Cradle type five-axis linkage machine tool and joint control system thereof

The invention discloses a cradle type five-axis linkage machine tool and a joint control system thereof, and relates to the technical field of vertical numerical control machine tools, the cradle type five-axis linkage machine tool comprises a machine tool body, and a movable table is arranged in the machine tool body; the tool bit assembly is arranged in the lathe bed and used for clamping a tool to machine the blank piece; the device further comprises a cradle assembly, the cradle assembly comprises a cradle frame and a clamping seat, the cradle frame is connected with the movable table, and the clamping seat is arranged in the cradle frame and used for clamping a blank. A rotating mechanism is arranged in the cradle frame, the rotating mechanism is used for controlling the clamping seat to rotate and adjust along the cradle frame, a rotating mechanism is arranged in the clamping seat, and the rotating mechanism is used for controlling the blank piece to rotate along the clamping seat. The device has the ef