A dual-spindle dynamic anti-collision machining device and control method

Abstract

The application discloses a kind of double spindle dynamic anti-collision processing equipment and control method.The equipment includes rack, first processing head and second processing head independently movable along the length direction of rack, and protective arm slidingly arranged between the two.The protective arm is provided with laser ranging unit, for real-time monitoring the distance between the two processing heads.Control system receives ranging data and the motion state of processing head, and calculates the real-time distance between the two processing heads in real time.When it is judged that the distance is less than the safe threshold, there is a risk of collision, control the protective arm drive assembly to move the protective arm to the predicted collision area to form physical isolation.In addition, the control system can also execute center following mode or one-side avoidance mode according to the processing head state, dynamically adjust the position of protective arm.The application realizes dynamic, active anti-collision protection for double-spindle processing process through the active intervention of movable protective arm, significantly improves the safety and reliability of equipment operation.

Description

Technical Field

[0001] This invention relates to the field of machining center equipment technology, specifically to a dual-spindle dynamic anti-collision machining equipment and control method. Background Technology

[0002] CNC machining technology is widely used in the manufacturing of shafts, tubes, and sleeves. These workpieces typically require multiple processes such as turning, milling, and drilling on their outer diameter, end face, or specific axial positions. To improve production efficiency, modern CNC equipment often employs a dual-head design, allowing two machining heads to move independently along the same axial direction (i.e., the workpiece axis) to simultaneously perform the same or different machining tasks, thereby significantly shortening the machining cycle time.

[0003] However, this highly efficient dual-head configuration also introduces significant technical risks and design challenges: the two high-speed machining heads operate within a limited axial space, posing a serious risk of collision due to program errors, servo drive malfunctions, or misoperation. A collision could damage not only the expensive machining heads and workpieces but also lead to loss of machine tool precision or even safety accidents. Summary of the Invention

[0004] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a dual-spindle dynamic anti-collision machining equipment and control method to solve the serious hidden danger of collision between two machining heads operating on the same axis in the existing technology.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a dual-spindle dynamic anti-collision machining device, which adopts the following technical solution:

[0006] A dual-spindle dynamic anti-collision machining equipment, comprising:

[0007] frame;

[0008] The first processing head and the second processing head are both slidably connected to the frame. The first processing head and the second processing head are spaced apart along the length of the frame and can move independently along the length of the frame.

[0009] The protective arm is slidably mounted on the frame and located between the first processing head and the second processing head;

[0010] A protective arm drive assembly is used to drive the protective arm to move toward the first processing head or the second processing head;

[0011] A laser ranging unit is mounted on the protective arm to monitor the real-time distance between the protective arm and the first processing head and the second processing head.

[0012] The control system is communicatively connected to the laser ranging unit, the protective arm drive assembly, the first processing head, and the second processing head, respectively.

[0013] The control system is configured to: receive ranging data from the laser ranging unit in real time, and acquire real-time motion state data of the first processing head and the second processing head; calculate the real-time distance between the first processing head and the second processing head based on the ranging data; and when it is determined that the real-time distance is less than a preset safety threshold and a collision will occur, output a control signal to the protective arm drive assembly to drive the protective arm to move to the predicted collision area and form physical isolation.

[0014] By adopting the above technical solution—comprising a sliding protective arm along the frame, a laser ranging unit mounted on the protective arm, and a control system with real-time calculation and decision-making capabilities—a coordinated safety protection mechanism is established. This mechanism accurately senses the relative positions of the two machining heads in real time, predicts collision risks, and rapidly drives the protective arm drive assembly to intervene in the danger zone and form a rigid isolation before a collision occurs. This effectively solves the safety hazard of collisions caused by dual-spindle equipment during high-speed, synchronous machining, thus improving the safety and reliability of the equipment.

[0015] Furthermore, the control system is also configured to have a center-following mode; when the real-time distance between the first processing head and the second processing head calculated by the control system is greater than the preset safety threshold, the control system enters the center-following mode; in the center-following mode, the control system adjusts the position of the protective arm according to the real-time distance data fed back by the laser ranging unit, so that the distance between the protective arm and the first processing head and the distance between the protective arm and the second processing head are equal, thereby dynamically maintaining the protective arm at the midpoint of the line connecting the first processing head and the second processing head.

[0016] By adopting the above technical solution: the center-following mode enables the protective arm to dynamically follow and maintain its position at the center of the connection between the two processing heads under safe conditions; it provides the protective arm with a balanced and rapid response capability to potential collision risks from either side of the processing head; simultaneously, it avoids ineffective positioning movements of the protective arm, ensuring it is always in the optimal standby position. Furthermore, the dynamic center-following movement helps to ensure uniform wear of the protective arm drive components, reducing structural stress caused by long-term static offset, thereby further enhancing the long-term stability and reliability of the equipment while achieving intelligent active collision avoidance.

[0017] Furthermore, the laser ranging unit includes: a first laser ranging sensor and a second laser ranging sensor, which are mounted back-to-back on both sides of the protective arm; the detection end of the first laser ranging sensor faces the first processing head and is used to monitor the real-time distance between the protective arm and the first processing head; the detection end of the second laser ranging sensor faces the second processing head and is used to monitor the real-time distance between the protective arm and the second processing head.

[0018] By adopting the above technical solution, the laser ranging unit uses two completely independent first laser ranging sensors and second laser ranging sensors. These are fixedly installed back-to-back on both sides of the protective arm, independently monitoring the real-time distance between the protective arm and the first and second processing heads. This achieves synchronous and parallel measurement and data acquisition of the distances on both sides, providing an accurate data foundation for the real-time decision-making of the control system and ensuring the immediacy of collision detection from the source.

[0019] Furthermore, the protective arm drive assembly includes: a servo motor and a lead screw; the servo motor is connected to the lead screw via a coupling; the bottom of the protective arm is provided with a nut seat that is threadedly engaged with the lead screw, and the rotation of the lead screw drives the nut seat to drive the protective arm to perform linear reciprocating motion.

[0020] By adopting the above technical solution: the protective arm drive component adopts a structure of servo motor and lead screw. The fast response characteristics of the servo motor and the high precision of the lead screw transmission ensure that the protective arm can respond to control commands. The lead screw and nut seat have good mechanical self-locking properties, so that the protective arm can stay stably after reaching the predetermined position, forming a reliable physical isolation barrier and effectively withstanding potential collision impacts.

[0021] Furthermore, both the first processing head and the second processing head are constructed with columns extending vertically along the frame; the installation positions of the first laser rangefinder and the second laser rangefinder are configured such that the detection rays of both are projected into the central area of ​​the columns of the first processing head and the second processing head, respectively.

[0022] By adopting the above technical solution, the detection ray of the laser rangefinder is precisely aligned with the center area of ​​the column of the processing head, ensuring that the laser rangefinder signal can be stably projected onto the flat reference surface of the processing head structure. This effectively avoids signal scattering, jumps, or loss caused by irregular protrusions, thereby ensuring the continuous stability and high reliability of the rangefinder data.

[0023] Furthermore, the device also includes a pair of parallel, spaced linear guides extending along the length of the frame; the bottom of the first processing head, the second processing head, and the protective arm are all provided with sliders adapted to the linear guides; the first processing head, the second processing head, and the protective arm share a pair of linear guides, and the protective arm is located between the first processing head and the second processing head.

[0024] By adopting the above technical solution, the first processing head, the second processing head, and the protective arm share the same pair of linear guides in an integrated layout. The three operate on the same reference, eliminating the cumulative error caused by setting separate guides. The shared pair of linear guides allows the protective arm to move between them with the same dynamic response characteristics as the processing head, achieving synchronous movement and optimizing the smoothness and efficiency of the protective arm's intervention and following.

[0025] Furthermore, the control system is also configured to have a single-sided avoidance mode; when the control system detects that the first processing head or the second processing head is in a moving processing state and the other processing head is in a stationary standby state based on the motion state data, the control system controls the protective arm to move toward the processing head in the stationary standby state until the protective arm reaches a stopping position that maintains a preset safe distance from the stationary processing head and stops, so as to avoid the processing head in the moving processing state.

[0026] By adopting the above technical solution, the single-sided avoidance mode of the control system improves the operating efficiency of the equipment in asymmetrical working conditions. When it is detected that one side of the processing head is in a moving processing state while the other side is stationary, the protective arm is driven to move and stop at a preset safe position on the side of the stationary processing head, thus freeing up the maximum processing space for the processing head in the working state, thereby directly improving processing efficiency and equipment space utilization.

[0027] Furthermore, both ends of the protective arm are provided with buffer pads for absorbing the impact force of a collision.

[0028] By adopting the above technical solution, a buffer protection layer is constructed by adding buffer pads on both sides of the protective arm. This design effectively solves the problems of rigid impact, rebound, and secondary damage that may occur when the protective arm comes into contact with a high-speed moving processing head under extreme conditions.

[0029] The beneficial effects of this invention are as follows:

[0030] 1. By linking the movable protective arm, the high-precision laser ranging unit, and the control system, the distance between the two processing heads can be monitored and calculated in real time. When a collision risk is predicted, the protective arm can be actively driven to the danger zone to form a rigid isolation. This transforms the traditional pure software warning into active physical intervention, fundamentally avoiding the occurrence of dual spindle collision accidents, achieving active and dynamic physical collision avoidance, and improving safety.

[0031] 2. The control system integrates multiple intelligent modes, including center following and unilateral avoidance. Center following mode dynamically maintains the protective arm at the midpoint between the two processing heads, balancing the response to risks on both sides. Unilateral avoidance mode, when a single processing head is working, causes the protective arm to move to a safe position in advance, maximizing the travel space for the working processing head. These modes make the protective arm behavior highly adaptable to actual processing conditions, improving the overall operating efficiency and space utilization of the equipment.

[0032] 3. The first and second processing heads, along with the protective arm, share the same pair of linear guides. This not only simplifies the structure and saves space and cost, but also ensures that all three move on the same reference, improving the accuracy of position control. Furthermore, detailed design features, such as aiming the laser ranging point at the center of the processing head column, further enhance measurement stability and reliability.

[0033] Secondly, the present invention provides a dual-spindle dynamic anti-collision control method, which adopts the following technical solution:

[0034] A dual-spindle dynamic collision avoidance control method includes the following steps:

[0035] S1 uses a laser ranging unit mounted on the protective arm to monitor the distance data between the protective arm and the first processing head and the second processing head in real time; at the same time, it acquires the real-time motion status data of the first processing head and the second processing head.

[0036] S2 calculates the real-time distance between the first processing head and the second processing head based on the ranging data, and determines whether the real-time distance is less than a preset safety threshold.

[0037] S31 When it is determined that the real-time distance is less than the preset safety threshold and a collision will occur, a control signal is output to drive the protective arm to move to the predicted collision area to form physical isolation.

[0038] When S32 determines that the real-time distance is greater than the preset safety threshold, the control system selects either the center-following mode or the single-sided avoidance mode to execute based on the real-time motion status data of the first processing head and the second processing head.

[0039] Furthermore, if both the first processing head and the second processing head are detected to be in a controlled operating state, the control system selects the center-following mode for execution; when one of the processing heads is in a controlled operating state and the other processing head is in a stationary standby state, the control system selects the unilateral avoidance mode for execution: the center-following mode is that the control system calculates the midpoint position of the line connecting the first processing head and the second processing head, and drives the protective arm to dynamically maintain at the midpoint position; the unilateral avoidance mode is that the control system controls the protective arm to move towards the processing head in the stationary standby state until it reaches a stopping position that maintains a preset safe distance from the processing head in the stationary standby state and stops.

[0040] The beneficial effects of this invention are as follows:

[0041] The protective arm is equipped with back-to-back laser rangefinders to monitor the distance to the processing heads on both sides in real time. The control system calculates the distance between the two processing heads in real time. If a collision risk is predicted, the protective arm is immediately driven to move to the danger zone to form a physical barrier. In a safe state, the system intelligently switches between center-following mode and single-sided avoidance mode according to the operating status of the processing heads. This invention realizes the transformation from passive early warning to active physical collision avoidance through closed-loop control of perception-decision-execution, effectively solving the collision hazards in high-speed machining with dual spindles and improving the safety, operating efficiency and intelligence level of the equipment. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this application;

[0044] Figure 2 A schematic diagram showing the connection between the first processing head, the second processing head, the protective arm drive assembly, and the laser ranging unit in the control system of this application;

[0045] Figure 3 This is a schematic diagram of the protective arm drive assembly and the protective arm structure of this application;

[0046] Figure 4 This is a schematic diagram illustrating the calculation of real-time distance for this application;

[0047] Figure 5 This is a schematic diagram of Embodiment 2 of this application;

[0048] Explanation of reference numerals in the attached figures:

[0049] 10. Frame; 11. Linear guide rail; 21. First processing head; 22. Second processing head; 201. Column; 30. Protective arm; 301. Nut seat; 320. Buffer pad; 40. Protective arm drive assembly; 401. Servo motor; 402. Lead screw; 50. Laser ranging unit; 501. First laser ranging sensor; 502. Second laser ranging sensor; 60. Slider; 100. Control system. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0051] Example 1:

[0052] Reference Figure 1 , Figure 2 , Figure 3 As shown, this embodiment provides a dual-spindle dynamic anti-collision processing equipment, which includes: a frame 10, a first processing head 21, a second processing head 22, a protective arm 30, a laser ranging unit 50, a protective arm drive assembly 40, and a control system 100.

[0053] A first processing head 21 and a second processing head 22 are both slidably connected to the frame 10. The first processing head 21 and the second processing head 22 are spaced apart along the length of the frame 10 and can move independently along the length of the frame 10. A protective arm 30 is slidably disposed on the frame 10 and located between the first processing head 21 and the second processing head 22. A protective arm drive assembly 40 is used to drive the protective arm 30 to move toward the first processing head 21 or the second processing head 22. A laser ranging unit 50 is disposed on the protective arm 30 and is used to monitor the relationship between the protective arm 30 and the first processing head in real time. 21. Real-time distance between the second processing head 22; The control system 100 is communicatively connected to the laser ranging unit 50, the protective arm drive assembly 40, the protective arm 30, the first processing head 21, and the second processing head 22; The control system 100 is configured to: receive ranging data from the laser ranging unit 50 in real time, and acquire real-time motion state data of the first processing head 21 and the second processing head 22; calculate the real-time distance D between the first processing head 21 and the second processing head 22 in real time based on the ranging data; when it is determined that the real-time distance D is less than a preset safety threshold Dsafe and a collision will occur, output a control signal to the protective arm drive assembly 40 to drive the protective arm 30 to move to the predicted collision area to form physical isolation.

[0054] Specifically, a pair of parallel, spaced linear guides 11 extending along the length of the frame 10 are provided on the top plane of the frame 10; the bottoms of the first processing head 21, the second processing head 22, and the protective arm 30 located between them are all equipped with sliders 60 adapted to the linear guides 11. Since the first processing head 21, the second processing head 22, and the protective arm 30 share this pair of linear guides 11, not only is the absolute coaxiality of the first processing head 21, the second processing head 22, and the protective arm 30 located between them in space guaranteed, but the size of the frame 10 is also reduced, making the overall structure more compact. The first processing head 21 and the second processing head 22 are each driven by an independent drive system (such as a servo motor or a hydraulic cylinder), so that they can move independently along the length of the linear guides 11.

[0055] The protective arm 30 serves as an independent anti-collision unit, controlled by a protective arm drive assembly 40. The protective arm drive assembly 40 includes a servo motor 401 mounted at one end of the frame 10 and a lead screw 402 arranged parallel to the linear guide rail 11. The servo motor 401 is connected to the lead screw 402 via a coupling. A nut seat 301 is located at the bottom of the protective arm 30, containing a ball nut that threads with the lead screw 402. When the servo motor 401 rotates, it drives the nut seat 301 to cause the protective arm 30 to reciprocate linearly between the first processing head 21 and the second processing head 22.

[0056] The protective arm 30 is integrated with a laser ranging unit 50. The laser ranging unit 50 includes a first laser ranging sensor 501 and a second laser ranging sensor 502 installed back to back. The first laser ranging sensor 501 detects in the direction of the first processing head 21 to monitor the distance L1 between the protective arm 30 and the first processing head 21. The second laser ranging sensor 502 detects in the direction of the second processing head 22 to monitor the distance L2 between the protective arm 30 and the second processing head 22.

[0057] To ensure measurement accuracy, both the main structures of the first processing head 21 and the second processing head 22 are constructed with columns 201 extending vertically along the frame 10. The installation height of the laser ranging unit 50 (specifically including the first laser ranging sensor 501 and the second laser ranging sensor 502) has been precisely calibrated. Specifically, the laser detection rays emitted by the first laser ranging sensor 501 and the second laser ranging sensor 502 are configured to be stably projected within the central area of ​​the columns 201 of the first processing head 21 and the second processing head 22. This installation position design effectively avoids laser deflection caused by the up-and-down movement or combined movement of the processing heads, or measurement errors caused by projection onto chamfered edges. In addition, both ends of the protective arm 30 are provided with buffer pads 320 for absorbing impact forces. These buffer pads 320 are made of high-density polyurethane material. In extreme out-of-control situations, the buffer pads 320 can absorb the impact kinetic energy, converting hard impacts into soft contact, effectively protecting the first processing head 21 and the second processing head 22 from damage by impact forces.

[0058] Reference Figure 2 , Figure 4 As shown, the control system 100 is the brain of the equipment, with its core being an industrial computer or high-performance PLC, integrating a motion control card. The control system 100 communicates with the drive systems of the first processing head 21 and the second processing head 22, the servo motor 401 of the protective arm drive assembly 40, and the first laser rangefinder 501 and the second laser rangefinder 502 via a high-speed bus, exchanging data and instructions in real time. The control system 100 has a built-in physical isolation mode that automatically switches according to real-time working conditions. This mode is the underlying safety foundation of the system. The control system 100 sets a fixed preset safety threshold Dsafe, which is set according to the processing head size, braking distance, and system response time.

[0059] The control system 100 continuously calculates the real-time distance D between the first processing head 21 and the second processing head 22 according to the formula D=L1+L2+W (where L1 is the distance between the protective arm 30 and the first processing head 21, L2 is the distance between the protective arm 30 and the second processing head 22, and W is the known width of the protective arm 30).

[0060] Triggering and Execution: Once the real-time distance D is calculated to be less than the safety threshold Dsafe, the control system 100 immediately determines that there is an impending collision risk and instantly triggers this mode.

[0061] The control system 100 sends a highest priority command to the protective arm drive assembly 40, driving the protective arm 30 to move at maximum acceleration to the midpoint of the line connecting the current first processing head 21 and the second processing head 22, wherein the midpoint of the line is a preferred isolation position in the collision risk area predicted based on the movement trends of the two processing heads.

[0062] Once the protective arm 30 is in position, the control system 100 immediately controls the servo motor 401 to enter a high-rigidity position locking state (triggering the mechanical brake), making the protective arm 30 a fixed, rigid physical barrier. At the same time, the control system 100 synchronously sends an emergency stop command to the drive systems of the first processing head 21 and the second processing head 22, forcibly cutting off the power source.

[0063] Center-following mode: When the real-time distance D is always greater than the safety threshold Dsafe, and the control system 100 detects that both the first processing head 21 and the second processing head 22 are in working mode and executes a movement command, the control system 100 automatically enters the center-following mode. In center-following mode, the goal of the control system 100 is to adjust the position of the protective arm 30 so that L1 equals L2, that is, to make the protective arm 30 follow and maintain its position at the midpoint of the line connecting the first processing head 21 and the second processing head 22 in real time. Based on the difference between L1 and L2, the control system continuously fine-tunes the position of the protective arm 30 through the servo motor 401. This ensures that the protective arm 30 is always in the optimal standby position.

[0064] Single-sided avoidance mode: When the real-time distance D is greater than the safety threshold Dsafe, and the control system 100 detects that only one processing head (e.g., the first processing head 21) is in a moving processing state, while the other processing head (e.g., the second processing head 22) is in a stationary standby state, the control system 100 enters the single-sided avoidance mode. To increase the effective travel space of the processing head in the moving processing state, the control system 100 controls the protective arm 30 to move towards the processing head in the stationary standby state until the reading L2 of the second laser rangefinder 502 reaches the preset safety distance and stops. At this time, the protective arm 30 stops on one side of the processing head in the stationary standby state, giving the side that is being processed the maximum axial travel space, so that its processing path planning is unrestricted, thereby improving the equipment utilization and operating efficiency when the single spindle is working.

[0065] During equipment operation, the control system 100 executes a closed-loop process in a cyclical manner: data acquisition (obtaining L1, L2, and processing head status) — distance calculation and risk assessment (calculating real-time distance D and comparing it with the safety threshold Dsafe) — mode decision-making and execution. Through the precise perception of spatial relationships by the laser ranging unit 50, combined with intelligent analysis of the motion states of the first processing head 21 and the second processing head 22, the control system 100 can seamlessly switch between three modes: emergency isolation, center following, and unilateral avoidance. This achieves a leap from passive alarm to active physical intervention, not only fundamentally eliminating dual-spindle collision accidents but also optimizing the behavior of the protective arm 30 through intelligent position management, ensuring both absolute safety and efficient equipment operation.

[0066] Example 2:

[0067] Reference Figure 4 , Figure 5 As shown, a dual-spindle dynamic collision avoidance control method is described in this embodiment. Based on the hardware structure of the aforementioned device, the execution flow of the control method is explained in detail. The method includes the following steps:

[0068] S1 uses a laser ranging unit 50 mounted on the protective arm 30 to monitor the distance data between the protective arm 30 and the first processing head 21 and the second processing head 22 in real time; at the same time, it acquires the real-time motion status data of the first processing head 21 and the second processing head 22.

[0069] Using laser ranging units 50 mounted back-to-back on the protective arm 30, the laser ranging units 50 project lasers into the center area of ​​the columns 201 of the two processing heads respectively, and measure the distance data between the protective arm 30 and the first processing head 21 and the second processing head 22 in real time. On the other hand, the control system 100 simultaneously reads the running data from the drive system of the first processing head 21 and the second processing head 22 to determine whether the two processing heads are currently in a moving processing state or a stationary standby state. These two sets of synchronously acquired position information and status information together constitute the only data basis for subsequent real-time calculation, collision risk prediction and decision-making on the movement mode of the protective arm (such as center following or unilateral avoidance).

[0070] S2 calculates the real-time distance between the first processing head 21 and the second processing head 22 based on the ranging data, and determines whether the real-time distance is less than the preset safety threshold Dsafe.

[0071] The control system 100 calculates the real-time distance D between the first processing head 21 and the second processing head 22 in real time based on the pre-stored width data W of the protective arm 30 and the distance measurement data obtained in step S1. The calculation formula is: D=L1+L2+W.

[0072] Subsequently, the control system 100 compares the calculated real-time distance D with the preset safety threshold Dsafe to determine whether there is a risk of collision.

[0073] S31 When it is determined that the real-time distance D is less than the preset safety threshold Dsafe and a collision will occur, a control signal is output to drive the protective arm 30 to move to the predicted collision area to form physical isolation;

[0074] When the control system 100 determines that the real-time distance is less than the preset safety threshold Dsafe, the control system 100 immediately outputs a control signal to drive the protective arm 30 to move to the predicted collision area with maximum acceleration. After the protective arm 30 is in place, the control system 100 immediately controls the servo motor 401 to enter the position holding state, so that the protective arm 30 instantly becomes a fixed rigid physical barrier. The control system 100 simultaneously sends an emergency stop command to the drive system of the first processing head 21 and the second processing head 22 to cut off the power source and forcibly stop the feed.

[0075] When S32 determines that the real-time distance is greater than the preset safety threshold, the control system 100 selects one of the center following mode or the single-sided avoidance mode to execute based on the real-time motion state data of the first processing head 21 and the second processing head 22.

[0076] When the control system 100 determines that the real-time distance is greater than the preset safety threshold Dsafe, the control system 100 further analyzes the real-time motion state data obtained in step S1 and automatically selects and executes one of the following two modes:

[0077] In center-following mode, if both the first processing head 21 and the second processing head 22 are detected to be in operation, the control system 100 calculates the position of the center point of the line connecting the first processing head 21 and the second processing head 22 in real time. The algorithm aims to adjust the position of the protective arm 30 so that L1 equals L2. The control system 100 drives the protective arm 30 to maintain it at the center point position.

[0078] In the single-sided avoidance mode, if it is detected that one of the processing heads (e.g., the first processing head 21) is in operation and the other processing head (e.g., the second processing head 22) is in a stationary standby state, the control system 100 executes the single-sided avoidance mode, drives the protective arm 30 to actively move away from the center and move towards the processing head (second processing head 22) in the stationary standby state. The protective arm 30 continues to move until it reaches a preset safe distance from the processing head in the stationary standby state.

[0079] The control system 100 executes steps S1 to S3 in a cyclical manner to ensure that the protective arm 30 is always in the most reasonable safe or standby position throughout the entire processing process, regardless of how the processing head moves.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-spindle dynamic anti-collision machining equipment, characterized in that, include: Rack (10); The first processing head (21) and the second processing head (22) are both slidably connected to the frame (10). The first processing head (21) and the second processing head (22) are spaced apart along the length of the frame (10) and can move independently along the length of the frame (10). The protective arm (30) is slidably mounted on the frame (10) and located between the first processing head (21) and the second processing head (22); The protective arm drive assembly (40) is used to drive the protective arm (30) to move toward the first processing head (21) or the second processing head (22); A laser ranging unit (50) is mounted on the protective arm (30) and is used to monitor the real-time distance between the protective arm (30) and the first processing head (21) and the second processing head (22). The control system (100) is communicatively connected to the laser ranging unit (50), the protective arm drive assembly (40), the first processing head (21), and the second processing head (22), respectively. The control system (100) is configured to: receive the ranging data of the laser ranging unit (50) in real time, and acquire the real-time motion state data of the first processing head (21) and the second processing head (22); calculate the real-time distance between the first processing head (21) and the second processing head (22) in real time based on the ranging data; and when it is determined that the real-time distance is less than a preset safety threshold and a collision will occur, output a control signal to the protective arm drive assembly (40) to drive the protective arm (30) to move to the predicted collision area to form physical isolation. The control system (100) is also configured to have a center-following mode; when the real-time distance between the first processing head (21) and the second processing head (22) calculated by the control system (100) is greater than the preset safety threshold, the control system (100) enters the center-following mode; in the center-following mode, the control system (100) adjusts the position of the protective arm (30) according to the real-time distance data fed back by the laser ranging unit (50), so that the distance between the protective arm (30) and the first processing head (21) and the distance between the protective arm (30) and the second processing head (22) are equal, so that the protective arm (30) is dynamically maintained at the midpoint of the line connecting the first processing head (21) and the second processing head (22).

2. The dual-spindle dynamic anti-collision machining equipment according to claim 1, characterized in that, The laser ranging unit (50) includes a first laser ranging sensor (501) and a second laser ranging sensor (502), which are mounted back-to-back on both sides of the protective arm (30); the detection end of the first laser ranging sensor (501) faces the first processing head (21) and is used to monitor the real-time distance between the protective arm (30) and the first processing head (21); the detection end of the second laser ranging sensor (502) faces the second processing head (22) and is used to monitor the real-time distance between the protective arm (30) and the second processing head (22).

3. The dual-spindle dynamic anti-collision machining equipment according to claim 1, characterized in that, The protective arm drive assembly (40) includes: a servo motor (401) and a lead screw (402); the servo motor (401) is connected to the lead screw (402) via a coupling; the bottom of the protective arm (30) is provided with a nut seat (301) that is threadedly engaged with the lead screw (402), and the rotation of the lead screw (402) drives the nut seat (301) to drive the protective arm (30) to perform linear reciprocating motion.

4. The dual-spindle dynamic anti-collision machining equipment according to claim 2, characterized in that, The first processing head (21) and the second processing head (22) are both constructed with columns (201) extending vertically along the frame (10); the installation positions of the first laser rangefinder (501) and the second laser rangefinder (502) are configured such that the detection rays of the two are projected into the central area of ​​the columns (201) of the first processing head (21) and the second processing head (22), respectively.

5. The dual-spindle dynamic anti-collision machining equipment according to claim 1, characterized in that, It also includes a pair of parallel, spaced linear guides (11) extending along the length of the frame (10); the bottom of the first processing head (21), the second processing head (22) and the protective arm (30) are all provided with sliders (60) adapted to the linear guides (11); the first processing head (21), the second processing head (22) and the protective arm (30) share a pair of linear guides (11).

6. The dual-spindle dynamic anti-collision machining equipment according to claim 1, characterized in that, The control system (100) is also configured to have a single-sided avoidance mode; when the control system (100) detects that the first processing head (21) or the second processing head (22) is in a moving processing state and the other processing head is in a stationary standby state according to the real-time motion state data, the control system (100) controls the protective arm (30) to move toward the processing head in the stationary standby state until the protective arm (30) reaches a stopping position that maintains a preset safe distance from the processing head in the stationary standby state and stops, so as to avoid the processing head in the moving processing state.

7. The dual-spindle dynamic anti-collision machining equipment according to claim 1, characterized in that, Both ends of the protective arm (30) are provided with buffer pads (320) for absorbing the impact force of the collision.

8. A control method for dynamic collision avoidance with dual spindles, characterized in that, The dual-spindle dynamic anti-collision processing equipment according to any one of claims 1-7 includes the following steps: S1 By using a laser ranging unit (50) set on the protective arm (30), the ranging data between the protective arm (30) and the first processing head (21) and the second processing head (22) are monitored in real time; at the same time, the real-time motion state data of the first processing head (21) and the second processing head (22) are acquired; S2 The real-time distance between the first processing head (21) and the second processing head (22) is calculated in real time based on the ranging data, and it is determined whether the real-time distance is less than the preset safety threshold; S31 When it is determined that the real-time distance is less than the preset safety threshold and a collision will occur, a control signal is output to drive the protective arm (30) to move to the predicted collision area to form physical isolation; S32 When it is determined that the real-time distance is greater than the preset safety threshold, the control system (100) selects one of the center following mode or the single-sided avoidance mode to execute according to the real-time motion state data of the first processing head (21) and the second processing head (22).

9. The control method for dynamic anti-collision of dual spindles according to claim 8, characterized in that, If both the first processing head (21) and the second processing head (22) are detected to be in a controlled operating state, the control system (100) selects the center-following mode for execution; when one of the processing heads is in a controlled operating state and the other processing head is in a stationary standby state, the control system (100) selects the single-sided avoidance mode for execution: the center-following mode means that the control system calculates the midpoint position of the line connecting the first processing head (21) and the second processing head (22) and drives the protective arm (30) to dynamically maintain the midpoint position; the single-sided avoidance mode means that the control system (100) controls the protective arm (30) to move toward the processing head in the stationary standby state until it reaches a stopping position that maintains a preset safe distance from the processing head in the stationary standby state and stops.

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