existence of a collision coordinate in the collision check, and then backtrack to the coordinate before the collision coordinate to perform the collision check, record the backtracking frequency of the cutting tool movement, determine a new avoidance coordinate before the collision coordinate based on the backtracking frequency, and update the motion path parameters of the cutting tool.

[0010] The path optimization unit is used to optimize the updated motion path parameters based on the initial segmentation results and the initial trajectory planning results.

[0011] Preferably, based on the morphological attribute parameter information and the axial motion attribute parameter information, the workpiece machining range is initially divided to obtain the initial segmentation result and initial trajectory planning result of the machining range, including:

[0012] The workpiece processing range is segmented until the preset iteration termination condition is reached, thus obtaining the initial processing segment and the initial segment trajectory starting point;

[0013] Plan different reference machining paths for the starting point of the initial segmented trajectory that is within the range of motion of the multi-axis machining equipment and is less than the distance from the machining origin to a preset distance threshold;

[0014] The starting point of the initial segmented trajectory of the planned benchmark processing path plans a benchmark processing path different from its own benchmark processing path to the starting point of the initial segmented trajectory of the nearest unplanned benchmark processing path in spatial location, until all the starting points of the initial segmented trajectory have planned benchmark processing paths;

[0015] Based on the baseline processing path of the initial segment trajectory starting point, different auxiliary processing paths are planned for other processing points within the same initial processing segment.

[0016] Preferably, the workpiece processing range is segmented until a preset iteration termination condition is reached, resulting in initial processing segments and initial segment trajectory starting points, including:

[0017] Initialize the spatial coordinates of the workpiece processing range, and randomly select several processing points from the processing range as the initial segment centers;

[0018] Based on the spatial distance between other processing points and the initial segment center, the other processing points are assigned to the segment where the initial segment center has the smallest spatial distance, resulting in multiple processing segments;

[0019] Based on the morphological attribute parameter information corresponding to all processing points within the processing segment, iterative segmentation is performed until the segment center of the generated processing segment no longer changes or the preset number of iterations is reached. The segment center is then used as the starting point of the initial segment trajectory of the initial processing segment.

[0020] Preferably, determining new avoidance coordinates before the collision coordinates based on the backoff frequency includes:

[0021] Determine whether the retraction frequency of the cutting tool in adjacent trajectory segments is greater than a preset first base number;

[0022] In response to the retraction frequency being greater than a preset first base number, the offset coordinates that conform to the unit shaft movement constraint are traversed before reaching the collision coordinate, and are used as the new avoidance coordinates. The new avoidance coordinates are added before the collision coordinates so that the cutting tool adjusts its movement path with the new avoidance coordinates.

[0023] If the frequency of backtracking is not greater than a preset first base number, the newly added avoidance coordinates will not be added, and the original processing path will be maintained.

[0024] Preferably, before reaching the collision coordinates, the offset coordinates that conform to the unit shaft movement constraints are traversed as the newly added avoidance coordinates, including:

[0025] Obtain the collision coordinates of the cutting tool's movement, and starting from the collision coordinates, perform a backtracking operation step by step. After each backtracking operation, check the collision between the cutting tool's movement path and the workpiece's feature range.

[0026] Determine whether the unit shaft movement constraint is satisfied at the coordinates corresponding to the retraction frequency;

[0027] If the coordinates corresponding to the retraction frequency satisfy the unit shaft movement constraint, then the coordinates corresponding to the retraction frequency are confirmed as the newly added avoidance coordinates;

[0028] If the coordinates corresponding to the retraction frequency do not meet the unit shaft movement constraints, the cutting tool continues to retract and re-evaluates whether the unit shaft movement constraints of the coordinates corresponding to the retraction frequency are met, until the newly added avoidance coordinates are confirmed.

[0029] Preferably, additional avoidance coordinates are added before the collision coordinates, including:

[0030] Determine whether the machining distance before the cutting tool reaches the collision coordinate is greater than a preset distance standard;

[0031] If the processing spacing is greater than the preset spacing standard, then the collision check continues;

[0032] If the machining spacing is not greater than the preset spacing standard, the collision coordinates are disabled and the motion path parameters of the cutting tool are replanned.

[0033] Preferably, disabling the collision coordinates and replanning the motion path parameters of the cutting tool includes:

[0034] The first optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the starting coordinates of the workpiece machining. The second optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the preset machining end coordinates of the workpiece.

[0035] Connect the coordinates of the cutting tool after it retracts to the beginning and end coordinates of the first and second optimized trajectories, and update the motion path parameters of the cutting tool.

[0036] Preferably, path optimization is performed on the updated motion path parameters based on the initial segmentation results and the initial trajectory planning results, including:

[0037] The sub-ranges within the workpiece machining range are projected onto a preset machining coordinate system based on the initial segmentation results and the initial trajectory planning results.

[0038] The initialized particle trajectory points are randomly projected into the preset processing coordinate system where the sub-range is located;

[0039] The processing trajectory is iteratively optimized based on the position of the particle trajectory point in the preset processing coordinate system and the position of its sub-range in the preset processing coordinate system.

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

[0041] If there is no corresponding sub-range at the location of the particle trajectory point, the position of the particle trajectory point is adjusted according to a preset step size.

[0042] If there is a corresponding sub-range at the location of the particle trajectory point, then the surrounding processing intervals of the sub-range are traversed to determine the adaptation probability of the processing trajectory.

[0043] In response to the absence of a suitable processing trajectory position, the particle trajectory point will restore the corresponding subrange to the initial projection position of the subrange in the preset processing coordinate system.

[0044] A method for intelligent planning of multi-axis linkage CNC machining paths, applicable to the aforementioned intelligent planning system for multi-axis linkage CNC machining paths, includes:

[0045] Obtain the morphological attribute parameters of the workpiece being processed and the axial motion attribute parameters of the multi-axis machining center;

[0046] Based on the morphological attribute parameter information and the axial motion attribute parameter information, the workpiece processing range is initially divided to obtain the initial segmentation result and the initial trajectory planning result of the processing range, wherein the initial trajectory planning result includes the coordinate information of each trajectory segment;

[0047] Based on the initial trajectory planning results, a collision check is performed on the collision between the cutting tool's motion path and the workpiece's feature range during the machining process;

[0048] In response to the presence of a collision coordinate, the system backtracks to the coordinate preceding the collision coordinate to perform the collision check. The backtracking frequency of the cutting tool movement is recorded. Based on the backtracking frequency, a new avoidance coordinate is determined before the collision coordinate, and the motion path parameters of the cutting tool are updated.

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

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

[0051] (1) The present invention acquires workpiece shape attribute parameters and machine shaft movement attribute parameters through data acquisition unit, realizing automated and intelligent path planning. This intelligent planning helps to reduce human intervention and improve the accuracy and flexibility of processing. Through collision check unit, the collision between the movement path of cutting tool and the feature range of workpiece can be checked in real time, and the path can be automatically adjusted through collision avoidance unit, thereby avoiding possible processing errors and equipment damage. This intelligent collision avoidance greatly improves the safety and stability of processing.

[0052] (2) Through the backtracking frequency and unit shaft movement constraint judgment mechanism, the system can flexibly adjust the movement path of the cutting tool to reduce the probability of collision. If a collision occurs, the system can quickly backtrack and replan the path to ensure smooth processing. This dynamic backtracking and adjustment mechanism effectively avoids unnecessary downtime and improves production efficiency. In the initial segmentation process, through iterative segmentation and space spacing minimization allocation, the system can ensure that the processing path of each segment is as close as possible to the optimal solution, reducing unnecessary path redundancy. At the same time, the system also performs path iterative optimization based on particle trajectory points, further improving the accuracy of path planning.

[0053] (3) By determining the initial segmentation based on the morphological attributes and axis movement attributes, the system can flexibly adapt to different processing units and workpiece requirements, and provide personalized path planning and optimization schemes. This highly adaptable design enables the system to be widely used in different types of multi-axis CNC machine tools. Through precise collision avoidance and path optimization algorithms, the system can maximize processing efficiency while ensuring processing accuracy, avoiding unnecessary backtracking and path adjustment, and improving production efficiency. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the overall system architecture in one embodiment of the present invention;

[0055] Figure 2 This is a schematic flowchart of the overall method in one embodiment of the present invention.

[0056] In the diagram: 1. Data acquisition unit; 2. Initial partitioning unit; 3. Collision check unit; 4. Collision avoidance unit; 5. Path optimization unit. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Example 1, please refer to Figure 1 This invention provides a technical solution: a multi-axis linkage CNC machining path intelligent planning system, comprising:

[0059] Data acquisition unit 1 is used to acquire the morphological attribute parameter information of the workpiece being processed and the axial motion attribute parameter information of the multi-axis machining center;

[0060] Initial division unit 2 is used to initially divide the workpiece processing range according to the morphological attribute parameter information and the axial motion attribute parameter information, so as to obtain the initial segmentation result and the initial trajectory planning result of the processing range. The initial trajectory planning result includes the coordinate information of each trajectory segment.

[0061] Collision checking unit 3 is used to check the collision between the cutting tool's motion path and the workpiece's feature range during the machining process based on the initial trajectory planning results;

[0062] Collision avoidance unit 4 is used to respond to the existence of collision coordinates in the collision check, and then backtrack to the coordinate before the collision coordinate to perform a collision check, record the backtracking frequency of the cutting tool movement, determine the new avoidance coordinate before the collision coordinate based on the backtracking frequency, and update the motion path parameters of the cutting tool.

[0063] The path optimization unit 5 is used to optimize the updated motion path parameters based on the initial segmentation results and the initial trajectory planning results.

[0064] It should be noted that the system collects the morphological attributes of the workpiece (e.g., workpiece dimensions, shape, etc.) and the axial motion attributes of the multi-axis machining center (e.g., the machine tool's range of motion, motion parameters of each axis, etc.). This data provides the foundation for subsequent path planning. For example, suppose we want to machine a complex-shaped metal part, such as a component of a car engine. In this unit, the system will collect the part's dimensions (length, width, height) and shape (e.g., concave / convex, curved, etc.), and simultaneously collect the CNC machine tool's range of motion (e.g., the maximum travel distance and rotation angle of the X, Y, and Z axes). This data helps the system understand the machining constraints and possibilities. The system first defines the processing range and trajectory based on collected workpiece and machine tool data. This step generates preliminary processing segments (breaking down the workpiece processing into several smaller segments for gradual processing) and preliminary path planning results. Assuming the workpiece is a complex gear part, the system first divides it into several parts for processing based on its size and shape. For example, it first processes the outer contour, then the tooth profile, and finally drills the inner hole. Each part has a corresponding trajectory plan, which includes the coordinate points of each processing path. Collision checks are performed on the preliminary planned path to ensure that during processing, collisions do not occur. The cutting tool should not collide with the workpiece or other parts of the machine tool. However, suppose the cutting tool needs to cut within a complex cavity, and a portion of the cavity is very close to a fixed part of the machine tool. If the initial path planning fails to consider this, the cutting tool may collide with the machine tool during machining. In this case, the collision detection unit will identify the problem. When a collision is detected, the system will backtrack to a safe position before the collision, recalculate the path, and generate a new avoidance trajectory to prevent the collision. This process also records the backtracking frequency so that the system can optimize subsequent paths. For example, in the above example, suppose the cutting tool... If the tool comes into contact with a fixed part of the machine tool during machining, it will backtrack to a safe coordinate point before the collision and replan the path. If multiple backtrackings occur, the system will optimize the path to prevent the tool from entering dangerous areas. After handling collision issues, the system will optimize the machining path to make the machining process more efficient and precise, reducing unnecessary backtracking and waste. For example, after resolving collision issues, the system will optimize the path, such as reducing the number of tool backtrackings, shortening machining time, and improving machining accuracy. If the machining path is optimized, some parts that do not require multiple cuts may be discovered, thereby improving machining efficiency.

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

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

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

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

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

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

[0071] For non-parametric models (such as point cloud models obtained by scanning, B-rep models): the model topology is analyzed by the "face / edge / vertex (F / V / E) extraction algorithm", and the point cloud is fitted into a surface (such as a NURBS surface), or a closed boundary is generated by the connection relationship of the edges (such as the concatenation of vertex coordinates of a polygon shape).

[0072] The radius and length of the cutting tool will affect the actual motion path (e.g., when machining a flat surface, the center of the cutting tool needs to be offset by 5mm if the ball end mill radius is 5mm). Therefore, the cutting tool parameters (obtained from the "axis motion attribute parameter information") need to be incorporated into the feature range: the range of the surface to be machined = theoretical design boundary + cutting tool radius / length compensation value; Example: When machining a φ10mm hole, the end mill radius is 4mm. The cutting tool center path needs to be within the range of ±(5-4)=±1mm from the hole center (i.e., X24-X26, Y14-Y16) to avoid the cutting tool sidewall from exceeding the hole boundary;

[0073] Based on the process of "roughing → semi-finishing → finishing", set allowances for each process and adjust the range of the surface to be machined. For example: the final size of a cuboid workpiece is X0-X50. Leave a 1mm allowance for roughing, and the blank size is X0-X52. The range to be machined during roughing is X1-X51 (the tool must cover this range); leave a 0.3mm allowance for semi-finishing, and the range to be machined is X0.3-X50.3.

[0074] The CAD model of the fixture (such as a vise or locating pin) is "assembled" with the workpiece model. Boolean operations or collision detection are used to determine the space occupied by the fixture (preventing the tool from entering) and include it in the "prohibited area" of the workpiece feature range.

[0075] Collect the actual coordinates of key feature points of the workpiece (such as the top of the shape, the center of the hole, and the reference surface), compare them with the theoretical coordinates, calculate the deviation value (such as an offset of 0.2mm in the X direction and an inclination of 0.1mm in the Z direction), adjust the coordinates of the theoretical feature range according to the deviation value (such as correcting the original hole center X25 to X25.2), and generate the "actual workpiece feature range" to ensure that subsequent collision checks and path planning are consistent with the actual working conditions.

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

[0077] The workpiece processing range is segmented until the preset iteration termination condition is reached, thus obtaining the initial processing segment and the initial segment trajectory starting point;

[0078] Plan different reference machining paths for the starting point of the initial segmented trajectory that is within the range of motion of the multi-axis machining equipment and is less than the distance from the machining origin to a preset distance threshold;

[0079] The starting point of the initial segmented trajectory of the planned benchmark processing path plans a benchmark processing path different from its own benchmark processing path to the starting point of the initial segmented trajectory of the nearest unplanned benchmark processing path in spatial location, until all the starting points of the initial segmented trajectory have planned benchmark processing paths;

[0080] Based on the baseline processing path of the initial segment trajectory starting point, different auxiliary processing paths are planned for other processing points within the same initial processing segment.

[0081] It should be noted that the entire machining range of the workpiece is segmented, with the segmentation criteria based on the workpiece's shape and machining requirements. Then, the system iteratively optimizes based on preset conditions (such as error thresholds and time limits) until a preset termination condition is met (e.g., the maximum number of iterations or the error being less than a certain threshold), thus obtaining preliminary machining segmentation results and trajectory starting points. For example, suppose we are machining a complex aerospace component with multiple grooves and protrusions. The system first divides the machining task into multiple regions (e.g., external contour, grooves, internal holes, etc.) and generates preliminary trajectory planning for each region. Then, based on these segments, the system iteratively adjusts the boundaries and paths of each segment until these paths meet the required accuracy. To ensure smooth processing of each segment, the system plans different baseline processing paths based on the initial segment trajectory starting point. These baseline paths are calculated main paths that meet processing requirements, while ensuring sufficient distance from other paths to avoid conflicts. Path planning also ensures that path points overlap with the equipment's movement range and that the distance from the previous path point is less than a preset threshold to ensure the continuity of the processing path. For example, assuming the processing task requires planning paths for multiple areas separately, the initial segment trajectory starting point is the starting position of a certain part of the processing. The system first plans a baseline path for this starting point, ensuring the path covers the entire processing area and avoids conflicts with other paths. Path planning also... The system considers the machine tool's range of motion to ensure smooth tool movement between these paths. Once the initial segmented trajectory has a planned baseline path, the system searches for the nearest unplanned area to these paths and plans new baseline machining paths for these areas until all areas have been planned. For example, when machining gears, the initial path might plan the outer contour machining path, while the subsequent path might be the tooth profile machining path. The system automatically calculates the next unplanned area closest to an existing path and plans a new path for this area until all machining areas have been processed. These paths are determined based on factors such as the shortest distance, machining sequence, and the machine's range of motion. Once the initial... Once the baseline path planning is complete, the system will plan auxiliary machining paths for other machining points within the same segment based on that path. Auxiliary paths are typically used for detail processing or small-scale precision machining to ensure the entire segment is machined to the required accuracy. For example, when machining gears, after the initial path planning is complete, the system will generate auxiliary paths for each tooth profile of the gear for fine cutting or grinding. These auxiliary paths may be used to remove excess material or to perform fine machining on certain areas, such as fine-tuning the tooth profile. For another example, suppose a complex aircraft wing component is being machined. First, the system will divide the entire component into multiple machining areas based on the workpiece's size and shape, such as the outer contour, inner holes, and ribs.The system plans an initial machining trajectory for each region and iteratively optimizes it within each region until all segments meet the accuracy requirements. The machining origin (also known as the "workpiece coordinate system origin") is the "spatial reference zero point" for the entire machining process. It is a core reference point defined artificially in the preset machining coordinate system, used to uniformly label the "workpiece machining point coordinates," "tool movement coordinates," and "equipment movement range coordinates." All machining-related positional parameters are calculated based on it, making it crucial for ensuring machining accuracy and preventing equipment overtravel.

[0082] In an optional embodiment, the workpiece processing range is segmented until a preset iteration termination condition is reached, resulting in initial processing segments and initial segment trajectory starting points, including:

[0083] Initialize the spatial coordinates of the workpiece processing range, and randomly select several processing points from the processing range as the initial segment centers;

[0084] Based on the spatial distance between other processing points and the initial segment center, the other processing points are assigned to the segment containing the initial segment center with the smallest spatial distance, resulting in multiple processing segments;

[0085] Based on the morphological attribute parameter information corresponding to all processing points within the processing segment, iterative segmentation is performed until the segment center of the generated processing segment no longer changes or the preset number of iterations is reached. The segment center is then used as the starting point of the initial segment trajectory of the initial processing segment.

[0086] It should be noted that the system first determines the machining range of the workpiece and initializes the spatial coordinates of all machining points within that range. Then, the system randomly selects several of these machining points as initial "segment centers," which will serve as the core of the initial segmentation. For example, suppose we want to machine a car part, such as an engine hood. The system first determines a spatial coordinate system based on all points on the hood surface (such as holes, protrusions, etc.) and initializes the coordinates of these points. Then, the system randomly selects several points as initial segment centers, such as the center of a hole, an edge point, and a protrusion point. Next, the system calculates the relationship between each machining point and all initial segment centers. The system calculates the spatial distance between each processing point and the nearest initial segment center. This divides the entire workpiece's processing area into multiple segments, where each processing point is minimized by its distance from the segment's center. For example, continuing with the engine hood example, assuming three initial segment centers are selected, the system calculates the distance between each processing point (such as a protrusion, a hole, or an edge point) and the three initial centers. For instance, if a point is closer to the center of a hole, it will be assigned to the segment containing the hole; if another point is closer to a protrusion, it will be assigned to the segment containing the protrusion. Thus, the entire processing area is divided into multiple sub-regions (each representing a processing segment).

[0087] After the first round of segmentation, the system iteratively optimizes based on the morphological attributes (such as shape, size, angle, etc.) of all processing points within each segment. In each iteration, the system recalculates the center of each segment and re-divides the segments based on these new center points until the segment centers no longer change or the preset maximum number of iterations is reached. For example, assuming the processing point in the first segment includes a small hole and some planar areas, the system will recalculate the segment center based on the morphological information of these processing points (such as the diameter of the hole, the size of the planar areas, etc.). This new segment center may be slightly offset to better represent the processing points within the segment. The system considers the following characteristics: If, after multiple iterations, the segment center no longer changes, or the maximum number of iterations is reached, the iteration will stop. Once the center points of all segments have stabilized, these segment centers become the starting point for machining path planning. The system can plan specific machining paths based on these initial segment trajectory starting points. For example, suppose that in the machining of the engine hood, after iterative optimization, the system determines the center position of each segment. For example, the center of one segment is located at the center of a hole, and the center of another segment is located at the center of a protrusion. These center points will serve as the starting point for subsequent path planning, and the system will perform precise machining trajectory planning based on these points.

[0088] In an optional embodiment, determining additional avoidance coordinates before the collision coordinates based on the backoff frequency includes:

[0089] Determine whether the retraction frequency of the cutting tool in adjacent trajectory segments is greater than a preset first base number;

[0090] In response to the retraction frequency being greater than the preset first base number, the offset coordinates that conform to the unit shaft movement constraint are traversed before reaching the collision coordinate, and added as new avoidance coordinates. The new avoidance coordinates are added before the collision coordinates so that the cutting tool adjusts its motion path with the new avoidance coordinates.

[0091] If the frequency of backtracking is not greater than the preset first base number, no new avoidance coordinates will be added, and the original processing path will be maintained.

[0092] It should be noted that the system records the frequency of tool retraction on adjacent path segments. Retraction frequency refers to the number of path adjustments the tool needs to make during machining, such as when the tool deviates or the path is unsatisfactory, requiring retraction and replanning. The system sets a baseline (e.g., 5 times). If the retraction frequency exceeds this baseline, it indicates that the tool path requires more adjustments, potentially leading to decreased efficiency. For example, suppose a complex-shaped part is being machined; the tool retracts 7 times between two adjacent path segments due to the complexity of the shape or errors. The initial baseline is 5 times, so the retraction frequency (7 times) is greater than the preset baseline (5 times). The system will then proceed to the next step to assess whether path adjustments are needed. When the retraction frequency exceeds the preset baseline, the system checks whether new avoidance coordinates (i.e., path adjustment points) can be introduced. These points are selected based on the machine's axis movement constraints. Machine axis movement constraints refer to the machine tool's movement limitations, such as the machine's rotation range or load-bearing capacity. By traversing offset coordinates that meet these constraints... The system can identify which points can serve as new avoidance points, thereby adjusting the tool's path before potential collisions and avoiding unnecessary backtracking. For example, suppose during machining, the tool's path encounters a complex hole area, causing frequent backtracking. In this case, the system calculates some offset coordinates (e.g., on the other side of the workpiece or slightly off the path) as new avoidance points. These offset points conform to the machine tool's motion constraints. These points are inserted into the path to ensure that the tool passes through these new avoidance points before encountering complex areas, avoiding collisions. If the backtracking frequency does not exceed a preset first base number, the system considers the existing path to be efficient enough and does not require additional adjustments. Therefore, the system maintains the original path and continues to execute the existing machining path planning. For example, suppose the tool backtracks only 3 times between two trajectory segments, which is lower than the preset base number of 5 times. In this case, the system considers the machining path to be good enough and does not require adjustment; the tool will continue machining along the original path.

[0093] In an optional embodiment, traversing offset coordinates that conform to the unit shaft movement constraints before reaching the collision coordinates, as additional avoidance coordinates, includes:

[0094] Obtain the collision coordinates of the cutting tool's movement, and starting from the collision coordinates, perform a backtracking operation step by step. After each backtracking operation, check the collision between the cutting tool's movement path and the workpiece's feature range.

[0095] Determine whether the unit shaft movement constraint is satisfied at the coordinate corresponding to the retraction frequency;

[0096] If the coordinates corresponding to the retraction frequency satisfy the unit shaft movement constraint, then the coordinates corresponding to the retraction frequency will be confirmed as the new avoidance coordinates.

[0097] If the coordinate corresponding to the retraction frequency does not meet the unit shaft movement constraint, the cutting tool continues to retract and re-evaluates the unit shaft movement constraint of the coordinate corresponding to the retraction frequency until a new avoidance coordinate is confirmed.

[0098] It's important to note that acquiring the tool's current motion path and detecting collisions is crucial, especially when encountering complex areas or non-ideal paths. Collision coordinates refer to the location where the cutting tool and workpiece collide. The system analyzes the tool's path and gradually retraces back to previous trajectory points to perform collision detection and identify problem areas. For example, suppose a collision occurs during machining, and the system records the collision coordinates (e.g., a protrusion on the workpiece). Then, starting from the collision coordinates, the system gradually retraces to find the specific cause of the collision. During each retracement, the system determines whether the retracement coordinates meet the machine tool's axis movement constraints (i.e., the machine tool's motion limitations). These limitations include the machine tool's working range, load capacity, and speed. If the retracement coordinates exceed the machine tool's limitations, the tool cannot move to that point, potentially leading to unsafe or unstable machining. For example, suppose the system detects a potential avoidance coordinate during retracement. The system checks if this coordinate is within the machine tool's operating range; if the coordinate exceeds the machine tool's limits... If the machine tool moves along a certain path within its working range, the system will consider the coordinates to be inconsistent with the machine tool's axis movement constraints, preventing the tool from continuing along this path. If the retraction coordinates are consistent with the machine tool's axis movement constraints, then this point is considered a new avoidance point. The system will adjust the tool's path before a collision, using this new avoidance point to avoid the collision. For example, if after retraction, the system determines a new coordinate as an avoidance point that satisfies the machine tool's motion constraints, the system will accept this point as a new path point. In the subsequent machining process, the tool will bypass the collision area and perform machining along the new path. If the retraction coordinates are inconsistent with the machine tool's axis movement constraints, the system will continue to retract, searching for other possible avoidance coordinates. This process will continue until an avoidance coordinate that meets the machine tool's constraints is found. For example, if the system retracts to a coordinate point that does not meet the machine tool's axis movement constraints (e.g., it is outside the machine tool's range of motion), the system will continue to retract, searching for the next possible avoidance point. This process will repeat until a suitable avoidance coordinate is found.

[0099] In an alternative embodiment, adding new avoidance coordinates before the collision coordinates includes:

[0100] Determine whether the machining distance before the cutting tool reaches the collision coordinate is greater than the preset distance standard;

[0101] If the processing spacing is greater than the preset spacing standard, then the collision check continues;

[0102] If the machining spacing is not greater than the preset spacing standard, the collision coordinates are disabled and the motion path parameters of the cutting tool are replanned.

[0103] It should be noted that the distance between the tool and the workpiece is monitored during processing, especially when approaching coordinates where collisions may occur. It compares the current processing distance with a preset standard to determine if it exceeds a set value. For example, if the system detects that the tool is approaching a collision area during processing, it calculates the distance between the tool and the collision point. If this distance (processing distance) is greater than the preset standard value (e.g., 10 mm), the system considers this path to have no collision risk and continues with collision checks. If the processing distance is greater than the preset standard, it means the tool still has some leeway from the collision point, and the system can continue with path collision checks to ensure the tool does not collide along the current path. For example, in the above example, if the tool... If the machining distance is greater than 10 mm, the system believes that immediate path adjustment is not necessary. Therefore, the system continues to perform collision checks to ensure that the tool's path does not encounter other potential collision risks. If the machining distance is less than or equal to the preset standard, it means that the tool is very close to the collision area and there is a significant collision risk. In this case, the system will disable the current collision coordinates and replan the tool's motion path to avoid collisions. For example, suppose in the previous example, the machining distance between the tool and the collision area is only 5 mm, which is less than the preset standard (10 mm). At this time, the system will consider the collision risk to be very high and cannot continue machining along the current path. Therefore, the system will disable this collision coordinate, adjust the tool's path, and replan the cutting tool's motion parameters to avoid the collision area.

[0104] The machining spacing refers to the trajectory interval between the collision point and the preceding safety point. The collision coordinate is denoted as Pc. The collision coordinate represents the coordinate point where the tool collides with the feature range of the workpiece. The nearest effective safety coordinate before the collision coordinate is usually the "collision-free coordinate" confirmed in the backtracking process (such as P1 obtained by backtracking once from Pc) and the trajectory point confirmed as collision-free in the initial trajectory planning (such as the preset point before Pc in the original path).

[0105] In an alternative embodiment, collision coordinates are disabled, and the motion path parameters of the cutting tool are reprogrammed, including:

[0106] The first optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the starting coordinates of the workpiece machining. The second optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the preset machining end coordinates of the workpiece.

[0107] Connect the coordinates of the cutting tool after it retracts to the coordinates of the beginning and end of the first and second optimized trajectories, and update the motion path parameters of the cutting tool.

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

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

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

[0111] Connection method: Connection with the first optimized trajectory (T1: S→P0): Same endpoint substitution. The "starting point (S)" and "ending point (P0)" of T1 completely overlap, both being "paths from S to P0," differing only in path shape (such as trajectory curve and empty travel length). Therefore, T1 is used to represent them. The "inefficient segment" or "whole", but the connection points still remain S and P0 unchanged, for example, The path is "S→P1→P2→P0" (empty travel length), and T1 is "S→P0" (straight-line optimized path). After the replacement, the starting point of the path is still S, and the ending point is still P0. Only the intermediate trajectory segment is optimized, and the connection points are not added or changed. The ending point (P0) of T1 and the starting point (P0) of T2 completely coincide—P0 is the only transition point between the "first optimized trajectory (T1)" and the "second optimized trajectory (T2)". First, it is optimized by T1 (connection point S→P0 remains unchanged), then it is connected to the starting point P0 of T2 through the end point P0 of T1, thus indirectly achieving " The continuous path "→T1→T2" eventually forms the complete trajectory "S→P0→E", but during this process, It is only connected to S and P0, and not directly connected to T2 or E.

[0112] In an optional embodiment, path optimization is performed on the updated motion path parameters based on the initial segmentation results and the initial trajectory planning results, including:

[0113] Project the sub-ranges within the workpiece machining range onto the preset machining coordinate system based on the initial segmentation results and the initial trajectory planning results;

[0114] The initialized particle trajectory points are randomly projected into the preset processing coordinate system of the sub-range;

[0115] The processing trajectory is iteratively optimized based on the position of the particle trajectory point in the preset processing coordinate system and the position of the sub-range in the preset processing coordinate system as the processing range.

[0116] It should be noted that the processing range of a workpiece is usually divided into multiple sub-ranges (or sub-regions). First, based on the initial segmentation results and trajectory planning, the positions and ranges of these sub-ranges in a preset processing coordinate system are calculated. The so-called "projection" is actually mapping these regions to a unified coordinate system, which facilitates subsequent path optimization. For example, suppose a large metal plate is to be processed. The total processing range of the workpiece can be divided into multiple sub-regions (e.g., left region, right region, and center region). The initial segmentation and planned trajectory (e.g., path distribution, processing sequence, etc.) have been set. Now, it is necessary to map the positions of these sub-regions in a preset processing coordinate system (such as the robot's motion coordinate system) so as to accurately control the path later. The Particle Swarm Optimization (PSO) algorithm searches for the optimal solution by randomly generating multiple "particles" in the initial trajectory. Each particle represents a possible trajectory point (or path point). These particles are projected into the coordinate system of the sub-ranges according to some random factors, that is, the particle swarm is "initialized" and given initial processing path points. For example, suppose there are 5 sub-regions in the center region of the workpiece. Each particle swarm optimization (PSO) algorithm can have multiple trajectory points. Ten particles (path points) are randomly projected into each sub-region. These particles represent possible trajectory points and explore the optimal path. The initial position of each particle is random, but they gradually move towards a better path based on future optimization processes. This process is the core of PSO. After the initial particle trajectory points are generated, the algorithm compares the position of the particle swarm with the position of the sub-region in the preset machining coordinate system and uses a certain evaluation function (such as minimizing path deviation or collision risk) to calculate the fitness of each particle. Then, through iteration, the particle trajectories are continuously adjusted so that the optimized path meets the preset machining objectives, such as accuracy requirements, minimizing machining time, and avoiding collisions. For example, after initialization, each particle in the particle swarm represents a possible trajectory. The system calculates the position of each particle in the workpiece machining coordinate system and determines whether these positions are within the machining range, while also evaluating their matching degree with the workpiece shape, collision risk, path smoothness, and other factors. By continuously adjusting the particle positions, the algorithm gradually approaches the optimal path, i.e., the trajectory that avoids collisions, has the shortest path, and the highest efficiency.

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

[0118] In an optional embodiment, the processing trajectory is iteratively optimized based on the position of the particle trajectory point in a preset processing coordinate system and the position of the sub-range in the preset processing coordinate system, which constitutes the processing range. This includes:

[0119] If there is no corresponding sub-range at the location of the particle trajectory point, the position of the particle trajectory point will be adjusted according to the preset step size.

[0120] If there is a corresponding sub-range at the location of the particle trajectory point, then the surrounding processing intervals of the sub-range are traversed to determine the adaptation probability of the processing trajectory.

[0121] In response to the absence of a suitable processing trajectory position, the particle trajectory point will restore the corresponding subrange to the initial projection position of the subrange in the preset processing coordinate system.

[0122] It should be noted that during each iteration, if a particle's position does not have a corresponding sub-range (i.e., the particle is not within a preset processing area), the particle's position needs to be adjusted to re-enter the valid processing area. This adjustment is performed according to a preset step size, which is a parameter controlling the particle's movement to ensure that the particle always remains within the processing range. For example, suppose some particles are randomly initialized on the left side of a workpiece. If a particle moves outside the processing range (e.g., crosses the left boundary of the workpiece), its position needs to be adjusted using the step size to return it to the valid area. For example, if the step size is set to 0.5 units, the particle will be moved 0.5 units to a new position until it returns to the valid area. If the particle's position falls within a valid sub-range, the next step is to calculate the adaptation probability of the processing trajectory determined by the particle at that position. The adaptation probability includes, but is not limited to, position matching degree and collision risk degree. Position matching degree refers to the "spatial distance deviation" between the particle trajectory point and the sub-range, and collision risk degree refers to the "minimum safe distance" between the particle trajectory point and the workpiece feature range.

[0123] The position matching degree is calculated as follows: Calculate the Euclidean distance between the particle trajectory point coordinates (Xp, Yp, Zp) and the center coordinates of the sub-range "processing area center" (Xc, Yc, Zc): D²=[(Xp-Xc)²+(Yp-Yc)²+(Zp-Zc)²]; If the particle is within the sub-range, the smaller D is, the closer it is to the processing core area. When the position matching degree is higher than the preset position matching threshold, the corresponding candidate path cannot meet the processing requirements, that is, it is judged as "unsuitable";

[0124] The collision risk level is calculated as follows: Calculate the shortest distance from the particle trajectory point to the "prohibited area of ​​the workpiece feature range" (such as fixture, machined surface, thin wall boundary): S = min (distance from the particle to each boundary of the prohibited area); if S < safety threshold (such as tool radius + 0.1mm), it is judged as "high collision risk"; a preset collision risk threshold needs to be set for the adaptation probability. This collision risk threshold is a "qualification standard" predefined according to the core requirements of the processing scenario (such as accuracy, safety, efficiency). Particle trajectory points that are lower than this collision risk threshold cannot meet the processing requirements for their corresponding candidate paths, and are judged as "unsuitable".

[0125] Example 2, please refer to Figure 2 This invention provides a technical solution: a multi-axis linkage CNC machining path intelligent planning method, applicable to the aforementioned multi-axis linkage CNC machining path intelligent planning system, comprising:

[0126] S1. Obtain the shape attribute parameter information of the workpiece being processed and the axis movement attribute parameter information of the multi-axis machining unit;

[0127] S2. Based on the morphological attribute parameter information and the axial motion attribute parameter information, the workpiece machining range is initially divided to obtain the initial segmentation result and the initial trajectory planning result of the machining range. The initial trajectory planning result includes the coordinate information of each trajectory segment.

[0128] S3. Based on the initial trajectory planning results, perform collision checks on the collision between the cutting tool's motion path and the workpiece's feature range during the machining process;

[0129] S4. In response to the presence of a collision coordinate, the system backtracks to the coordinate preceding the collision coordinate to perform a collision check. The backtracking frequency of the cutting tool movement is recorded. Based on the backtracking frequency, a new avoidance coordinate is determined before the collision coordinate, and the motion path parameters of the cutting tool are updated.

[0130] S5. Optimize the updated motion path parameters based on the initial segmentation results and initial trajectory planning results.

[0131] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A multi-axis linkage CNC machining path intelligent planning system, characterized in that, include: The data acquisition unit is used to acquire the morphological attribute parameters of the workpiece being processed and the axial motion attribute parameters of the multi-axis machining center. An initial division unit is used to initially divide the workpiece processing range according to the morphological attribute parameter information and the axial motion attribute parameter information, so as to obtain the initial segmentation result and the initial trajectory planning result of the processing range, wherein the initial trajectory planning result includes the coordinate information of each trajectory segment; The collision check unit is used to check the collision between the cutting tool's motion path and the workpiece's feature range during the machining process based on the initial trajectory planning results. The collision avoidance unit is used to respond to the existence of a collision coordinate in the collision check, and then backtrack to the coordinate before the collision coordinate to perform the collision check, record the backtracking frequency of the cutting tool movement, determine a new avoidance coordinate before the collision coordinate based on the backtracking frequency, and update the motion path parameters of the cutting tool. The path optimization unit is used to optimize the updated motion path parameters based on the initial segmentation results and the initial trajectory planning results.

2. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 1, characterized in that, Based on the morphological attribute parameter information and the axial motion attribute parameter information, the workpiece machining range is initially divided to obtain the initial segmentation result and initial trajectory planning result of the machining range, including: The workpiece processing range is segmented until the preset iteration termination condition is reached, thus obtaining the initial processing segment and the initial segment trajectory starting point; Plan different reference machining paths for the starting point of the initial segmented trajectory that is within the range of motion of the multi-axis machining equipment and is less than the distance from the machining origin to a preset distance threshold; The starting point of the initial segmented trajectory of the planned benchmark processing path plans a benchmark processing path different from its own benchmark processing path to the starting point of the initial segmented trajectory of the nearest unplanned benchmark processing path in spatial location, until all the starting points of the initial segmented trajectory have planned benchmark processing paths; Based on the baseline processing path of the initial segment trajectory starting point, different auxiliary processing paths are planned for other processing points within the same initial processing segment.

3. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 2, characterized in that, The workpiece machining range is segmented until a preset iteration termination condition is reached, resulting in the initial machining segments and the initial segment trajectory start points, including: Initialize the spatial coordinates of the workpiece processing range, and randomly select several processing points from the processing range as the initial segment centers; Based on the spatial distance between other processing points and the initial segment center, the other processing points are assigned to the segment where the initial segment center has the smallest spatial distance, resulting in multiple processing segments; Based on the morphological attribute parameter information corresponding to all processing points within the processing segment, iterative segmentation is performed until the segment center of the generated processing segment no longer changes or the preset number of iterations is reached. The segment center is then used as the starting point of the initial segment trajectory of the initial processing segment.

4. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 3, characterized in that, Based on the backtracking frequency, new avoidance coordinates are determined before the collision coordinates, including: Determine whether the retraction frequency of the cutting tool in adjacent trajectory segments is greater than a preset first base number; In response to the retraction frequency being greater than a preset first base number, the offset coordinates that conform to the unit shaft movement constraint are traversed before reaching the collision coordinate, and are used as the new avoidance coordinates. The new avoidance coordinates are added before the collision coordinates so that the cutting tool adjusts its movement path with the new avoidance coordinates. If the frequency of backtracking is not greater than a preset first base number, the newly added avoidance coordinates will not be added, and the original processing path will be maintained.

5. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 4, characterized in that, Before reaching the collision coordinates, the offset coordinates that conform to the unit shaft movement constraints are traversed and used as the newly added avoidance coordinates, including: Obtain the collision coordinates of the cutting tool's movement, and starting from the collision coordinates, perform a backtracking operation step by step. After each backtracking operation, check the collision between the cutting tool's movement path and the workpiece's feature range. Determine whether the unit shaft movement constraint is satisfied at the coordinates corresponding to the retraction frequency; If the coordinates corresponding to the retraction frequency satisfy the unit shaft movement constraint, then the coordinates corresponding to the retraction frequency are confirmed as the newly added avoidance coordinates; If the coordinates corresponding to the retraction frequency do not meet the unit shaft movement constraints, the cutting tool continues to retract and re-evaluates whether the unit shaft movement constraints of the coordinates corresponding to the retraction frequency are met, until the newly added avoidance coordinates are confirmed.

6. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 5, characterized in that, Add new avoidance coordinates before the collision coordinates, including: Determine whether the machining distance before the cutting tool reaches the collision coordinate is greater than a preset distance standard; If the processing spacing is greater than the preset spacing standard, then the collision check continues; If the machining spacing is not greater than the preset spacing standard, the collision coordinates are disabled and the motion path parameters of the cutting tool are replanned.

7. The intelligent planning system for multi-axis linkage CNC machining paths according to claim 6, characterized in that, Disable the collision coordinates and replan the motion path parameters of the cutting tool, including: The first optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the starting coordinates of the workpiece machining. The second optimized trajectory is obtained by performing optimal trajectory planning on the path between the coordinates of the cutting tool after retraction and the preset machining end coordinates of the workpiece. Connect the coordinates of the cutting tool after it retracts to the beginning and end coordinates of the first and second optimized trajectories, and update the motion path parameters of the cutting tool.

8. The intelligent planning system for multi-axis linkage CNC machining path according to claim 7, characterized in that, Based on the initial segmentation results and the initial trajectory planning results, the updated motion path parameters are optimized, including: The sub-ranges within the workpiece machining range are projected onto a preset machining coordinate system based on the initial segmentation results and the initial trajectory planning results. The initialized particle trajectory points are randomly projected into the preset processing coordinate system where the sub-range is located; The processing trajectory is iteratively optimized based on the position of the particle trajectory point in the preset processing coordinate system and the position of its sub-range in the preset processing coordinate system.

9. The intelligent planning system for multi-axis linkage CNC machining path according to claim 8, characterized in that, Based on the position of the particle trajectory point in the preset processing coordinate system and the position of the sub-range in the preset processing coordinate system, the processing trajectory is iteratively optimized, including: If there is no corresponding sub-range at the location of the particle trajectory point, the position of the particle trajectory point is adjusted according to a preset step size. If there is a corresponding sub-range at the location of the particle trajectory point, then the surrounding processing intervals of the sub-range are traversed to determine the adaptation probability of the processing trajectory. In response to the absence of a suitable processing trajectory position, the particle trajectory point will restore the corresponding subrange to the initial projection position of the subrange in the preset processing coordinate system.

10. A method for intelligent planning of multi-axis linkage CNC machining paths, applicable to the intelligent planning system for multi-axis linkage CNC machining paths as described in any one of claims 1-9, characterized in that, include: Obtain the morphological attribute parameters of the workpiece being processed and the axial motion attribute parameters of the multi-axis machining center; Based on the morphological attribute parameter information and the axial motion attribute parameter information, the workpiece processing range is initially divided to obtain the initial segmentation result and the initial trajectory planning result of the processing range, wherein the initial trajectory planning result includes the coordinate information of each trajectory segment; Based on the initial trajectory planning results, a collision check is performed on the collision between the cutting tool's motion path and the workpiece's feature range during the machining process; In response to the presence of a collision coordinate, the system backtracks to the coordinate preceding the collision coordinate to perform the collision check. The backtracking frequency of the cutting tool movement is recorded. Based on the backtracking frequency, a new avoidance coordinate is determined before the collision coordinate, and the motion path parameters of the cutting tool are updated. Based on the initial segmentation results and the initial trajectory planning results, the updated motion path parameters are optimized.

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