A control system of a seven-axis five-linkage numerical control machine tool

Abstract

The application provides a control system of a seven-axis five-linkage numerical control machine tool, the machine tool comprises a rack, a tool magazine assembly is arranged on one side of the rack, the tool magazine assembly comprises a tool magazine frame, an automatic tool changing assembly is arranged between the tool magazine assembly and a tool holder, the control system comprises a controller, a position sensor arranged on the tool magazine frame and used for detecting a tool position, a first detection unit arranged on the automatic tool changing assembly and used for detecting a tool number to be changed, the controller identifies number information of a tool grabbed by the automatic tool changing assembly based on detection information, compares the number information with required tool number information, calculates a difference value between the required tool number and the grabbed tool number through a difference value calculation model, controls a rotation direction and an angle of the tool magazine assembly, and performs secondary detection on the tool in a tool changing process by using a visual detection technology, so as to ensure the accuracy of tool changing and avoid losses caused by incorrect tool changing due to sensor failure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of machine tool processing, in particular to a control system of a seven-axis five-linkage numerical control machine tool. BACKGROUND

[0002] With the development of science and technology, the processing capacity of numerical control machine tools is becoming stronger and stronger, especially for the processing of complex workpieces, thus the seven-axis five-linkage numerical control machine tool emerges as the times require. Usually, a tool magazine is equipped for the machine tool to store different machining tools, so that when processing complex workpieces, the machine tool can automatically take out the required tool from the tool magazine to achieve the purpose of automatic tool changing.

[0003] However, when implementing automatic tool changing, the tool magazine positioning sensor is like the "eyes" of the machining center, bearing the heavy responsibility of accurately capturing tool position information. In actual operation, due to long-term exposure to complex working environments, the sensor may be eroded by dust, oil stains, cutting fluid and other pollutants, causing the sensitivity of the sensing element to decrease or even fail. For example, in an automobile parts processing workshop, a large amount of fine iron filings generated during metal cutting may be adsorbed on the sensing surface of the sensor, interfering with its normal electromagnetic induction or photoelectric induction, so that the sensor cannot accurately detect the position of the tool magazine. The signal transmission line is the "nerve link" connecting the sensor and the control system. The line is exposed to the inside of the machine tool for a long time, and may be loosened, oxidized at the joint of the line, or the cable itself may be damaged or broken due to factors such as mechanical vibration and temperature change. Once these problems occur, the tool position signal sent by the sensor cannot be completely and accurately transmitted to the control system. The control system cannot receive the correct tool position information, which is like groping in the dark, and cannot accurately determine the current position of the tool, thus causing command errors during tool changing and causing tool changing confusion. In the field of modern precision machining, once confusion occurs during tool changing, the consequences are unpredictable. For example, in an aviation parts processing enterprise, when processing high-precision aircraft engine blades, the tool magazine positioning sensor fails to sense, causing tool changing confusion. The tool originally used for milling the profile of the blade is mistakenly replaced with a drilling tool. Under the high-speed operation of the machine tool, the tool and the workpiece collide violently. Instantly, the blade worth tens of thousands of yuan is scrapped, the tool is severely damaged, and the key components of the machine tool such as the spindle and the guide rail are also worn to varying degrees due to the impact force, resulting in high repair costs and serious delay in production progress, causing huge economic losses to the enterprise.

[0004] Therefore, it is necessary to improve the control system of the existing seven-axis five-linkage numerical control machine tool to improve the tool changing accuracy. SUMMARY

[0005] The main purpose of the present application is to provide a control system of a seven-axis five-linkage numerical control machine tool, which uses visual detection technology to detect the tool during tool changing twice, ensures the accuracy of tool changing, and avoids the loss caused by incorrect tool changing due to sensor failure.

[0006] In order to achieve the above purpose, in the first aspect, the present application provides a control system of a seven-axis five-linkage numerical control machine tool, the machine tool comprising a machine frame, a workpiece clamping assembly arranged on the machine frame, a transverse moving frame arranged transversely to the machine frame along a horizontal direction, a longitudinal moving frame arranged slidingly with the transverse moving frame, a vertical lifting frame arranged slidingly with the longitudinal moving frame along a plumb direction, a tool holder arranged rotatingly on the vertical lifting frame for mounting a tool, and a tool magazine assembly arranged on one side of the machine frame, the tool magazine assembly comprising a tool magazine holder arranged rotatingly, a plurality of tool storage seats arranged equidistantly on the tool magazine holder, and a corresponding tool arranged on each tool storage seat, wherein an automatic tool changing assembly is arranged between the tool magazine assembly and the tool holder for automatically changing the tool between the tool holder and the tool storage seat.

[0007] The control system comprises a controller, a position sensor arranged on the tool magazine holder for detecting the position of the tool, and a first detection unit arranged on the automatic tool changing assembly for detecting the number of the tool to be changed, wherein the controller stores the number information of all tools in the tool magazine assembly and the process information of workpiece machining, and is configured to: obtain the number of the tool required for the next step based on the process information of the current machining step, control the tool magazine holder to rotate until the position sensor detects the tool corresponding to the number, thereby controlling the automatic tool changing assembly to grab the tool, the first detection unit detects the tool grabbed by the automatic tool changing assembly and transmits the detection information to the controller, the controller identifies the number information of the tool grabbed by the automatic tool changing assembly based on the detection information, and compares it with the required tool number information, calculates the difference between the required tool number and the grabbed tool number through a difference calculation model, and controls the rotation direction and angle of the tool magazine assembly based on the difference.

[0008] Optionally, the first detection unit is an industrial camera, and the controller identifies the number of the tool through an image recognition algorithm based on the image information collected by the first detection unit.

[0009] Optionally, the difference calculation model is -T2, wherein T1-T2 represents the difference between the target tool number and the grabbed tool number, T1 is the target tool number, T2 is the grabbed tool number, when T1-T2 is positive, the tool magazine assembly rotates in the positive direction, When the negative number, the tool magazine assembly is reversed, the angle between adjacent tools in the tool magazine assembly is α, the rotation angle of the tool magazine assembly is β α.

[0010] Optionally, the automatic tool changer assembly comprises a tool changing conveying unit and a tool temporary storage unit, the tool changing conveying unit comprises a conveying frame fixedly arranged on the rack, a tool changing frame horizontally slidingly arranged on the conveying frame, a moving seat vertically slidingly arranged on the tool changing frame, and a grabbing device arranged on the moving seat for grabbing tools.

[0011] Optionally, the tool temporary storage unit comprises a connecting seat fixedly connected with the rack, a sliding frame slidingly arranged with the connecting seat along the horizontal direction, a rotating seat rotatably arranged on the sliding frame, and a plurality of supporting arms fixedly arranged on the rotating seat, one end of the supporting arm is fixedly connected with the sliding frame, the other end of the supporting arm is a free end and has a clamping groove matched with the tool, the clamping groove is provided with a fixing device for fixing the tool, and a sliding driving mechanism is arranged between the sliding frame and the connecting seat.

[0012] Optionally, the sliding driving mechanism comprises a power output shaft, a swing arm fixedly connected with one end of the power output shaft, and a driving rod rotatably connected with the other end of the swing arm, the other end of the driving rod is rotatably connected with the sliding frame.

[0013] Optionally, each tool storage seat is provided with a tool limiting groove matched with the tool, and each tool limiting groove is provided with a tool limiting structure, the tool limiting structure comprises a clamping strip extending along the inner surface of the tool limiting groove, and the clamping strip is matched with a limiting clamping groove arranged on the tool.

[0014] Optionally, the workpiece clamping assembly comprises a first mounting frame fixedly arranged on the rack, a second mounting frame slidingly arranged on the rack, a first multi-jaw chuck rotatably arranged on the first mounting frame, a second multi-jaw chuck rotatably arranged on the second mounting frame, a first motor driving the first multi-jaw chuck to rotate, and a first driving mechanism driving the second mounting frame to slide.

[0015] Optionally, the fixing device comprises a clamping column slidingly arranged in the clamping groove, the clamping column is matched with the limiting clamping groove on the tool, and the clamping column is driven to slide by a driving member.

[0016] Optionally, the grabbing device is a magnetic attraction device fixedly arranged on the moving seat.

[0017] The control system of the seven-axis five-linkage numerical control machine tool has the beneficial effects that, by arranging the visual detection system, the automatic tool changing assembly carries out secondary detection on the grabbed tool during tool changing and compares the tool number required in the next process, when there is a difference, the tool magazine frame is controlled to rotate to the required tool, when there is no difference, the controller controls the automatic tool changing assembly to carry out tool changing operation, thereby avoiding tool changing errors caused by sensor problems, in addition, the visual detection system can also identify the wear degree of the current tool by feature extraction and analysis on the tool image, thereby prompting the operator to replace the tool in time. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of this application, are intended to provide further understanding of the application and are incorporated herein in their entirety. The following detailed description and specifically pointed out the embodiments of the application together with these drawings make apparent to the skilled in the art the nature of the application.

[0019] Figure 1 is a schematic diagram of the present application;

[0020] Figure 2 is an enlarged view of A of Figure 1 ;

[0021] Figure 3 is an enlarged view of B of Figure 1 ;

[0022] Figure 4 is a part of the schematic diagram of the present application Figure 1 ;

[0023] Figure 5 is a part of the schematic diagram of the present application Figure 2 .

[0024] Wherein: 1, rack; 2, workpiece clamping assembly; 3, transverse moving frame; 4, longitudinal moving frame; 5, vertical lifting frame; 6, tool holder; 7, tool magazine frame; 8, tool storage seat; 9, conveying frame; 10, tool changing frame; 11, moving seat; 12, grabbing device; 13, connecting seat; 14, sliding frame; 15, rotating seat; 16, supporting arm; 17, fixing device; 18, swing arm; 19, driving rod; 20, tool limiting groove; 21, clamping column. DETAILED DESCRIPTION

[0025] In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0026] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that comprises a list of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0028] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For a person of ordinary skill in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0029] In addition, the meaning of the term "a plurality of" should be two and more than two.

[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] As Figures 1-5As shown, a control system of a seven-axis five-linkage numerical control machine tool, the machine tool comprising a rack 1, a workpiece clamping assembly 2 arranged on the rack 1, a transverse moving rack 3 arranged transversely to the rack 1 along a horizontal direction, a longitudinal moving rack 4 arranged slidably with the transverse moving rack 3, a vertical lifting rack 5 arranged slidably with the longitudinal moving rack 4 along a plumb direction, a tool holder 6 arranged rotatably on the vertical lifting rack 5 for mounting a tool, a tool magazine assembly arranged on one side of the rack 1, the tool magazine assembly comprising a tool magazine rack 7 arranged rotatably, a plurality of tool storage seats 8 arranged equidistantly on the tool magazine rack 7, and a corresponding tool arranged on each tool storage seat 8, and an automatic tool changing assembly arranged between the tool magazine assembly and the tool holder 6 for automatically changing the tool between the tool holder 6 and the tool storage seat 8.

[0032] The control system comprises a controller, a position sensor arranged on the tool magazine rack 7 for detecting the position of the tool, and a first detection unit arranged on the automatic tool changing assembly for detecting the number of the tool to be changed, the controller storing the number information of all tools in the tool magazine assembly and the process information of workpiece machining, and the controller being configured to: acquire the number of the tool required for the next step based on the process information of the current machining step, control the tool magazine rack 7 to rotate until the position sensor detects the tool corresponding to the number, thereby controlling the automatic tool changing assembly to grasp the tool, the first detection unit detects the tool grasped by the automatic tool changing assembly and transmits the detection information to the controller, the controller identifies the number information of the tool grasped by the automatic tool changing assembly based on the detection information, and compares the number information with the required tool number information, calculates the difference between the required tool number and the grasped tool number through a difference calculation model, and controls the rotation direction and angle of the tool magazine assembly based on the difference.

[0033] Specifically, the first detection unit is an industrial camera, and the controller identifies the number of the tool through an image recognition algorithm based on the image information collected by the first detection unit, and selects an industrial camera with a resolution of 20 million pixels, which can clearly capture the subtle features of the tool and provide high-quality image data for subsequent analysis. The frame rate of the camera is also crucial. In the case of rapid tool changing, a camera with a frame rate of 100 frames per second can ensure that no key moment is missed and the image of the tool is obtained in time, and at the same time can ensure the accuracy when judging the degree of tool wear.

[0034] The number of the tool is identified by an image recognition algorithm. Specifically, a convolutional neural network (CNN) algorithm is used to extract and analyze the features of the collected tool image, and the number of the tool is identified. The CNN algorithm can automatically learn the features of the tool image by constructing multiple convolutional layers, pooling layers, and fully connected layers, accurately identifying the number of the tool from a large amount of image data. When training the CNN model, a large amount of image data containing different tool numbers is required for training, so that the model can learn the feature patterns of various tools. By continuously adjusting the parameters and structure of the model, the recognition accuracy and generalization ability of the model are improved. Then, in actual detection, only the collected tool image needs to be input into the trained CNN model, and the model will output the identified tool number. Similarly, the wear degree of the tool is also determined in a similar way, in which the width of the wear band on the tool flank face is extracted as the core for determining the wear degree of the tool. The width of the wear band on the tool flank face is actually the maximum distance of the wear area along the vertical direction of the tool edge. Through pixel-physical size conversion, a standard scale plate is photographed to establish a mapping relationship between pixel and millimeter, and thus the width of the wear band on the tool flank face is calculated. In order to measure the error, 10 measurement points are usually taken along the tool edge at equal intervals, and the width of the wear band on the tool flank face at each point is calculated. The average value is taken as the final width of the wear band on the tool flank face. Finally, the width of the wear band on the tool flank face (VB) is used to determine the wear grade of the tool, where VB<0.1mm, the wear grade is 0; 0.1mm≤VB<0.3mm, the wear grade is 1; 0.3mm≤VB<0.6mm, the wear grade is 2, and 0.6mm≤VB, the wear grade is 3. When the wear grade is 2, the tool needs to be replaced, and when the wear grade is 3, the tool needs to be replaced immediately. Thus, only one set of visual detection system can not only prevent tool replacement errors, but also detect the wear degree of the tool in time, thereby realizing more precise numerical control machining.

[0035] For the correct tool number deduced according to the process, the data in the numerical control program information and the process database need to be combined. In the numerical control machining process, each machining step has clear process requirements, which will be reflected in the numerical control program. For example, when machining a complex mechanical part, the numerical control program will give instructions for rough machining, semi-finishing, finishing, and other different processes in sequence according to the process sequence, and the tool used for each process will be specified in the program.

[0036] By analyzing the numerical control program, the process information of the current machining step can be obtained, including the type, size, cutting parameters, etc. of the required tool. These information will be used for query in the process database, so as to determine the correct tool number. The process database stores a large amount of data related to the machining process, including the machining process route of different parts, the tool information used in each process step, etc. If the next process of the current machining step is the finishing machining of the outer circle of the part, the numerical control program will contain the process parameters of the outer circle finishing machining, such as cutting speed, feed rate, cutting depth, etc., and the required tool type is outer circle finishing tool. According to these information, the corresponding tool number can be found in the process database by querying, so that the controller controls the tool magazine rack 7 to rotate until the position sensor detects the tool, and the tool magazine rack 7 stops rotating, and then the automatic tool changing assembly moves to the tool magazine rack 7 and grabs the tool. At the same time, the first detection unit, i.e. the visual detection system, detects the number of the tool and feeds it back to the controller, which compares the detected number information with the correct tool number inferred. If the two information match, the automatic tool changing assembly will transport the tool with the corresponding number to the waiting area after the previous process is completed. If the two tool number information has a difference, the automatic tool changing assembly will first place the grabbed tool back into the tool magazine rack 7, and the controller calculates the difference between the tool with the correct number and the tool with the current number according to the difference calculation model, and controls the rotation direction and rotation angle of the tool magazine rack 7 to match the tool with the correct number in turn, as follows:

[0037] Wherein, about the difference calculation model, specifically , wherein represents the difference between the target tool and the grabbed tool number, T1 is the target tool number, T2 is the grabbed tool number, is positive, the tool magazine assembly rotates forward, is negative, the tool magazine assembly rotates reversely, assuming that the angle between adjacent tools in the tool magazine assembly is α, and the rotation angle of the tool magazine assembly is , such as the required correct target tool number calculated by the process is 10, and the actual grabbed tool number is 7, so the difference between the two is 3, which is positive. Therefore, the controller controls the tool magazine assembly to rotate forward, assuming that the angle between adjacent tools is 10°, the controller controls the tool magazine assembly to rotate 30°, so as to match the tool with the required number, so that the automatic tool changing assembly grabs and transports the tool to the waiting area for tool changing, thereby ensuring the accuracy of tool changing and the quality of the processed product.

[0038] In addition, the automatic tool changer comprises a tool changing conveying unit and a tool temporary storage unit. The tool changing conveying unit comprises a conveying frame 9 fixedly arranged on the machine frame 1, a tool changing frame 10 horizontally slidably arranged on the conveying frame 9, a moving base 11 longitudinally slidably arranged on the tool changing frame 10, and a grabbing device 12 arranged on the moving base 11 for grabbing tools. Preferably, the grabbing device 12 is a magnetic attraction device fixedly arranged on the moving base 11, which is preferably an electromagnetic attraction device. When grabbing tools, the magnetic attraction device generates a magnetic attraction force to attract the tools. When the tools are in place, the magnetic attraction device is powered off to release the tools. The power-on and power-off of the magnetic attraction device are also controlled by the controller.

[0039] The tool temporary storage unit comprises a connecting base 13 fixedly connected with the machine frame 1, a sliding frame 14 slidably arranged along a horizontal direction with respect to the connecting base 13, a rotating base 15 rotatably arranged on the sliding frame 14, and a plurality of supporting arms 16 fixedly arranged on the rotating base 15. One end of each supporting arm 16 is fixedly connected with the sliding frame 14, and the other end of each supporting arm 16 is a free end and has a clamping groove matched with a tool. A fixing device 17 is arranged in the clamping groove to fix the tool. A sliding driving mechanism is arranged between the sliding frame 14 and the connecting base 13. The plurality of supporting arms 16 are arranged to enable the tool temporary storage unit to simultaneously store a plurality of tools, thereby avoiding the automatic tool changer repeatedly taking tools and conveying the tools to the tool magazine frame 7 during the machining process. Since a plurality of supporting arms 16 are arranged, the automatic tool changer needs to not only move axially but also rotate the supporting arms 16 when conveying tools from the tool changing area to the tool holder 6. The sliding driving mechanism comprises a power output shaft, a swing arm 18 fixedly connected with one end of the power output shaft, and a driving rod 19 rotatably connected with the other end of the swing arm 18 and the other end of the swing arm 18. The other end of the driving rod 19 is rotatably connected with the sliding frame 14. The swing arm 18 is rotated to drive the sliding frame 14 to slide. In addition, the rotating base 15 rotatably arranged on the sliding frame 14 is driven to rotate by a motor, thereby rotating the supporting arms 16 and replacing tools.

[0040] In addition, the fixing device 17 is arranged in the clamping groove of each supporting arm 16 to prevent the tool from being easily separated from the supporting arm 16 during the rotation of the supporting arm 16. Specifically, the fixing device 17 comprises a clamping column 21 slidably arranged in the clamping groove. The clamping column 21 is matched with a limiting clamping groove on the tool. The clamping column 21 is driven to slide by a driving member. Therefore, the clamping column 21 is clamped in the limiting clamping groove during the rotation of the supporting arm 16. When the tool needs to be replaced, the clamping column 21 is separated from the limiting clamping groove. The sliding of the clamping column 21 can be controlled by a micro-cylinder or an electromagnetic valve.

[0041] In addition, in order to enable the tool to be stably arranged on the tool storage seat 8, each tool storage seat 8 is provided with a tool limiting groove 20 matched with the tool, and each tool limiting groove 20 is provided with a tool limiting structure, which comprises a clamping strip extending along the inner surface of the tool limiting groove 20 and matched with a limiting clamping groove arranged on the tool.

[0042] The numerical control machine tool is mainly used for machining large long shaft workpieces. In order to facilitate clamping of the workpiece, the workpiece clamping assembly 2 comprises a first mounting frame fixedly arranged on the rack 1, a second mounting frame transversely slidably arranged on the rack 1, a first multi-jaw chuck rotatably arranged on the first mounting frame, a second multi-jaw chuck rotatably arranged on the second mounting frame, a first motor for driving the first multi-jaw chuck to rotate, and a first driving mechanism for driving the second mounting frame to slide. Of course, the multi-jaw chuck can also be replaced by a center.

[0043] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control system for a seven-axis five-linkage numerically controlled machine tool, characterized by, The machine tool comprises a machine frame, a workpiece clamping assembly arranged on the machine frame, a transverse moving frame arranged transversely to the machine frame along a horizontal direction, a longitudinal moving frame arranged slidably with the transverse moving frame, a vertical lifting frame arranged slidably with the longitudinal moving frame along a plumb direction, a tool holder arranged rotatably on the vertical lifting frame for mounting a tool, and a tool magazine assembly arranged on one side of the machine frame, the tool magazine assembly comprising a tool magazine holder arranged rotatably, a plurality of tool storage seats arranged equidistantly on the tool magazine holder, and a corresponding tool arranged on each tool storage seat, and an automatic tool changing assembly arranged between the tool magazine assembly and the tool holder for automatically changing tools between the tool holder and the tool storage seats. The control system comprises a controller, a position sensor arranged on the tool magazine holder for detecting the position of a tool, and a first detection unit arranged on the automatic tool changing assembly for detecting the number of a tool to be changed, the controller storing the number information of all tools in the tool magazine assembly and the process information of workpiece machining, and being configured to: acquire the number of a tool required for a next step based on the process information of a current machining step, control the tool magazine holder to rotate until the position sensor detects the tool corresponding to the number, thereby controlling the automatic tool changing assembly to grab the tool, the first detection unit detects the tool grabbed by the automatic tool changing assembly and transmits detection information to the controller, the controller identifies the number information of the tool grabbed by the automatic tool changing assembly based on the detection information and compares the number information with the required tool number information, calculates the difference between the required tool number and the grabbed tool number through a difference calculation model, and controls the rotation direction and angle of the tool magazine assembly based on the difference.

2. The control system of a seven-axis five-linkage numerical control machine tool according to claim 1, characterized in that: The first detection unit is an industrial camera, and the controller identifies the number of the tool through an image recognition algorithm based on image information collected by the first detection unit.

3. The control system of a seven-axis five-linkage numerical control machine tool according to claim 1, characterized in that: The difference calculation model is -T2, wherein represents the difference between the target tool and the grabbing tool number, T1 is the target tool number, T2 is the grabbing tool number, When the difference is a positive number, the tool magazine assembly rotates forward, When the difference is a negative number, the tool magazine assembly rotates reversely, assuming that the included angle between adjacent tools in the tool magazine assembly is α, and the rotation angle β of the tool magazine assembly is α.

4. The control system of a seven-axis five-linkage numerical control machine tool according to claim 1, characterized in that: The automatic tool changing assembly comprises a tool changing conveying unit and a tool temporary storage unit, the tool changing conveying unit comprises a conveying frame fixedly arranged on the machine frame, a tool changing holder arranged transversely and horizontally on the conveying frame, a moving seat arranged longitudinally and horizontally on the tool changing holder, and a grabbing device arranged on the moving seat for grabbing a tool.

5. A control system for a seven-axis five-linkage numerically controlled machine tool according to claim 4, characterised in that: The tool temporary storage unit comprises a connecting seat fixedly connected with the machine frame, a sliding frame arranged slidably with the connecting seat along a horizontal direction, a rotating seat arranged rotatably on the sliding frame, a plurality of supporting arms fixedly arranged on the rotating seat, one end of each supporting arm being fixedly connected with the sliding frame, the other end of each supporting arm being a free end and having a clamping groove matched with a tool, a fixing device arranged in the clamping groove for fixing the tool, and a sliding driving mechanism arranged between the sliding frame and the connecting seat.

6. A control system for a seven-axis five-linkage numerically controlled machine tool according to claim 5, characterised in that: The sliding driving mechanism comprises a power output shaft, a swing arm having one end fixedly connected with the power output shaft, and a driving rod having one end rotatably connected with the other end of the swing arm, the other end of the driving rod being rotatably connected with the sliding frame.

7. The control system of a seven-axis five-linkage numerical control machine tool according to claim 5, characterized in that: Each of the cutter storage seats is provided with a cutter limiting groove matched with the cutter, and each of the cutter limiting grooves is provided with a cutter limiting structure, which comprises a clamping strip extending along the inner surface of the cutter limiting groove, and the clamping strip is matched with a limiting clamping groove provided on the cutter.

8. The control system of a seven-axis five-linkage numerical control machine tool according to claim 1, characterized in that: The workpiece clamping assembly comprises a first mounting frame fixedly arranged on the rack, a second mounting frame transversely and slidably arranged on the rack, a first multi-jaw chuck rotatably arranged on the first mounting frame, a second multi-jaw chuck rotatably arranged on the second mounting frame, a first motor for driving the first multi-jaw chuck to rotate, and a first driving mechanism for driving the second mounting frame to slide.

9. The control system of a seven-axis five-linkage numerical control machine tool according to claim 7, characterized in that: The fixing device comprises a clamping column slidably arranged in the clamping groove, the clamping column is matched with the limiting clamping groove on the cutter, and the clamping column is driven to slide by a driving member.

10. The control system of a seven-axis five-linkage numerical control machine tool according to claim 4, characterized in that: The grabbing device is a magnetic attraction device fixedly arranged on the moving seat.

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