Double-end spark machine and anti-collision control method thereof

Abstract

The embodiment of the invention discloses a double-end spark machine and an anti-collision control method thereof. The double-end spark machine comprises a numerical control system, an anti-collision module, a first main shaft and a second main shaft. The anti-collision module, the first main shaft and the second main shaft are all connected with the numerical control system; the anti-collision module is used for detecting first distance data between the first main shaft and the second main shaft and generating a distance range signal according to the first distance data; the numerical control system is used for determining the distance state between the first spindle and the second spindle according to the distance range signal and controlling operation of the first spindle and the second spindle according to the distance state, and the machining efficiency of the double-end spark machine is improved while collision between the first spindle and the second spindle is avoided.

Description

Technical Field

[0001] This invention relates to the field of EDM equipment technology, and in particular to a dual-head EDM machine and its anti-collision control method. Background Technology

[0002] Dual-head EDM machines are equipped with dual spindles, each capable of performing machining tasks independently, significantly improving the processing efficiency of large molds. However, collisions can occur during the independent execution of machining tasks, potentially leading to damage to both spindles. Therefore, preventing collisions during machining is crucial. Limit switches are typically installed on the dual spindles to decelerate and stop machining when they approach each other. However, stopping machining on both spindles negatively impacts the overall processing efficiency of the dual-head EDM machine. Summary of the Invention

[0003] This invention provides a dual-head EDM machine and its anti-collision control method to improve the processing efficiency of the dual-head EDM machine while avoiding collisions between the first spindle and the second spindle.

[0004] In a first aspect, embodiments of the present invention provide a dual-head EDM machine, which includes a CNC system, an anti-collision module, a first spindle, and a second spindle;

[0005] The anti-collision module, the first spindle, and the second spindle are all connected to the CNC system.

[0006] The anti-collision module is used to detect the first distance data between the first spindle and the second spindle, and generate a distance range signal based on the first distance data; the CNC system is used to determine the distance state between the first spindle and the second spindle based on the distance range signal, and control the operation of the first spindle and the second spindle based on the distance state, so as to avoid the first spindle and the second spindle from colliding.

[0007] Optionally, the anti-collision module includes a laser rangefinder sensor;

[0008] The laser rangefinder includes a laser emitting unit, a laser receiving unit, and a control unit;

[0009] Both the laser emitting unit and the laser receiving unit are connected to the control unit, which is connected to the CNC system. The laser emitting unit is mounted on the first spindle, and the laser receiving unit is mounted on the second spindle.

[0010] The control unit is used to control the laser emitting unit to emit laser light, control the laser receiving unit to receive laser light, calculate the first distance data between the first spindle and the second spindle based on the time difference between the laser emitting unit emitting laser light and the laser receiving unit receiving laser light, and generate a distance range signal based on the first distance data.

[0011] Optionally, the dual-head EDM machine also includes limit switches;

[0012] The limit switch is connected to the CNC system;

[0013] The limit switch is used to detect a second distance data between the first spindle and the second spindle, and generates an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold; the CNC system is used to control both the first spindle and the second spindle to stop running according to the emergency anti-collision signal.

[0014] Secondly, embodiments of the present invention also provide a collision avoidance control method for a dual-head EDM machine, which is executed using a dual-head EDM machine provided in any embodiment of the present invention. This collision avoidance control method for a dual-head EDM machine includes:

[0015] The anti-collision module detects the first distance data between the first spindle and the second spindle, and generates a distance range signal based on the first distance data;

[0016] The CNC system determines the distance state between the first spindle and the second spindle based on the distance range signal, and controls the operation of the first spindle and the second spindle based on the distance state to avoid collision between the first spindle and the second spindle.

[0017] Optionally, the anti-collision module includes a laser rangefinder sensor;

[0018] The laser rangefinder includes a laser emitting unit, a laser receiving unit, and a control unit;

[0019] Both the laser emitting unit and the laser receiving unit are connected to the control unit, which is connected to the CNC system. The laser emitting unit is mounted on the first spindle, and the laser receiving unit is mounted on the second spindle.

[0020] The anti-collision module detects first distance data between the first spindle and the second spindle, and generates a distance range signal based on the first distance data, including:

[0021] The control unit controls the laser emitting unit to emit laser light and controls the laser receiving unit to receive laser light. It calculates the first distance data between the first spindle and the second spindle based on the time difference between the laser emitting unit emitting laser light and the laser receiving unit receiving laser light, and generates a distance range signal based on the first distance data.

[0022] Optionally, the distance range signal includes a first distance range signal, a second distance range signal, and a third distance range signal;

[0023] The control unit generates a distance range signal based on the first distance data, including:

[0024] If the first distance data is greater than the first distance threshold, then the first distance range signal is generated;

[0025] If the first distance data is less than or equal to the first distance threshold, and the first distance data is greater than the second distance threshold, then the second distance range signal is generated;

[0026] If the first distance data is less than or equal to the second distance threshold, then the third distance range signal is generated.

[0027] Optionally, the CNC system determines the distance state between the first spindle and the second spindle based on the distance range signal, including:

[0028] If the distance range signal is the first distance range signal, the distance between the first main axis and the second main axis is a safe distance.

[0029] If the distance range signal is the second distance range signal, the distance state between the first main axis and the second main axis is the avoidance distance;

[0030] If the distance range signal is the third distance range signal, the distance state between the first spindle and the second spindle is the emergency stop distance.

[0031] Optionally, the CNC system controls the operation of the first spindle and the second spindle according to the distance state, including:

[0032] If the distance between the first spindle and the second spindle is a safe distance, then the first spindle and the second spindle shall continue to operate in their original operating state.

[0033] If the distance between the first spindle and the second spindle is a clearance distance, then the operation of the first spindle and the second spindle is controlled according to the priority of their current operating states.

[0034] If the distance between the first spindle and the second spindle is an emergency stop distance, then both the first spindle and the second spindle will be stopped.

[0035] Optionally, controlling the operation of the first spindle and the second spindle according to the priority of their current operating states includes:

[0036] If the priority of the current operating state of the first spindle is greater than the priority of the current operating state of the second spindle, then the first spindle is controlled to temporarily stop operating, and the second spindle is controlled to move away from the first spindle until the first distance range signal is obtained, and then the first spindle is controlled to continue operating.

[0037] If the priority of the current operating state of the second spindle is greater than the priority of the current operating state of the first spindle, then the second spindle is controlled to temporarily stop operating, and the first spindle is controlled to move away from the second spindle until the first distance range signal is obtained, and then the second spindle is controlled to continue operating.

[0038] If the priority of the current operating state of the first spindle is equal to the priority of the current operating state of the second spindle, then both the first spindle and the second spindle are controlled to stop operating.

[0039] Optionally, the dual-head EDM machine further includes a limit switch; the limit switch is connected to the CNC system;

[0040] The anti-collision control method for the dual-head EDM machine also includes:

[0041] The limit switch detects the second distance data between the first spindle and the second spindle, and generates an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold.

[0042] The CNC system controls both the first spindle and the second spindle to stop operating based on the emergency collision avoidance signal.

[0043] In this embodiment of the invention, an anti-collision module is set up to detect the first distance data between the first spindle and the second spindle, and a distance range signal is generated based on the first distance data. The CNC system determines the distance state between the first spindle and the second spindle based on the distance range signal, and controls the operation of the first spindle and the second spindle based on the distance state, so as to avoid collision between the first spindle and the second spindle and improve the processing efficiency of the dual-head EDM machine. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a dual-head EDM machine provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention;

[0048] Figure 4 A schematic diagram illustrating the positional relationship between a first spindle and a second spindle is provided for an embodiment of the present invention.

[0049] Figure 5 Another schematic diagram showing the positional relationship between the first spindle and the second spindle provided in an embodiment of the present invention;

[0050] Figure 6 Another schematic diagram showing the positional relationship between the first spindle and the second spindle provided in an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the detection area and output function of a laser ranging sensor provided in an embodiment of the present invention;

[0052] Figure 8 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention;

[0053] Figure 9 This is a flowchart illustrating a collision avoidance control method for a dual-head EDM machine, as provided in an embodiment of the present invention. Detailed Implementation

[0054] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0055] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0056] Figure 1 This is a schematic diagram of the structure of a dual-head EDM machine provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the dual-head EDM machine includes a CNC system 110, an anti-collision module 120, a first spindle 130, and a second spindle 140; the anti-collision module 120, the first spindle 130, and the second spindle 140 are all connected to the CNC system 110.

[0057] The anti-collision module 120 is used to detect the first distance data between the first spindle 130 and the second spindle 140, and generate a distance range signal based on the first distance data; the CNC system 110 is used to determine the distance state between the first spindle 130 and the second spindle 140 based on the distance range signal, and control the operation of the first spindle 130 and the second spindle 140 based on the distance state, so as to avoid collision between the first spindle 130 and the second spindle 140.

[0058] The anti-collision module 120 can scan the distance between the first spindle 130 and the second spindle 140 in real time (first distance data), and feed back the distance range signal, which reflects the distance between the first spindle 130 and the second spindle 140, to the CNC system 110 in real time. The CNC system 110 is the control module of the dual-head EDM machine, which can control the running trajectory of the first spindle 130 and the second spindle 140. Thus, when the first spindle 130 and the second spindle 140 are running simultaneously, the CNC system 110 can use the real-time received distance range signal to confirm whether the distance between the first spindle 130 and the second spindle 140 is too close and whether there is a risk of collision. When the distance between the first spindle 130 and the second spindle 140 is too close, the system can adjust the operation of the first spindle 130 or the second spindle 140 in time, thereby preventing collision between the first spindle 130 and the second spindle 140 while ensuring the normal operation of the first spindle 130 or the second spindle 140 as much as possible, thereby improving the processing efficiency of the dual-head EDM machine.

[0059] In this embodiment of the invention, an anti-collision module 120 is set to detect the first distance data between the first spindle 130 and the second spindle 140, and generates a distance range signal based on the first distance data. The CNC system 110 determines the distance state between the first spindle 130 and the second spindle 140 based on the distance range signal, and controls the operation of the first spindle 130 and the second spindle 140 based on the distance state, so as to avoid collision between the first spindle 130 and the second spindle 140 while improving the processing efficiency of the dual-head EDM machine.

[0060] Based on the above embodiments, optionally, Figure 2 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention. Figure 2 and Figure 3 As shown, the anti-collision module 120 includes a laser rangefinder sensor 121;

[0061] The laser rangefinder includes a laser emitting unit 1211, a laser receiving unit 1212, and a control unit 1213; both the laser emitting unit 1211 and the laser receiving unit 1212 are connected to the control unit 1213, and the control unit 1213 is connected to the CNC system 110; the laser emitting unit 1211 is mounted on the first spindle 130, and the laser receiving unit 1212 is mounted on the second spindle 140.

[0062] Specifically, the control unit 1213 is used to control the laser emitting unit 1211 to emit laser light, control the laser receiving unit 1212 to receive laser light, calculate the first distance data between the first spindle 130 and the second spindle 140 based on the time difference between the laser emitting unit 1211 emitting laser light and the laser receiving unit 1212 receiving laser light, and generate a distance range signal based on the first distance data.

[0063] The distance range signal includes a first distance range signal, a second distance range signal, and a third distance range signal; for example, Figure 4 A schematic diagram illustrating the positional relationship between a first spindle and a second spindle is provided for an embodiment of the present invention, as shown below. Figure 4 As shown, if the first distance data is greater than the first distance threshold, that is, the distance between the first main axis 130 and the second main axis 140 is outside the range 1, the control unit 1213 will generate a first distance range signal. Figure 5 Another schematic diagram illustrating the positional relationship between the first spindle and the second spindle provided in an embodiment of the present invention, as shown below. Figure 5 As shown, if the first distance data is less than or equal to the first distance threshold and the first distance data is greater than the second distance threshold, that is, the distance between the first main axis 130 and the second main axis 140 is within the range 1, the control unit 1213 will generate a second distance range signal. Figure 6 Another schematic diagram illustrating the positional relationship between the first spindle and the second spindle provided in an embodiment of the present invention, as shown below. Figure 6 As shown, if the first distance data is less than or equal to the second distance threshold, that is, the distance between the first main axis 130 and the second main axis 140 is within the range 2, the control unit 1213 will generate a third distance range signal.

[0064] For example, Figure 7 This is a schematic diagram of the detection area and output function of a laser rangefinder sensor provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of another dual-head EDM machine provided in an embodiment of the present invention. Figure 7 As shown, the laser rangefinder sensor 121 is factory-configured with three detection ranges, corresponding to three output signals: output1, output2, and output3. Figure 8 As shown, the three output ports of the laser rangefinder 121 are connected to the corresponding I / O interfaces of the CNC system 110. Output1 is set as the first distance range signal, output2 as the second distance range signal, and output3 as the third distance range signal. When the distance between the first spindle 130 and the second spindle 140 is outside range 1, detector output1 outputs signal 1, and output2 and output3 output 0. At this time, the first distance range signal received by the CNC system 110 from I / O interfaces 1, 2, and 3 is "100". When the distance between the first spindle 130 and the second spindle 140 is within range 1, detector output2 outputs signal 1, and output1 and output3 output 0. At this time, the second distance range signal received by the CNC system 110 from I / O interfaces 1, 2, and 3 is "010". When the distance between the first spindle 130 and the second spindle 140 is within range 2, the detector output3 outputs signal 1, output1, and output2 output 0. At this time, the third distance range signal received by the CNC system 110 from I / O interfaces 1, 2, and 3 is "001".

[0065] Furthermore, the specific process by which the CNC system 110 determines the distance state between the first spindle 130 and the second spindle 140 based on the distance range signal, and controls the operation of the first spindle 130 and the second spindle 140 based on the distance state, is described: If the distance range signal is the first distance range signal, the distance state between the first spindle 130 and the second spindle 140 is a safe distance; if the distance state between the first spindle 130 and the second spindle 140 is a safe distance, then the first spindle 130 and the second spindle 140 are controlled to continue operating according to the original operating state.

[0066] If the distance range signal is the second distance range signal, the distance state between the first spindle 130 and the second spindle 140 is a clearance distance; if the distance state between the first spindle 130 and the second spindle 140 is a clearance distance, then the operation of the first spindle 130 and the second spindle 140 is controlled according to the priority of the current operating state of the first spindle 130 and the second spindle 140. Specifically, if the priority of the current operating state of the first spindle 130 is greater than the priority of the current operating state of the second spindle 140, then the first spindle 130 is temporarily stopped, and the second spindle 140 is moved away from the first spindle 130 until a first distance range signal is obtained, after which the first spindle 130 is controlled to continue operating; if the priority of the current operating state of the second spindle 140 is greater than the priority of the current operating state of the first spindle 130, then the second spindle 140 is temporarily stopped, and the first spindle 130 is moved away from the second spindle 140 until a first distance range signal is obtained, after which the second spindle 140 is controlled to continue operating; if the priority of the current operating state of the first spindle 130 is equal to the priority of the current operating state of the second spindle 140, then both the first spindle 130 and the second spindle 140 are stopped.

[0067] If the distance range signal is the third distance range signal, the distance between the first spindle 130 and the second spindle 140 is an emergency stop distance. If the distance between the first spindle 130 and the second spindle 140 is an emergency stop distance, then both the first spindle 130 and the second spindle 140 are controlled to stop running.

[0068] Optionally, based on the above embodiments, the double-head EDM machine also includes a limit switch; the limit switch is connected to the CNC system 110;

[0069] The limit switch is used to detect the second distance data between the first spindle 130 and the second spindle 140, and generates an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold; the CNC system 110 is used to control both the first spindle 130 and the second spindle 140 to stop running according to the emergency anti-collision signal.

[0070] Figure 9 This is a flowchart illustrating a collision avoidance control method for a dual-head EDM machine provided in an embodiment of the present invention. This collision avoidance control method for a dual-head EDM machine is executed using a dual-head EDM machine provided in any embodiment of the present invention.

[0071] The anti-collision control methods for dual-head EDM machines specifically include:

[0072] S110, the anti-collision module detects the first distance data between the first spindle and the second spindle, and generates a distance range signal based on the first distance data;

[0073] S120. The CNC system determines the distance state between the first spindle and the second spindle based on the distance range signal, and controls the operation of the first spindle and the second spindle based on the distance state to avoid collision between the first spindle and the second spindle.

[0074] In this embodiment of the invention, an anti-collision module is set up to detect the first distance data between the first spindle and the second spindle, and a distance range signal is generated based on the first distance data. The CNC system determines the distance state between the first spindle and the second spindle based on the distance range signal, and controls the operation of the first spindle and the second spindle based on the distance state, so as to avoid collision between the first spindle and the second spindle and improve the processing efficiency of the dual-head EDM machine.

[0075] Based on the above embodiments, optionally, the anti-collision module includes a laser rangefinder; the laser rangefinder includes a laser emitting unit, a laser receiving unit, and a control unit;

[0076] Both the laser emitting unit and the laser receiving unit are connected to the control unit, which is connected to the CNC system. The laser emitting unit is mounted on the first spindle, and the laser receiving unit is mounted on the second spindle.

[0077] Based on the above embodiments, optionally, the anti-collision module detects first distance data between the first spindle and the second spindle, and generates a distance range signal based on the first distance data for explanation:

[0078] The control unit controls the laser emitting unit to emit laser light and controls the laser receiving unit to receive laser light. It calculates the first distance data between the first spindle and the second spindle based on the time difference between the laser emitting unit emitting laser light and the laser receiving unit receiving laser light, and generates a distance range signal based on the first distance data.

[0079] The first distance data between the first and second main axes is equal to the product of the time difference between the laser emission unit emitting laser light and the laser reception unit receiving laser light, multiplied by the speed of light propagation. The distance range signal includes a first distance range signal, a second distance range signal, and a third distance range signal.

[0080] Based on the above embodiments, optionally, the generation of a distance range signal by the control unit according to the first distance data is described as follows:

[0081] If the first distance data is greater than the first distance threshold, a first distance range signal is generated;

[0082] If the first distance data is less than or equal to the first distance threshold and the first distance data is greater than the second distance threshold, then a second distance range signal is generated;

[0083] If the first distance data is less than or equal to the second distance threshold, a third distance range signal is generated.

[0084] Among them, the first distance threshold and the second distance threshold are values ​​preset by the designer according to the actual situation.

[0085] Based on the above embodiments, optionally, the method for the CNC system to determine the distance state between the first spindle and the second spindle according to the distance range signal is described below:

[0086] If the distance range signal is the first distance range signal, the distance between the first principal axis and the second principal axis is a safe distance.

[0087] If the distance range signal is the second distance range signal, the distance state between the first main axis and the second main axis is the avoidance distance;

[0088] If the distance range signal is the third distance range signal, the distance status between the first main axis and the second main axis is the emergency stop distance.

[0089] Based on the above embodiments, optionally, the control of the operation of the first and second spindles by the CNC system according to the distance status will be described:

[0090] If the distance between the first spindle and the second spindle is within a safe range, then the first spindle and the second spindle will continue to operate according to their original operating states.

[0091] If the distance between the first spindle and the second spindle is a clearance distance, then the operation of the first spindle and the second spindle is controlled according to the priority of their current operating states.

[0092] Specifically, if the priority of the current operating state of the first spindle is greater than the priority of the current operating state of the second spindle, the first spindle is temporarily stopped, and the second spindle is moved away from the first spindle until a first distance range signal is obtained, after which the first spindle resumes operation; if the priority of the current operating state of the second spindle is greater than the priority of the current operating state of the first spindle, the second spindle is temporarily stopped, and the first spindle is moved away from the second spindle until a first distance range signal is obtained, after which the second spindle resumes operation; if the priority of the current operating state of the first spindle is equal to the priority of the current operating state of the second spindle, both the first and second spindles are stopped.

[0093] In addition, the priority order of the operating status is: machining status > axis positioning status > manual operation status.

[0094] If the distance between the first spindle and the second spindle is the emergency stop distance, then both the first spindle and the second spindle will be stopped.

[0095] Optionally, based on the above embodiments, the double-head EDM machine also includes a limit switch; the limit switch is connected to the CNC system.

[0096] The anti-collision control method for dual-head EDM machines also includes:

[0097] The limit switch detects the second distance data between the first spindle and the second spindle, and generates an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold.

[0098] The CNC system controls both the first and second spindles to stop operating based on the emergency collision avoidance signal.

[0099] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0100] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A double-ended spark machine, characterized in that The numerical control system, the anti-collision module, the first spindle and the second spindle are connected with the numerical control system. The anti-collision module is used for detecting first distance data between the first spindle and the second spindle, and generating distance range signals according to the first distance data. The anti-collision module comprises a laser ranging sensor.

2. The double-ended spark machine of claim 1, wherein, The laser ranging sensor comprises a laser emitting unit, a laser receiving unit and a control unit. The laser emitting unit and the laser receiving unit are connected with the control unit, and the control unit is connected with the numerical control system. The control unit is used for controlling the laser emitting unit to emit laser, controlling the laser receiving unit to receive laser, calculating the first distance data between the first spindle and the second spindle according to the time difference of laser emission and laser reception of the laser emitting unit and the laser receiving unit, and generating distance range signals according to the first distance data. The limit switch is connected with the numerical control system.

3. The double-ended spark machine of claim 2, wherein, The limit switch is used for detecting second distance data between the first spindle and the second spindle, and generating an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold. The numerical control system is used for controlling the first spindle and the second spindle to stop running according to the emergency anti-collision signal. The anti-collision module detects first distance data between the first spindle and the second spindle, and generates distance range signals according to the first distance data.

4. A method for collision avoidance control of a double-head spark machine, executed by the double-head spark machine according to any one of claims 1-3, characterized in that, The numerical control system determines the distance state between the first spindle and the second spindle according to the distance range signals, and controls the running of the first spindle and the second spindle according to the distance state, so as to avoid collision between the first spindle and the second spindle. The anti-collision module comprises a laser ranging sensor. The laser ranging sensor comprises a laser emitting unit, a laser receiving unit and a control unit.

5. The anti-collision control method of a double-head spark machine according to claim 4, characterized in that, The laser emitting unit and the laser receiving unit are connected with the control unit, and the control unit is connected with the numerical control system. The anti-collision module detects first distance data between the first spindle and the second spindle, and generates distance range signals according to the first distance data. ​ ​ The control unit controls the laser emitting unit to emit laser, controls the laser receiving unit to receive laser, calculates the first distance data between the first spindle and the second spindle according to the time difference between the laser emitting unit emitting laser and the laser receiving unit receiving laser, and generates a distance range signal according to the first distance data.

6. The anti-collision control method of a double-head spark machine according to claim 5, wherein, The distance range signal includes a first distance range signal, a second distance range signal, and a third distance range signal. The control unit generates a distance range signal according to the first distance data, including: If the first distance data is greater than a first distance threshold, the first distance range signal is generated; If the first distance data is less than or equal to the first distance threshold and greater than a second distance threshold, the second distance range signal is generated; If the first distance data is less than or equal to the second distance threshold, the third distance range signal is generated.

7. The anti-collision control method of a double-head spark machine according to claim 6, characterized in that, The numerical control system determines the distance state between the first spindle and the second spindle according to the distance range signal, including: If the distance range signal is the first distance range signal, the distance state between the first spindle and the second spindle is a safe distance; If the distance range signal is the second distance range signal, the distance state between the first spindle and the second spindle is an avoidance distance; If the distance range signal is the third distance range signal, the distance state between the first spindle and the second spindle is an emergency stop distance.

8. The anti-collision control method of a double-head spark machine according to claim 7, characterized in that, The numerical control system controls the operation of the first spindle and the second spindle according to the distance state, including: If the distance state between the first spindle and the second spindle is a safe distance, the first spindle and the second spindle continue to operate according to the original operating state; If the distance state between the first spindle and the second spindle is an avoidance distance, the first spindle and the second spindle are controlled to operate according to the priority of the current operating state of the first spindle and the second spindle; If the distance state between the first spindle and the second spindle is an emergency stop distance, the first spindle and the second spindle are controlled to stop operating.

9. The anti-collision control method of a double-head spark machine according to claim 8, wherein, Controlling the first spindle and the second spindle to operate according to the priority of the current operating state of the first spindle and the second spindle, including: If the priority of the current operating state of the first spindle is greater than the priority of the current operating state of the second spindle, the first spindle is controlled to temporarily stop operating, and the second spindle is controlled to move away from the first spindle until the first distance range signal is obtained, and then the first spindle is controlled to continue operating; If the priority of the current operating state of the second spindle is greater than the priority of the current operating state of the first spindle, the second spindle is controlled to temporarily stop operating, and the first spindle is controlled to move away from the second spindle until the first distance range signal is obtained, and then the second spindle is controlled to continue operating; If the priority of the current running state of the first spindle is equal to the priority of the current running state of the second spindle, the first spindle and the second spindle are controlled to stop running.

10. The anti-collision control method of a double-head spark machine according to claim 4, wherein, The double-head spark machine further comprises a limit switch; the limit switch is connected with the numerical control system; The double-head spark machine anti-collision control method further comprises: The limit switch detects second distance data between the first spindle and the second spindle, and generates an emergency anti-collision signal when the second distance data is less than or equal to a preset safety threshold; The numerical control system controls the first spindle and the second spindle to stop running according to the emergency anti-collision signal.

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