PROCEDURES AND SYSTEMS FOR OPERATION OF A PLURALITY OF OPERATING HEADS OF AN OPERATING MACHINE

Description

DESCRIPTION of the industrial invention entitled: “Procedures and systems for operating a plurality of operating heads of a operating machine” by: Prima Industrie, of Italian nationality, Via Torino-Pianezza, 36 - 10093 Collegno (TO), Italy. Designated Inventors: Paolo DE TONI, Marcello ARCIERI, Luca OLMO, Stefan TOMESCU. Filed on: June 28, 2024 **** DESCRIPTION TEXT Technical field The description relates to procedures and systems for generating a working path for a numerically controlled machine computer (CNC, “Computer-Numerical-Controlled”), for example by means of computer-aided manufacturing systems (CAM) Manufacturing”). One or more forms of implementation relate to a procedure for manufacture one or more objects using laser cutting machines. Others embodiments may refer to laser welding or other processing laser. Background Computer-aided manufacturing (CAM) systems represent an interface between computer-aided design (CAD, “Computer- Aided Design”), that is, the geometric design of a part, and the specifications of the CNC machine. The latter are commonly referred to as “programs of parts” (“Part programs”) or “toolpaths” (“toolpaths”) including instructions in a machine language (e.g., G-code) for on-board execution of the CNC machine. CAM systems are configured to receive as input CAD elements and to provide as output “Part Programs” or toolpaths tool, the latter including a description of a trajectory of a tool. Generating accurate tool trajectories is a key element in operation of a manufacturing machine. However, due to the discrepancies between the CAM system calculation and the actual machine parameters, There are a number of difficulties in predicting the behavior of a CNC with respect to the programmed tool path. Existing solutions are discussed in the following documents: US 9 448 553 B2 discusses systems and procedures for CNC devices comprising a CAM controller configured to receive a CAD file as input and to output a CAM file and an integrated CNC controller for CAM configured to receive the CAM file as input and to provide at least one output command for at least one servo-controller of a set of one or more servo-controllers controllers; US 11 423 189 B2 discusses a system for generative design autonomous in a system having a digital twin graph, a tool of distillation of requirements to receive system requirement documents in a human-readable format and to import useful information contained within in the requirements documents in the digital twin graph, and a synthesis and analysis in communication with the digital twin graph, in which the synthesis tool and analysis generates a set of design alternatives based on the interactions user captures with the design tool and useful information imported from requirements documents; EP 1 804 146 A1 discusses a procedure for making assignments of model heads for a multi-material composite application machine head having a set of heads, in which a geometry of layers is received (“ply geometry”) for a composite part and a configuration is received for the multi-head composite material application machine, and in which it is generated a constellation of head positions in response to layer geometry and configuration for the machine for the application of multi-composite materials head. In order to increase the efficiency in the production of relatively large, machines with multiple heads can be used. However, the systems programming of existing parts may be difficult to adapt to efficiently program a multi-head machining center. Despite the activity in the area, as evidenced by the literature existing, there is room for further improvement in providing procedures and systems that can provide a parts schedule for a machine high-speed operator, saving operations that otherwise require a long time. Purpose and summary One purpose of one or more implementation forms is to help address adequately address the issues discussed above. According to one or more forms of implementation, this aim can be achieved by means of a process having the characteristics set out in the claims that follow. One or more embodiments may relate to a device or to a corresponding processing system. One or more embodiments may be equipped on board a any machining machine, such as a laser cutting machine 3D, for example. One or more embodiments may comprise a product computer that can be loaded into the memory of at least one processing circuit (for e.g., a computer) and including portions of software code for carry out the steps of the procedure when the product is performed on at least one processing circuit. As used here, a reference to such a product computer is intended to be equivalent to a reference to a machine-readable medium computer containing instructions to control the processing system in order to to coordinate the implementation of the procedure according to one or more forms of implementation. A reference to “at least one processor” is intended to highlight the possibility that one or more forms of implementation are implemented in form modular and / or distributed. Claims are an integral part of the technical teaching here provided with reference to the forms of implementation. One or more embodiments facilitate increasing a speed at which changes can be made to the CAD program. One or more embodiments facilitate the reduction of a distance to the which multiple heads can work together, for example on a dynamic high without affecting the production rate. Brief description of the various views of the drawings One or more forms of implementation will now be described, purely by way of example. non-limiting example, with reference to the attached Figures, in which: Figure 1 is an example diagram of a machine apparatus operator according to this description; Figure 2 is an example diagram of a device processing to perform the procedure according to this description; Figure 3 is an example diagram of principles underlying a or multiple forms of implementation; Figure 4 is an example flowchart of a process operation according to this description, and Figure 5 is an isometric view of the laser machine apparatus in a work phase of removing / introducing a frame. The corresponding numbers and symbols in the different figures make generally refers to corresponding parts unless otherwise stated otherwise. The figures are drawn to clearly illustrate the relevant aspects of the embodiments and are not necessarily drawn to scale. The edges of the features drawn in the figures do not indicate necessarily the end of the feature extension. Detailed description In the following description, one or more specific details are illustrated, aim to provide an in-depth understanding of examples of embodiments of this description. Embodiments may be obtained without a or more of the specific details or with other processes, components, materials, etc. In other known cases, operations, materials or structures are not illustrated or described in detail so that certain aspects of the implementation forms will not be made unclear. A reference to “a form of implementation” under this description is meant to indicate that a particular configuration, structure, or feature described with reference to the embodiment is included in at least one form of implementation. Therefore, phrases like "in one form of implementation" or similar that may be present in one or more places in this description they do not necessarily refer to exactly the same form of implementation. Furthermore, particular conformations, structures or characteristics can be combined in any suitable way in one or more embodiments. The references used here are provided simply for convenience and therefore they do not define the scope of protection or the scope of the forms of implementation. For simplicity, in the detailed description that follows the same symbol reference can be used to designate either a node / line in a circuit either a signal that can occur at that node or on that line. Figure 1 is an example diagram of an isometric view of a laser operating machine apparatus 10, preferably configured for perform three-dimensional (3D) laser cutting of materials. The description that follows also refers to elements, components or details that are represented in the views of Figures 2, 3 and 5 of the apparatus (e.g., the first basic element, with corresponding cantilever elements and heads operators visible in Figure 5). As shown by way of example in Figure 1, the apparatus of laser operating machine 10 comprises a first base element (or base, base) 11l and a second base element 11r having a shape substantially oblong, specifically parallelepiped, i.e. a beam, and arranged parallel to each other along their longest side, that is, along their axes longitudinal (e.g., along the X-axis of a Cartesian coordinate set). In the example shown, the base elements 11l, 11r are raised with respect to a floor level, for example of the environment (e.g., of the factory) which houses the laser operating machine apparatus 10, by means of a plurality of (e.g., three) pillars 12l with reference to the first base element 11l. As shown by way of example in Figure 1, two 12l pillars can be located at opposite ends of each base element 11l, 11r, while a third pillar 12l can be located in the central portion along the axis longitudinal X of each base element 11l, 11r. Such a configuration of pillars 12l defines a respective opening 19l between each pair of pillars 12l. These 19l openings, which facilitate access to a 30 operating area of the apparatus 10, can be used to introduce frames (e.g., with parts) within such operating area 30 of the laser machine apparatus 10, replacing them with relative ease without the need to remove components on the sides of the area of work 30. This determines that, if it is permitted by safety conditions, a removal of the frames could be done eventually while the cantilevered elements and operating heads, e.g. laser cutting heads, in the other portion of the working area 30, e.g. in the non-corresponding portion at the 19r opening through which the frames are replaced, continue to operate. The The term frames (“fixtures”) refers to supports used in 3D laser cutting for position the part to be cut and to keep it in the working area of ​​the machine in a repeatable way. These are also commonly referred to as frames of reference, fixing gauge and jig. A configuration similar, with 12r pillars and 19r openings, can be provided for the second basic element 11r. It is emphasized that, since openings 19l, 19r are present under both basic elements 11s, 11r, the openings under one of the elements basic ones, e.g. 11s, can be used for frames, as explained, while the other openings under the other base elements can be used to remove waste resulting from machine processing, e.g. laser cutting waste. It is emphasized here that the support of the cantilever elements is described here as a base element 11l, 11r, supported on pillars 12l, 12r, in particular to underline the creation of lateral openings 19l, 19r to access the region of work 30 under the beams of the basic elements 11l, 11r. It can be considered that each base element 11l, 11r and the corresponding pillars 12l, 12r corresponds also to an entire base or an entire plinth for the respective cantilevered elements. As shown by way of example in Figure 1, the surface top of each base element 11l, 11r carries guide tracks (or linear guides) 13r, 13l comprising at least one rail each and extending through the X direction of the basic elements 11l, 11r. As shown by way of example in Figure 1, respective elements of the operating head trolley, that is, which carry the heads, specifically beams cantilevered 141, 142, 143, 144 configured to slide along the guide tracks 13r, 13l are arranged mounted on the base elements which engage said guide tracks 13l, 13r. In the example of Figure 1, with reference to the first basic element 11l, a first pair of cantilever beams 141, 142, thus also having a shape of parallelepiped, is arranged with their longest sides, that is, the longitudinal axis of the their cantilevered element, parallel to each other and orthogonal to the longest side, i.e. to the axis longitudinal of the base element, of the first base element 11l, where the first pair of cantilever beams 141, 142 is coupled to the first guide track 13l for slide or roll along the first base element 11l by means of a first movable support 151, 152 coupled to it, in particular moving along the 13l guideway rails carried by linear support shoes, for example comprising ball bearings, 15 a and 15 a are visible in Figure 1. 1 4 Substantially the same, with reference to the second basic element 12r, a first pair of cantilever beams 143, 144 is arranged with their longer sides parallel to each other and orthogonal to the longest side of the second base element 11r, where the second pair of cantilever beams 14, 14 is coupled to the second track 3 4 of guide 13r to slide along the second base element 11r by means of a second movable support 153, 154 coupled to it. As is clear, the elements relevant to each cantilever element 14 , with the index i from 1 to 4 in the examples, such as 14, 15 and also 16, 17, or the OH heads, described subsequently, pertaining to each respective cantilevered element are indicated with the same index i. Furthermore, for better clarity, the description refers to when necessary to all corresponding elements, e.g. cantilever beams 14 , 14 , 14 , 14 , although, due to the type of drawings, they are not all visible, as 2 3 4 as mentioned, components with equal index i are basically the same components relating to the cantilever element or to its implementation along the directions X and Y (i.e., with the exception of the right and left basic elements 11r, 11l, e.g. 12, 13, 14, 19). Conventionally, in this description the longitudinal axis of the base element is indicated by X, as the reference axis X to which it is in general parallel, while the longitudinal axis of the cantilever element is indicated correspondingly with Y. As shown by way of example in Figure 1, each support mobile 15 , 15 , 15 , 15 corresponds to a mobile cart that moves along the 1 2 3 4 tracks 13l, 13r, and carries on its surface or upper portion means of implementation 16 , 16 , coupled to a respective implementation portion on the 1 2 surface or on the front portion of the cantilever beam 14 , 14 , 14 , 14 , 1 2 3 4 performing a translational movement orthogonal to the guide tracks 13l, 13r of the basic elements 11l, 11r (e.g., parallel to the Cartesian axis X). Therefore, each cantilever beam 14 , 14 , 14 , 14 is movable, e.g. moving on the 1 2 3 4 tracks 13l, 13r on bearings of the movable support 151, 152, in the direction in X, i.e. the longitudinal axis of the base element, along the guide tracks 13l, 13r by means of the movable supports 15 , 15 , 15 , 15 as well as along the Y-direction, 1 2 3 4 that is, along the longitudinal axis of the cantilever element, by means of the means of implementation 161, 162, 163, 164 on the upper portion or surface of the movable supports 15 , 15 , 15 , 15 by means of a respective further portion of 1 2 3 4 implementation 17 , 17 , 17 , 17 on cantilever beam 14 , 14 , 14 , 14 . 1 2 3 4 1 2 3 4 It is emphasized that, as is clear from the description, the apparatus 10 includes the same components as each basic element 11l, 11r and each cantilever beam 14 , 14 , 14 , 14 comprises substantially the same elements 1 2 3 4 also in the actuation systems (A , A , A , A as indicated below), therefore 1 2 3 4 previously and later, for simplicity, reference is also made in the description of the structure and operation of the apparatus 10 only to a basic element, e.g. 11l, and only one cantilever beam, e.g. 14, the same description applying analogously however to the other basic element and to the other cantilevered elements. Thus, for example, the first cantilever beam 14 is coupled to the respective further actuation portion 17 at a first end 14 a (proximal to the 1 1 respective base element 11r, 11l), above which is the complete interval of movement along the Y-axis possible by means of the actuation portion 171. Still in the example scenario considered, a second end 14 b of the cantilever beam example 141 pushes from the respective base element 11l, 11r along the Y-direction. As shown by way of example in Figure 1, a respective head operator (e.g., laser) (self-known) is coupled to the second end 141b of the cantilever beam example 141. For example, laser operating heads such as discussed in document EP 2 177 299 B1 may be suitable for use in a or more embodiments for the operating heads OH, OH, OH, OH. This type of 1 2 3 4 operating head is purely for illustrative purposes and is in no way limiting, it being understood for the rest that theoretically any kind of head operator may be suitable for use in one or more embodiments. For for example, operating heads for laser welding or for another type of machining manufacture may be suitable for use in one or more embodiments. As shown by way of example in Figure 1, the set of second ends 14 b, 14 b, 14 b, 144b of cantilever beams 14 , 14 , 14 , 14 1 2 3 1 2 3 4 is directed towards a region 20 (internal to the basic elements 11l, 11r parallel, for example), which represents a surface (e.g., in 3D) XY of a volume of work 30. It is emphasized that each cantilever beam 141, 142, 143, 144 is actuated by a respective actuation system A1, A2, A3, A4 which is configured to move the respective cantilever beam 14 , 14 , 14 , 14 along a translation axis X, along 1 2 3 4 the longitudinal axis of the base element, and along a further orthogonal Y-axis to the X-axis, along the longitudinal axis of the cantilever element. The system of implementation, e.g. A1 of beam 141, in the embodiment shown includes the tracks 13l, the mobile support 15, the means of actuation 16, 17 which 1 1 1 move the cantilever element 14 along the Y-axis although it is clear that they can various variants are possible, e.g., rack and pinion implementations or with ball screws, to obtain the translational movements of the cantilever beam along the X and Y axes. Figure 2 is a diagram illustrating principles underlying a or multiple forms of implementation. As shown by way of example in Figure 2, a device of operating machine 10 comprises a plurality of operating subsystems 14, 142, 143, 144 including respective heads for operating tools OH1, OH2, OH3, OH4 and coupled to respective configured actuation devices A1, A2, A3, A4 to move the operating heads OH , OH , OH , OH in three-dimensional space 1 2 3 4 (3D) to perform machining operations within a volume of work 30. For example, the actuating devices A1, A2, A3, A4 include electromechanical linear actuators (known per se) coupled with sliding supports 16i, 17i for a movement along respective guide tracks 13r, 13l based on signals control received from a CNC 100 control unit which translates the input of user (e.g., provided by a computing device and / or readable media from CP processor) in 3D machine coordinates X,Y,Z (e.g., Cartesian). The CP processing device can be part of a general purpose computer, such as a personal computer (PC), a UNIX workstation, a server, a mainframe computer, a personal digital assistant (PDA, “Personal Digital Assistant”) and / or combinations thereof. The device readable by CP processor may include program code, such as a code source, object code, or executable code that can be loaded into the memory of the processing device and can be processed by it in order to perform the desired functions of the part program generator, such as discussed later. The processing device includes a CAD interface that can receive a part definition from a CAD system, such as AutoCAD, product from Autodesk, Inc. of San Rafael, California (USA); SolidWorks, produced by SolidWorks Corp. of Concord, Massachusetts (USA); or CATIA, manufactured by Dassault Systèmes SA of Suresnes, France. There parts definition can be received in any data file format adequate, including a vector graphics format, such as file formats .dwg or .dxf (used by AutoCAD); a boundary representation format, such as B-REP file format (used by CATIA V4) based on topological boundaries geometric; or a format based on parametric surface / solid features (used by CATIA V5). In the example scenario considered, the plurality of operating subsystems 141, 142, 143, 144 includes laser tool heads OH1, OH2, OH3, OH4 (note per se), preferably configured to perform a manufacturing (e.g., a 3D laser cut. For simplicity, one or more implementation forms are discussed below. mainly with reference to a 10-piece cutting machine apparatus 3D laser such as the one shown as an example in Figure 1, being understood for the rest that this type of machine operating apparatus is purely This title is for illustrative purposes only and is in no way limiting. In one or more embodiments, an apparatus as discussed in Italian patent application entitled “Laser operating machine with laser heads multiple and corresponding control procedure” on behalf of the same applicant can be used as a machine operating apparatus 100. Again for simplicity, one or more implementation forms are discussed in followed mainly with reference to a machine tool apparatus 10 comprising four operating subsystems 141, 142, 143, 144, each equipped with a respective operating head OH , OH , OH , OH , being 1 2 3 4 understood for the rest that such number of operating subsystems and operating heads is purely by way of example and is in no way limiting. In one or more embodiments, the apparatus 10 is represented by way of example in Figures 1 or 2 includes any whole number of subsystems operating heads 141, 142, 143, 144 and / or operating heads OH1, OH2, OH3, OH4 equal or greater than two. In the example scenario considered, the plurality of operating subsystems 14 , 14 , 14 , 14 includes one or more types of operating head supports 1 2 3 4 selected between a support similar to a cantilever element, a support in the form of portal (“gate”) and / or a robotic arm support. As shown by way of example in Figure 2, the apparatus of operating machine 10 is configured to make a cut along a shape (e.g., circular) from at least one target surface of a 3D object located in the manufacturing space 30. As appreciated by those skilled in the art, the target surface can be placed on a custom-made frame (known per se) configured to provide a load-bearing structure for performing laser cutting and a its shape. The references A , A , A , A mainly indicate actuation systems 1 2 3 4 along the X-axes (e.g., the support 152 on guide tracks 13r in Figure 1) or the Y-axes (e.g., implementation 16 , 17 ), it being otherwise understood that this is not 4 1 limiting for the type and number of actuation systems that can be present in the apparatus 10. For example, the actuation systems A1, A2, A3, A4 They also include actuators configured to move the OH1, OH2 laser heads, OH , OH along a Z-axis orthogonal to the XY-plane, as well as other axes of 3 4 rotation or translation A,B,C, for the operating heads. In implementation forms, the implementation systems A1, A2, A3, A4, which include at least the implementation along the longitudinal (Y) and transverse axes (X) of the cantilever element, e.g. 14 , may include other linear actuators electromechanical (known per se) coupled to the movable supports, e.g. 151, for a movement along respective guide tracks 13r, 13l based on control signals received by a CNC control unit 100 which translates the user input (e.g., provided by a processing device and / or machine-readable media CP) in 3D machine coordinates X,Y,Z (e.g., Cartesian). For example, a catenary (known by itself) is configured to couple the movable support 15 to the cantilever element 14 and to carry the power and the 1 1 signals that implement a movement along the Z axis and the axes of the operating head OH1, while another catenary carries the power and signal to the linear motors. As shown for example in Figure 1, the space between the pillars 12l of the base 11l, 11r, which identify openings 19l, 19r at the level of the floor, is configured to facilitate a replacement of frames, usually when the manufacturing process is interrupted. As shown by way of example in Figure 5, an isometric view of the laser machine apparatus 10 in one stage of frame removal / introduction work, which for simplicity represents only one of the basic elements 11l during a machine stop 10, a frame 25 can be placed inside by passing it through the opening 19l between the central and outer pillars 12l. As shown for example in Figure 5, the frame 25 is moved along extraction tracks 27 on a extraction trolley 28 which carries support and positioning elements, that is, a lifting system 26, which holds the frame 25 and brings it into position for the operation, especially lifting it. As mentioned, it is not excluding that the solution described could possibly allow, if it is permitted by safety conditions, a removal of the frames while the cantilevered elements and operating heads, e.g. laser cutting heads, in the other portion of the working area 30, e.g. in the portion that does not correspond at the 20s opening through which the frame is replaced, they continue to operate. Thus, the laser operating machine 10 comprises basic elements, e.g. 11l, 11r, which carry the cantilevered elements and corresponding heads, mounted on pillars, e.g., 12l, 12r, above the floor, i.e. the beams are above the floor supported by pillars, thus defining openings, e.g., 19l, 19r, between the said pillars, e.g., 12l, 12r, and the base elements with a suitable size for allow the passage of frames, e.g. 25, for the workpieces, in particular placing tracks 27 through said openings 19l, 19r. For example, each actuation system A1, A2, A3, A4 in the plurality of subsystems 141, 142, 143, 144 can be configured to move their respective OH, OH, OH, OH machine tool heads along five axes or degrees 1 2 3 4 of freedom, for example along the Cartesian axes X, Y, Z and along two further axes of the head A, B (e.g., rotation and tilt of the head with respect to the Z axis). Therefore, the position in space of each operating head OH1, OH2, OH , OH can be expressed in terms of the numerical coordinates with respect to 3 4 to the implemented axes. As shown by way of example in Figure 3, the systems of Actuation A, A, A, A are configured to move their respective heads for 1 2 3 4 operating tools OH , OH , OH , OH in respective portions (e.g., 1 2 3 4 partially overlapping) of a manufacturing volume of an OB object available inside the device 10. For example: a first set of actuation devices A1 is configured to move a first operating head OH1 along a plurality of axes X, Y, Z in such a way that can fabricate a 3D OB object (e.g., a car windshield) within a first portion 30 of the manufacturing volume 30; a second set of actuation devices A2 is configured to move a second operating head OH along a plurality of axes X, Y, Z in so that it can manufacture a 3D OB object inside a second portion 302 of manufacturing volume 30; a third set of actuating devices A3 is configured to move a third operating head OH3 along a plurality of axes X, Y, Z in such a way that can fabricate a 3D object OB within a third portion 303 of the manufacturing volume 30; and a fourth set of actuating devices A4 is configured to move a fourth operating head OH4 along a plurality of axes X, Y, Z in such a way that can fabricate a 3D object within a fourth portion 304 of the manufacturing volume 30. As shown by way of example in Figures 2 and 3, it is possible have partial overlaps between the portions 301, 302, 303, 304 of the volume of manufacturing 30 which are assigned to each operating head OH1, OH2, OH3, OH4. Such an overlap facilitates an increase in flexibility and of the efficiency in operating the plurality of heads OH, OH, OH, OH, which can 1 2 3 4 work together at the same time on the same piece of work. Therefore, the constraints in defining the work parts to be assigned to each head can be reduced. As shown by way of example in Figure 3, one or more arms R13 robotics may be present within the system 100, preferably to one of the open sides adjacent to the two basic elements of the apparatus 10. For for example, the R13 robotic arm can be used to place new sheets of material above the frames and / or to move the parts at the end of their cycle manufacturing (e.g., to move a finished door ring after it has been cut). In one or more embodiments, it is possible to perform such a movement of the machined parts as soon as the operating heads slide along the X-axis to move towards the other equipment present in the workspace. Therefore, the R13 robotic arm can operate during “masked time”, thereby facilitating an increase in machine productivity 10. How represented as an example in Figure 3, at the end of a processing cycle, the RLS rails that pass through the window between the pillars that support each basic element can be used to replace the frames, such as discussed previously with reference to Figure 5. For example, as exemplified in Figure 3: each portion 30 , 30 , 30 , 30 has a respective volume of 1 2 3 4 portion, for example defined by a parallelepiped having a length along X of approximately 4350 mm, a width along Y of 1530 mm and a height along Z of 650 mm; the total manufacturing volume 30 is a function of the volumes of the respective portions 301, 302, 303, 304 and their overlaps, for example the volume total 30 is equal to a parallelepiped having a length along X of approximately 4750 mm, a width along Y of approximately 2860 mm and a height along Z of approximately 650 mm. As shown by way of example in Figure 3: the first portion of volume 30 and the second portion of volume 30 1 2 have a first partial overlap 312 equal to or greater than 83% between them; for example, the first overlapping volume 312 can be defined as a parallelepiped having a length along X of approximately 4350 mm, a width along Y of approximately 1530 mm and a height along Z of approximately 650 mm for a total of 4,326 m ; the third portion of volume 303 and the fourth portion of volume 304 have a second partial overlap 334 equal to or greater than 83%; for example, the second overlay volume 334 has the same size as the first volume of overlay 312; the first portion of volume 301 and the third portion of volume 303 have a third partial overlap 313 equal to or less than 7%; for example, the third volume of overlap 313 can be defined as a parallelepiped having a length along X of approximately 4350 mm, a width along Y of approximately 200 mm and a height along Z of approximately 650 mm for a volume of about 0.565 m ; and the second portion of volume 302 and the fourth portion of volume 304 have a fourth partial overlap 324 equal to or less than 7%; for example, the fourth overlay volume 324 has the same size as the third volume of overlay 313. As shown by way of example in Figure 2, the apparatus 10 is a Computerized Numerical Control (CNC) operating machine Numerical Control”), in which the actuating devices of the subsystems A1, A2, A3, A4 are coupled to a CNC controller device 20 configured to provide drive signals to them in order to move their respective operating heads OH, OH , OH , OH inside the manufacturing volume 30 according to trajectories of 2 3 4 toolpaths calculated using a procedure according to this description. In a manner known in itself, the CNC controller device 100 is configured also to receive signals from sensors and other parts equipped on board of the apparatus 10 (not visible in Figure 1) in order to apply mechanisms of control with feedback to the actuating devices A, A, A, A and to drive 1 2 3 4 a laser processing using the operating heads OH, OH, OH, OH in the 1 2 3 4 plurality of subsystems A1, A2, A3, A4. As shown by example in Figure 2, the CNC controller 100 is configured to be coupled to a CP processing device for perform computer-aided design (CAD) and / or manufacturing computer-aided design (CAM) of the parts to be produced by the machine operator 10. A CAD file generated by a CAD system is the generic input of a CAM system. In some cases, CAD data can be entered directly in the CAM system. These systems can also provide basic CAD functions. Known in itself, the main purpose of a CAM system is to transform the CAD file, which contains geometric information about a part, into a PP parts program file, which contains sequential commands for a particular CNC machine 10. The PP parts program file can also be called a machine command or toolpath file. As shown here as an example, the CNC 100 controller is configured to process the PP parts program file and translate the instructions in it in driving signals that set the speeds, the power supplies, accelerations and various other parameters of actuators A1, A2, A3, A4 in the plurality of subsystems A1, A2, A3, A4 of the apparatus. As shown here as an example, the CNC 100 controller includes a human-machine interface, HMI (“Human-Machine Interface”) or a user interface, UI (“User Interface”) configured to receive user data (e.g., via a touch screen) and / or the data machine (e.g., provided by machine sensors) and to enable a data exchange between the user and the machine in terms of input / output data. Figure 1 provides an example of a configuration view of the plurality of subsystems A, A, A, A in the apparatus 10, where it is visible how the 1 2 3 4 cantilever supports 141, 142, 143, 144 are coupled to the respective operating heads OH1, OH2, OH3, OH4. Figure 2 further represents as an example as each support in the plurality of supports 14 , 14 , 14 , 14 comprises a 1 2 3 4 set of actuating devices A , A , A , A configured to move each 1 2 3 4 of the respective heads OH1, OH2, OH3, OH4 at least along a plurality of axes Cartesian X, Y, Z of the 3D workspace. Figure 3 is an example of a further diagram of the underlying principles of one or more forms of implementation. As shown by way of example in Figure 3, in the manufacturing of an OB object with a multi-head operating machine apparatus 10, the PP parts program must be configured to consider: How to separate the total cutting shape of the OB object into various sections CS1, CS2, CS3, CS4, so as to obtain individual tool paths for various actuators A, A, A, A in apparatus 10; and 1 2 3 4 how to manage potential conflict areas at the boundaries of portion volumes individual 301, 302, 303, 304 and / or overlapping portion volumes 312, 324, 313, 334. As appreciated by those skilled in the art, a tool path it is not simply a geometry, but also a tool path, that is, a tool that moves along a path. All machines have areas or directions in which the tool path may be difficult to govern. A PP part program contains toolpaths, specified in coordinates of lines and circles, or splines using the results of the cross-section calculation between two surfaces: the tool radius and the mathematically defined surface from the CAD system. As shown by way of example in Figure 3, the edges in OB object overlap extending across volumes 312, 324 adjacent ones become a problem in the machine space due to the positioning of the operating heads OH1, OH2, OH3, OH4 and the limits CNC machine corresponding (e.g., speed, acceleration) to obtain changes in position. As appreciated by those skilled in the art, the term “digital twin” is currently refers to a detailed and up-to-date virtual replica dynamically of processes or physical objects, made to monitor performance, to test different scenarios, to predict problems and to find optimization opportunities. Compared to traditional design and manufacturing models computer-aided design (CAD / CAE) and engineering”), a digital twin has a real-world counterpart from which data in real time (“real-time”) are received by sensors equipped on board of the device. The hardware part also includes actuators, which convert the signals digital into mechanical movements, network devices such as routers, edge servers and gateways for the Internet of Things (IoT), among others. The data coming from the sensors are stored in a middleware platform that is It also deals with tasks such as connectivity, data integration, data processing, data quality control, data visualization, data modeling and governance, and more. An analytics engine (e.g., powered by machine learning models) performs monitoring in real time and runs simulation software. As shown by way of example in Figure 4, a procedure to operate a multi-head machine tool (while reducing possible collision risks) includes: block 400: Apply CAM processing (offline) based on a model of the apparatus 10 and a CAD file of the object to be manufactured, obtaining as result a TP toolpath to produce the object, e.g. for the profile of the shape to be laser cut from a surface (e.g., top) of the OB object; block 402: using a digital twin model DT (known per se) of the machine 10 configured to mirror the dynamic performance of the apparatus physical 10, emulate or simulate the execution of the movement of the heads of tool OH , OH , OH , OH of the plurality of subsystems 14 , 14 , 14 , 14 , 1 2 3 4 1 2 3 4 thereby distributing or dividing the entire tool path TP into a plurality of tool paths TP ,…,TP for calculation by CAM (e.g. by 1 4 a self-balancing algorithm), thus assigning respective paths of tool to each of the heads OH1, OH2, OH3, OH4 of the operating machine of the apparatus 10; block 404: check for a potential collision risk in work areas CS12, CS23, CS34, CS41 belonging to the plurality of paths of tool TP1,…,TPn, for example by detecting whether, at any instant in time during the simulated manufacturing process, the pairwise distance between the heads falls below a threshold value (e.g., 20 millimeters with a sensitivity of overrun of approximately 0.03 mm); in case of a positive test result, indicate the presence of conflicts, returning to block 402; in case of a negative result of the verification, provide as a result the plurality of tool paths without collisions CFTP1, …, CFTP4; block 406: emulate (or simulate) each of the toolpaths without collision CFTP1, …, CFTP4 received (e.g., using a hand-held software suite) box, note in itself) for each of the operating heads OH , OH , OH , OH of the 1 2 3 4 machine so as to provide an improvement in the performance elements of interest to the user (e.g., speed optimization, reduction of the excursion of the values ​​in the kinematic parameters of the actuators such as the jerk, or jerk, minimizing the total production time, and so on); any modification made to a single toolpath (e.g., TP1 for the first OH head is modified to take into account that this head has an actuator older for moving along the horizontal X-axis) triggers repetition of operations in blocks 402, 404 in order to verify that the changes of a single tool path does not introduce collisions between the operating heads in the plurality of operating heads OH1, OH2, OH3, OH4; as a result of the second iteration of blocks 402, 404, 406, a set of toolpaths is provided SCFTP collision-free. Preferably, in block 408 the set of toolpaths without SCFTP collisions are marked 408 as collision-free and are stored in a memory, so that they can be identified and recovered. For example, in case new changes are made in the block 406 fail to calculate a new trajectory without stable collision, it is it is possible to return to the previously calculated ones CFTP1,…,CFTP4 and provide those like the SCFTP collision-free toolpath set. In one or more embodiments, collision-free toolpaths compared to those in which a collision occurs, they introduce delays between heads potentially in conflict, so that one is stopped while the other operates. For example, if two or more heads (e.g., OH1 with OH2) are about to collide, a or more heads (e.g., OH or OH ) will be paused until the other is out 1 2 flow rate thanks to a synchronization system. This delay time (e.g., approximately 1 second) is introduced in order to balance the workloads and to minimize at the same time the total manufacturing cycle time for a certain OB object. For example, if among the “colliding” heads there is one that has a load of reduced work compared to the other, it is the latter that is delayed so as to balance workloads and reduce overall time. This way of assigning the delays facilitates a synchronization of the total time for which each head operator is actively working. For example, the operation of checking the possible collisions between tool paths TP1,…,TP4 includes calculating a total cycle time based on operation length and speed programmed machine. As shown by way of example in Figure 4, the procedure also includes: block 410: for each operating head in the plurality of operating heads OH1, OH2, OH3, OH4 (e.g., starting from the first operating head OH1) perform a dry run (e.g., via the CNC controller's HMI) of the respective collision-free toolpath (e.g., TP ) of the toolpath set collision-free tool at a movement speed of the respective head (for e.g., OH1) below a certain threshold value (e.g., 10% of speed maximum) in order to detect whether there is still the manufacturing environment possibility of a collision between the operating heads; in case there is still a collision detected, one head will pause until the other is out of range (synchronization system); in the case of a procedure or a incorrect programming, the procedure includes performing a check of real-time collision on machine 10 during the dry run, stopping the actuators just before a possible collision; block 412: for each operating head in the plurality of operating heads OH , OH , OH , OH (e.g., starting from the first operating head OH ) 1 2 3 4 1 perform a dry run (e.g., via the CNC controller's HMI) of the respective collision-free toolpath (e.g., TP1) of the toolpath set collision-free tool while removing the speed limits set in the block 410; in case of an incorrect procedure or programming, the The process involves performing a real-time collision check on machine 10 during the dry run, stopping the actuators just before a possible collision; block 414: apply laser cutting processing according to the paths tools that have passed blocks 410, 412; if there is still a request for applying changes after the first cut is made, it is possible stop the manufacturing process and return to the planning stage of tool paths 402; the machine 10 can be programmed to introduce an additional delay through the synchronization system, putting pause one head relative to another in case a possible collision; in the event of an incorrect procedure or programming, the The process involves performing a real-time collision check on machine 10 during the dry run, stopping the actuators just before a possible collision; block 416: manufacture the object OB by means of the apparatus 10 (e.g., laser cutting a vehicle component, such as a door frame). In one or more forms of implementation, in cases where there is a request for changes during production 416, you can perform the entire procedure once again as the program stops trying to execute the paths of tool without running a simulation on the digital twin. The process of verifying the PP machine program file on a digital twin DT of the apparatus 10 before the actual execution on the machine facilitates the fact to counter a subsequent on-machine check depending on of the CNC machine used and the complexity of the part to be checked. machine check may result in non-cutting times, or downtime, long and therefore not desirable in some circumstances. Therefore, one or more embodiments assist a user in counteracting the machine or head conflicts, such as collisions. As illustrated in the first example, a process involves assigning a set of toolpaths to a plurality of operating heads of a machine operating apparatus (such as a 3D three-dimensional laser cutting machine operating apparatus for example), the operating heads being movable within respective regions of operation by a plurality of subsystems of the machine apparatus operator. For example, the procedure includes: generate a global toolpath based on an object model computerized provided through a design processing stage computer-aided design, CAD; based on respective regions of operation and travel time target (“goal”), partition the global toolpath and assign toolpath partitions of a set of toolpath partitions to respective operating heads of the plurality of operating heads; provide a computerized machine model configured to emulate the dynamic behavior of the operating machine apparatus; emulate, by means of the computerized machine model, the displacement of the operating heads in the plurality of operating heads according to the partitions of toolpath in the toolpath partition set; based on the emulated displacement, detect collisions between the operating heads of the machine in the plurality of operating heads of the machine; in response to a detection of the presence of mutual collisions, adjust and (re)assign toolpath partitions of the partition set of tool path to respective operating heads in the plurality of operating heads of the machine; in response to a failure to detect the presence of mutual collisions, provide the set of toolpath partitions as a set of paths collision-free tool; provide the set of collision-free toolpaths to the machine operating machine for operating the subsystems in the set of subsystems for move each of the operating heads in the plurality of operating heads according to the respective collision-free toolpath of the toolpath set without collisions. As shown here as an example, partition and assign toolpath partitions of a set of toolpath partitions includes reducing, preferably minimizing, the target travel time where each subsystem in the set of subsystems moves each head operator in the plurality of operating heads through each of the respective toolpath partitions of the toolpath partition set. For example, the target travel time for each route partition of tool of the set of toolpath partitions is approximately the same. As shown here as an example, detecting mutual collisions among the operating heads in the plurality of operating heads includes: during the emulated displacement, calculate a pairwise distance between head positions operators of the plurality of operating heads, and to carry out a comparison of the pairwise distance calculated with a threshold value, indicate the presence of a collision in response to the comparison not exceeding a threshold value. For example, adjust and reassign toolpath partitions of the set of tool path partitions to respective operating heads in the plurality of operating heads includes introducing a delay in the movement of at least one head with respect to the other operating heads involved in the collision detected. As shown here by way of example, the process comprises of mark the set of collision-free toolpaths and store the marked set of collision-free toolpaths in a medium machine-readable. As shown here as an example, respective regions of operation of the operating heads of the plurality of operating heads are partially overlapping. For example, the procedure also includes: operate the subsystems in the subsystem set to move each of the operating heads in the plurality of operating heads according to the respective collision-free toolpath of the collision-free toolpath set collisions at a fraction of a maximum displacement speed (for example, 1 / 10 of the maximum speed), and during the operation of the subsystems, perform a detection of real-time collisions and shut down subsystems in response to a detection of collisions between operating heads in the plurality of operating heads. As shown here by way of example, the process includes: operate the subsystems in the subsystem set to move each of the operating heads in the plurality of operating heads according to the respective collision-free toolpath of the collision-free toolpath set collisions, and during the operation of the subsystems, perform a detection of real-time collisions and introduce a delay in the tool path of at least an operating head in response to a collision detection between the at least one operating head and at least one other operating head. As shown here as an example, a processing system comprises at least one CNC controller coupled to a machine apparatus operator, the processing system configured to carry out the procedure according to this description. As shown here as an example, a laser cutting machine comprehends: a plurality of laser operating heads configured to perform a laser processing, mounted on respective cantilevered elements, the cantilevered elements being mounted on at least one base element with an elongated, movable shape along a longitudinal axis of the base element of said at least one element of base, each cantilevered element extending substantially orthogonally with respect to the said longitudinal axis of the base element, each element a cantilever being actuated by a respective actuation system comprising at least one translation along said longitudinal axis of the base element and a longitudinal axis of the cantilever element (Y) orthogonal to this longitudinal axis of the basic element. As shown here as an example, the laser operating machine comprises two basic elements arranged parallel to each other along their longest dimension at a certain distance from each other, which identify an area of ​​operation in the space between the basic elements, each element of base carrying at least two cantilevered elements that extend inwards in the space between these basic elements, substantially orthogonal to the said longitudinal axis of the base element, each cantilevered element being implemented by a respective implementation system comprising at least one translation along said longitudinal axis of the base element and said axis longitudinal of the cantilever element orthogonal to this longitudinal axis of the basic element. For example, the at least one basic element carries at least two elements to overhangs that extend substantially orthogonally to said axis longitudinal of the base element. As shown here by way of example, a system comprises: at least one machine tool (e.g., for 3D laser cutting) which provides a set of manufactured objects within the work region as a result of the displacement of the plurality of operating heads according to respective collision-free toolpaths provided by the process according to this description, and at least one robotic station configured to move objects manufactured in the set of objects manufactured from the work region to workstations of the user during the movement of the plurality of operating heads. For the rest it will be understood that the intention is not necessarily to adopt the various individual implementation options represented by way of example in all the figures attached to this description in the same combinations represented as an example in the figures. One or more forms of implementation they can therefore adopt these options (which are not mandatory) individually and / or in combinations different from the combination represented by way of example in the attached figures. Without prejudice to the basic principles, details and forms of implementation may vary, even significantly, from what has been described, purely by way of example, without going beyond the scope of protection. The scope of protection is defined by the attached claims.

Claims

CLAIMS 1. A method, comprising: assigning a set of tool paths (SCTFP, PP) to a plurality of operating heads (OH1, OH2, OH3, OH4) of a machine tool apparatus (10), the operating heads (OH1, OH2, OH3, OH4) being movable within respective operating regions (30i, 302, 30s, 304) by a plurality of subsystems (14i, 142, 143, 144; Ai, A2, A3, A4) of the machine tool apparatus (10), wherein the method comprises: generating (400) a global tool path (TP) based on a computer object (OB) model provided by a computer-aided design (CAD) processing stage (CP);based on respective operation regions (30i, 302, 30s, 304) and a target travel time, partition (402) the overall tool path (TP) and assign tool path partitions of a set of tool path partitions (TP1, TP4) to respective operating heads of the plurality of operating heads (OH1, OH2, OH3, OH4); provide a computerized machine model (DT) configured to emulate the dynamic behavior of the operating machine apparatus (10); emulate (402), by means of the computerized machine model (DT), the movement of the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) according to the tool path partitions in the set of tool path partitions (TP1, TP4); based on the emulated displacement, detect (404) collisions between machine operating heads in the plurality of machine operating heads (OH1, OH2, OH3, OH4);in response to a detection of the presence of mutual collisions, adjust and reassign (402, 404, 406) tool path partitions of the set of tool path partitions (TP1, TP4) to respective operating heads in the plurality of operating heads of the machine (OH1, OH2, OH3, OH4); in response to a failure to detect the presence of mutual collisions, provide (406) the set of tool path partitions (TP1, ..., TP4) as a set of collision-free tool paths (CFTP1, ..., CFTP4; SCFTP); providing (410) the set of collision-free tool paths (CFTP1,..., CFTP4; SCFTP) to the machine tool apparatus (10) to operate (100) the subsystems in the set of subsystems (14i, 142, 143, 144;Ai, A2, A3, A4) to move each of the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) according to the respective collision-free toolpath of the collision-free toolpath set (CFTP1,..., CFTP4; SCFTP).; 2. The method of claim 1, wherein partitioning (402) and assigning tool path partitions of a set of tool path partitions (TP1, ..., TP4) comprises reducing, preferably minimizing, the target travel time in which each subsystem in the set of subsystems (14i, 142, 143, 144; Ai, A2, A3, A4) moves each operating head in the plurality of operating heads (OH1, OH2, OH3, OH4) through each of the respective tool path partitions of the set of tool path partitions (TP1, ..., TP4), preferably wherein the target travel time for each tool path partition of the set of tool path partitions (TP1, ..., TP4) is approximately the same.

3. The method of claim 1 or claim 2, wherein detecting (404) mutual collisions between the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) comprises: during the emulated movement (402), calculating a pairwise distance between the operating head positions of the plurality of operating heads (OH1, OH2, OH3, OH4), and performing a comparison (404) of the calculated pairwise distance with a threshold value, indicating the presence of a collision in response to the comparison not exceeding a threshold value.

4. A method according to any preceding claim, wherein adjusting and reassigning (402, 404, 406) tool path partitions of the set of tool path partitions (TP1, ..., TP4) to respective operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) comprises introducing a delay in the movement of at least one head relative to the other operating heads involved in the detected collision.

5. A method according to any preceding claim, comprising marking (408) the set of collision-free toolpaths (CFTP1, ..., CFTP4; SCFTP) and storing the marked set of collision-free toolpaths in a computer-readable medium.

6. Method according to any of the preceding claims, wherein respective operating regions (30i, 302, 30s, 304) of the operating heads of the plurality of operating heads (OH1, OH2, OH3, OH4) are partially overlapping (312, 313, 324, 334).

7. A method according to any preceding claim, comprising: actuating (410) the subsystems in the set of subsystems (14i, 142, 143,144; A1, A2, A3, A4) to move each of the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) according to the respective collision-free tool path of the set of collision-free tool paths (CFTP1,..., CFTP4; SCFTP) at a fraction of a maximum travel speed, preferably a fraction of 1 / 10, and during actuation (410) of the subsystems, performing real-time collision detection and stopping the subsystems in response to a detection of collisions between the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4).

8. A method according to any preceding claim, comprising: actuating (410) the subsystems in the set of subsystems (14i, 142, 143,144; A1, A2, A3, A4) to move each of the operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) according to the respective collision-free toolpath of the set of collision-free toolpaths (CFTP1,..., CFTP4; SCFTP), and during actuation (410) of the subsystems, performing real-time collision detection and introducing a delay in the toolpath of at least one operating head in response to a collision detection between the at least one operating head and at least one other operating head (OH1, OH2, OH3, OH4).

9. A processing device, comprising at least one CNC controller (100, CP) configured to be coupled to a machine tool apparatus (10) comprising a plurality of subsystems (14i, 142, 143, 144; Ai, A2, A3, A4) coupled to a plurality of operating heads (OH1, OH2, OH3, OH4) having respective operating regions (30i, 302, 30s, 304) within a working region (30), the processing device configured to perform the method according to any of the preceding claims.

10. A machine tool apparatus (10), comprising: a plurality of subsystems (14i, 142, 143, 144; Ai, A2, A3, A4) coupled to a plurality of operating heads (OH1, OH2, OH3, OH4) having respective operating regions (30i, 302, 30s, 304) within a working region (30), at least one CNC controller (100) configured to operate the subsystems in the plurality of subsystems (14i, 142, 143, 144; Ai, A2, A3, A4) to move operating heads in the plurality of operating heads (OH1, OH2, OH3, OH4) according to respective collision-free tool paths of a set of collision-free tool paths (CFTP1,..., CFTP4; SCFTP) provided by the process according to any of the preceding claims, preferably a 3D laser cutting machine apparatus.

11. System, comprising: at least one machine tool apparatus (10) according to claim 10, wherein the machine tool apparatus (10) provides a set of manufactured objects (OB) within the work region (30) as a result of moving the plurality of working heads (OH1, OH2, OH3, OH4) along respective collision-free tool paths, and at least one robotic station (R13) configured to move the manufactured objects in the set of manufactured objects (OB) from the work region (30) towards user stations during the movement of the plurality of working heads (OH1, OH2, OH3, OH4).