Method and system for operating a plurality of operating heads of an operating machine

Abstract

To provide a method for assigning a tool path group (SCTFP) to a plurality of operation heads of an operation machine device.SOLUTION: The method comprises generating an overall tool path based on a computed object model provided via a computer-aided design, CAD, processing stage, based on respective operating areas and target travel times, segmenting the overall tool path, assigning a tool path segment of a group of tool path segments to each operating head of a plurality of operating heads providing a computed machine model configured to emulate dynamic behavior of the operating machine, emulating movement of the operating heads according to the tool path segments, and detecting collisions between the operating heads. In response to detecting the presence of a mutual collision, the tool path segments of the group of tool path segments are adjusted and reassigned to the respective operating head.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This disclosure relates to mechanisms and systems for generating work paths for computer numerically controlled (CNC) operated machines, for example, using computer aided manufacturing (CAM) systems.

[0002] One or more embodiments relate to methods and systems for manufacturing one or more objects via a manipulation machine for laser cutting. Other embodiments may refer to laser welding or other laser processes. [Background technology]

[0003] A computer-aided manufacturing (CAM) system represents the interface between a computer-aided design (CAD) design, i.e., the geometric design of a part, and a CNC machine specification, the latter commonly referred to as a "part program" or "tool path," which comprises instructions in machine language (e.g., G-code) for execution within a CNC machine. CAM systems are configured to receive CAD elements as input and provide as output a "part program" or "tool path," the latter comprising a description of the tool path.

[0004] Accurate toolpath generation is a relevant element in running manufacturing machines. Nevertheless, there are some difficulties in predicting CNC behavior for programmed toolpaths due to discrepancies between CAM system calculations and actual machine parameters.

[0005] Existing solutions are discussed in the following documents: U.S. Pat. No. 9,448,553 discusses a system and method for a CNC device that includes a CAM controller configured to input a CAD file and output a CAM file, and a CAM-embedded CNC controller configured to input the CAM file and output at least one command to at least one servo controller of one or more servo controllers. The specification of U.S. Patent No. 11,423,189 discusses a system for autonomous generative design in a system having a digital twin graph, a requirements elicitation tool for receiving requirements documents for the system in a human-readable format and populating the digital twin graph with useful information contained in the requirements documents, and a synthesis and analysis tool in communication with the digital twin graph, wherein the synthesis and analysis tool generates a set of design alternatives based on captured interactions between a user and the design tool and the useful information captured from the requirements documents. EP 1 804 146 A1 discusses a method for performing a model head allocation for a multi-head composite material application machine having a group of heads, where a ply shape for a composite part is obtained, a configuration for the multi-head composite material application machine is obtained, and an arrangement of head positions is generated according to the ply shape and configuration for the multi-head composite material application machine.

[0006] Multi-head machines may be used to improve the efficiency of producing relatively large parts, but existing part program systems are seldom suited to efficiently programming operating machines with multiple heads.

[0007] As evidenced by the existing literature, despite research activity in this area, there is room for further improvement in providing methods and systems for providing part programs for high speed operating machines while reducing time consuming operations. Summary of the Invention

[0008] One aim of one or more embodiments is to adequately address the problems discussed above.

[0009] According to one or more embodiments, this object may be achieved by a method having the features set out in the claims below.

[0010] One or more of the embodiments may be associated with a corresponding processing system or device.

[0011] One or more embodiments may be mounted on the base of any processing machine, such as a 3D laser cutting machine.

[0012] One or more embodiments may include a computer program product loadable into the memory of at least one processing circuit (e.g., a computer) and including software code portions for performing the steps of the method when the product is executed on the at least one processing circuit. As used herein, references to such computer program products are understood to be equivalent to references to computer-readable media including instructions for controlling a processing system to coordinate the implementation of the method according to one or more embodiments. References to "at least one computer" are intended to highlight the possibility of one or more embodiments being implemented in a modular and / or distributed fashion.

[0013] The claims are an integral part of the technical teachings provided herein with reference to the embodiments.

[0014] One or more embodiments facilitate increasing the speed at which modifications to a CAD program may be performed.

[0015] One or more embodiments facilitate reducing the distance over which multiple heads can work together without impacting production speed, even in highly dynamic situations. [Brief explanation of the drawings]

[0016] One or more embodiments will now be described, by way of non-limiting example only, and with reference to the accompanying drawings, in which: [Figure 1] 1 is an exemplary diagram of an operating mechanism according to the present disclosure. [Figure 2] 1 is an exemplary diagram of a processing device for performing the method according to the present disclosure. [Figure 3]1 is an exemplary diagram of a principle upon which one or more embodiments are based. [Figure 4] 1 is an exemplary diagram of the operation of a method according to the present disclosure. [Figure 5] Isometric view of the laser machine equipment during the fixture removal / introduction phase of the process.

[0017] Corresponding numbers and characters in the different drawings generally refer to corresponding parts unless otherwise indicated.

[0018] The drawings are intended to clearly depict relevant matter of the embodiments and are not necessarily drawn to scale.

[0019] The edges of features depicted in the drawings do not necessarily indicate the end of the extension of the feature. DETAILED DESCRIPTION OF THE INVENTION

[0020] In the following description, one or more specific details are shown for the purpose of providing a thorough understanding of example embodiments of the present description. An embodiment may be achieved without one or more specific details, or with other methods, components, materials, etc. In other cases, well-known structures, materials, or operations are not shown or described so as not to obscure certain aspects of the embodiment.

[0021] References to "an embodiment" or "one embodiment" within the framework of this specification are intended to indicate that a particular configuration, structure, or characteristic described in connection with an embodiment is present in at least one embodiment. Thus, phrases such as "in one embodiment" or "in one embodiment," which may appear in one or more places herein, do not necessarily refer to one and the same embodiment.

[0022] Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0023] References used herein are provided merely for convenience and therefore do not define the scope of protection or embodiments.

[0024] For convenience, in the detailed description that follows, the same reference numbers may be used to designate both a node / line in a circuit and a signal that may occur at the node or line.

[0025] 1 is an isometric exemplary diagram of a laser manipulation machine apparatus 10, preferably configured to perform three-dimensional (3D) laser cutting of a material. The following description also refers to elements, components, or details of the apparatus shown in the views of FIGS. 2, 3, and 5 (e.g., the first base element with corresponding cantilever and manipulation head shown in FIG. 5).

[0026] As illustrated in FIG. 1, the laser manipulation machine device 10 has a generally rectangular, in particular parallelepiped, shape, i.e., a beam, and comprises a first base element (or base, foundation part) 11l and a second base element 11r, which are arranged parallel to each other along the longest side, i.e., longitudinal axis, of the base elements (e.g., along the X-axis of the Cartesian coordinate axes).

[0027] In the illustrated example, the foundation elements 11l, 11r are elevated relative to, for example, the ground level of the environment (e.g., a factory) housing the laser manipulation machine 10 via multiple (e.g., three) pillars 12l, starting with the first foundation element 11l. As illustrated in FIG. 1 , two pillars 12l may be positioned at opposite ends of each foundation element 11l, 11r, while a third pillar 12l may be positioned at a central portion along the longitudinal axis X of each foundation element 11l, 11r. The placement of the pillars 12l defines openings 19l between each pair of pillars 12l. These openings 19l, which facilitate access to the manipulation area 30 of the machine 10, may be used to introduce fixtures (e.g., with parts) into the manipulation area 30 of the laser machine 10 and relatively easily replace the fixtures without having to remove components at the side of the manipulation area 30. This allows for the determination that, if safety conditions permit, removal of the fixture is feasible while other parts of the operation area 30, such as the cantilevers and operation heads (e.g., laser cutting heads) in the area not corresponding to the opening 19r where the fixture is replacing, continue to operate. The term fixture refers to a support used in laser 3D cutting to position the part to be cut and hold it in a reproducible manner within the operation area of ​​the machine. These are also currently referred to as reference fixtures, fixture gauges, and jigs. A similar arrangement with posts 12r and openings 19r may be provided in the second base element 11r. As emphasized and explained, openings 19l and 19r exist below both base elements 11s and 11r, so that the opening below one of the base elements, e.g., 11s, may be used for the fixture, while the other opening below the other base element may be used to remove waste material resulting from the processing, e.g., laser cutting waste material.

[0028] It is emphasized that the cantilever supports are described herein as base elements 11l, 11r supported on pillars 12l, 12r, particularly to emphasize the formation of side openings 19l, 19r that provide access to the working area 30 below the beams of the base elements 11l, 11r. Each base element 11l, 11r and corresponding pillar 12l, 12r may be considered to correspond to the overall base or foundation portion for each cantilever.

[0029] As illustrated in FIG. 1, the upper surface of each base element 11l, 11r supports a guide track (or linear guide) 13r, 13l, which has at least one rail each and extends across the X direction of the base elements 11l, 11r.

[0030] As illustrated in FIG. 1, each operating head carriage element, i.e., one that supports the head, in particular the cantilever beams 141, 142, 143, 144 configured to slide along the guide tracks 13r, 13l, is mounted and arranged on a base element that engages with said guide tracks 13l, 13r.

[0031] In the example of Figure 1, with reference to the first base element 11l, a first pair of cantilever beams 141, 142, which also have a parallelepiped shape, are parallel to each other and are arranged with the longest sides, i.e. the cantilever longitudinal axes, of the cantilever beams 141, 142 perpendicular to the longest side, i.e. the longest axis of the base element, of the first base element 11l, and the first pair of cantilever beams 141, 142 are connected to a first guide track 13l via first movable supports 151, 152 connected to the first base element 11l so as to slide or rotate along the first base element 11l, and in particular move along the rails of the guide track 13l provided on a supporting linear shoe, which has, for example, the first movable supports 151, 152 equipped with ball bearings 151a, 154a as shown in Figure 1. In substantially the same manner, with reference to the second base element 12r, a first pair of cantilever beams 143, 144 are arranged with their longest sides parallel to each other and perpendicular to the longest side of the second base element 11r, and a second pair of cantilever beams 143, 144 are connected to a second guide track 13r so as to slide along the second base element 11r via movable supports 153, 154 connected to the second base element 11r.

[0032] As will be apparent, the elements associated with each cantilever 14i, with index i ranging from 1 to 4, in the examples 14, 15 and 16, 17 described below or the head OH, associated with each cantilever 14, are designated by the same index i. Also, for better clarity, even if not all of them are shown due to the type of drawing, reference will be made in the specification, where necessary, to all corresponding elements, e.g., cantilever beams 141, 142, 143, 144, since, as mentioned above, components with the same index i are essentially the same components with respect to the cantilever or its actuation along the X and Y directions (i.e., excluding elements of the right and left base elements 11r, 11l, e.g., 12, 13, 14, 19).

[0033] As is conventional, the base element longitudinal axis is denoted herein as X, as is the generally parallel reference axis X, while the cantilever longitudinal axis is correspondingly denoted as Y.

[0034] As illustrated in FIG. 1, each movable support 151, 152, 153, 154 corresponds to a moving carriage that moves along the tracks 13l, 13r, and is provided with a drive mechanism 161, 162 on the top or surface of the guide track, and is connected to a respective drive unit on the facing part or surface of the cantilever beam 141, 142, 143, 144, performing a translational movement perpendicular to the guide tracks 13l, 13r of the base elements 11l, 11r (e.g., parallel to the orthogonal axis X). Each cantilever beam 141, 142, 143, 144 is therefore movable in the X direction, i.e. along the base element longitudinal axis, via the movable supports 151, 152, 153, 154 along the guide tracks 13l, 13r, for example by moving on the bearing tracks 13l, 13r of the movable supports 151, 152, and in the Y direction, i.e. along the cantilever longitudinal axis, via drive mechanisms 161, 162, 163, 164 on the upper surface or top of the movable supports 151, 152, 153, 154, via respective further drives 171, 172, 173, 174 on the cantilever beams 141, 142, 143, 144.

[0035] Thus, for example, the first cantilever beam 141 is connected to a respective further driver 171 at a first end 141a (close to the respective base element 11r, 11l) where the total range of movement along the Y axis possible via the driver 171 overlaps. In the exemplary situation still considered, the second end 141b of the exemplary cantilever beam 141, i.e. the free end of the cantilever, protrudes along the Y direction from the respective base element 11l, 11r.

[0036] As will be apparent from this specification, apparatus 10 includes identical components in each element 11l, 11r, and each cantilever beam 141, 142, 143, 144 also has substantially identical elements in its drive system (A1, A2, A3, A4 as shown below), and therefore, already above and below, it has been emphasized that for the sake of simplicity, in describing the structure and operation of apparatus 10, reference will be made only to one base element, e.g. 11l, and one cantilever beam, e.g. 141, and the same description applies equally to the other base elements and cantilevers.

[0037] Thus, for example, the first cantilever beam 141 is connected to a respective further driver 171 at its first end 141a (close to each base element 11r, 11l) where the total range of movement along the Y axis possible via the driver 171 overlaps. In the exemplary situation still considered, the second end 141b of the exemplary cantilever beam 141 pushes out along the Y direction from each base element 11l, 11r.

[0038] As illustrated in FIG. 1 , each (e.g., laser) manipulation head (known per se) is connected to the second end 141b of the exemplary cantilever beam 141. For example, the laser manipulation head described in EP 2 177 299 B1 may be suitable for use in one or more of the embodiments of manipulation heads OH1, OH2, OH3, and OH4. Such types of manipulation heads are purely exemplary and not limiting, and it is understood that conceptually, any type of manipulation head may be suitable for use in one or more of the embodiments. For example, a manipulation head for laser welding or other types of manufacturing processes may be suitable for use in one or more of the embodiments.

[0039] As illustrated in FIG. 1, the second ends 141b of the cantilever beams 141, 142, 143, and 144 , 142b , 143b ,The collection of 144b is oriented towards a region 20 (eg, the interior of parallel base elements 11l, 11r) that represents a (eg, 3D) surface XY of the working volume 30.

[0040] It is emphasized that each cantilever beam 141, 142, 143, 144 is driven by a respective drive system A1, A2, A3, A4 configured to move each cantilever beam 141, 142, 143, 144 along a translation axis X along the base element longitudinal axis and a further Y axis perpendicular to the X axis along the cantilever longitudinal axis. While the drive system shown in the embodiment, e.g., A1 of beam 141, comprises a track 131, a moving support 151, and drive mechanisms 161, 171 for moving cantilever 141 along the Y axis, it is clear that multiple variations are possible for obtaining translational movement of the cantilever beam along the X and Y axes, such as rack and pinion or ball screw drives. Figure 2 is a diagram illustrating the principle underlying one or more embodiments.

[0041] 2, the manipulation machine 10 comprises a plurality of manipulation subsystems 141, 142, 143, 144, each comprising a manipulation tool head OH1, OH2, OH3, OH4, and connected to a respective drive device A1, A2, A3, A4 configured to move the manipulation heads OH1, OH2, OH3, OH4 in three-dimensional (3D) space to perform machine operations within the working volume 30. For example, the drive devices A1, A2, A3, A4 comprise electromechanical linear actuators (known per se) connected to slide supports 16i, 17i for movement along respective guide tracks 13r, 13l based on control signals received from a CNC control unit 100, which converts user inputs (e.g., provided via a processing device and / or computer-readable medium CP) into the machine (e.g., Cartesian) 3D coordinate system X, Y, Z.

[0042] The processing device CP may be part of a general computer, such as a personal computer, a UNIX workstation, a server, a mainframe computer, a personal digital assistant (PDA), and / or combinations thereof. The computer-readable medium CP may include programming code, such as source code, object code, or executable code, that may be loaded into the memory of the processing device and processed by it to perform the required functions of the part program generator as discussed below.

[0043] The processing device includes a CAD interface that may receive a part definition from a CAD system such as AutoCAD by Autodesk, Inc. of San Rafael, California, SolidWorks by SolidWorks, Inc. of Concord, Massachusetts, or CATIA by Dassault Systèmes, Inc. of Suresnes, France. The part definition may be received in any suitable data file format, including a vector image format such as the dwg or dxf file formats (used by AutoCAD), a boundary display format based on geometric topological boundaries such as the B-RFP file format (used in CATIA V4), or a parametric solid / surface feature-based format (used in CATIA V5).

[0044] In the considered exemplary situation, the multiple manipulation subsystems 141, 142, 143, 144 comprise laser tool heads OH1, OH2, OH3, OH4 (known per se) and are preferably configured to perform 3D laser manufacturing (e.g. cutting).

[0045] For convenience, one or more embodiments below are described primarily with reference to an operating mechanism 10 for 3D laser cutting as illustrated in FIG. 1 , with it being otherwise understood that such type of operating mechanism is purely exemplary and not limiting.

[0046] In one or more embodiments, the device described in the commonly assigned Italian patent application entitled "A multiple head laser operating machine and corresponding control method" may be used as the operating machine 100.

[0047] Still for the sake of simplicity, one or more embodiments are discussed below primarily with reference to an operating machine 10 having four work subsystems 141, 142, 143, 144 mounted on one each of the operating heads OH1, OH2, OH3, OH4, it being understood that the number of operating subsystems and operating heads is merely exemplary and not limiting in any way.

[0048] In one or more embodiments, the apparatus 10 illustrated in FIG. 1 or FIG. 2 includes two or any integer number of manipulation subsystems 141, 142, 143, 144 and / or manipulation heads OH1, OH2, OH3, OH4.

[0049] In the considered exemplary situation, the plurality of manipulation subsystems 141, 142, 143, 144 comprises one or more types of manipulation head carriers selected from cantilever-like carriers, gate-like carriers and / or robot arm carriers.

[0050] 2, the manipulation mechanism 10 is configured to perform a cut along a shape (e.g., a circle) from at least one target surface of a 3D object located in a manufacturing space 30. As will be apparent to those skilled in the art, the target surface may be placed on a custom fixture (known per se) configured to provide a framework for performing the laser cutting and shaping.

[0051] It is understood that references to A1, A2, A3, and A4 primarily refer to drive systems along the X-axis (e.g., support 152 on guide track 13r in FIG. 1) or the Y-axis (e.g., drives 164 and 171) and are not intended to limit the type and number of drive systems that may be present in apparatus 10. For example, drive systems A1, A2, A3, and A4 may further comprise actuators configured to move laser heads OH1, OH2, OH3, and OH4 along a Z-axis perpendicular to the XY plane, as well as rotational or translational axes A, B, and C relative to the manipulation heads.

[0052] According to a related aspect, the manipulation heads, e.g., OH1, OH2, OH3, OH4, are arranged on each cantilever, e.g., 141, 142, 143, 144, on the side or corner closer to or facing the manipulation area, e.g., 30. A plurality of heads, in particular four heads, OH1, OH2, OH3, OH4, are arranged on the longest side and the far end 141b, in particular, on the longest side and the far end 141b, which are substantially closer to or facing the manipulation area 30. , 142b , 143b , In the area of ​​the corner of the cantilever formed by the shorter side of the cantilever corresponding to 144b, they may all be positioned facing the manipulation area 30 or closer along a direction parallel to the X-axis.

[0053] The manipulation heads, e.g., OH1, OH2, OH3, and OH4, are attached to the distal or free ends, e.g., 141b, of the cantilevers, e.g., 141, 142, 143, and 144, which are closer to or closest to the manipulation region 30. , 142b , 143b , 144b. In particular, the operating heads, e.g., OH1, OH2, OH3, OH4, are mounted facing or closer to the operating area 30. In particular, the operating heads, e.g., OH1, OH2, OH3, OH4, are mounted with their longest side substantially closer to or facing the operating area 30 and their far end 141b. , 142b , 143b ,It is attached to the corner region of the cantilever formed by the shorter side of the cantilever corresponding to 144b.

[0054] In an embodiment, the drive systems A1, A2, A3, A4 comprising drives along the longitudinal (Y) and transverse (X) axes of at least the cantilevers, e.g. 141, may comprise other electromechanical linear actuators (known per se) connected to the movable supports, e.g. 151, for movement along the respective guide tracks 13r, 13l based on control signals received from the CNC control unit 100, which converts user inputs (e.g. provided via a processing device and / or a computer readable medium CP) into 3D coordinates X, Y, Z of the machine (e.g. Cartesian coordinates).

[0055] For example, a catenary (known per se) connects the movable support 151 to the cantilever 141 and is configured to provide power and signals to drive movement along the Z axis or axis of the operating head OH1, while another catenary provides power and signals to a linear motor.

[0056] As illustrated in FIG. 1, the spaces between the columns 12l of the foundation sections 11l, 11l that define openings 19l, 19r at street level are typically configured to facilitate fixture replacement when the manufacturing process is stopped. While the machine 10 is stopped, a fixture 25 may be placed into the machine 10 by passing it through the opening 19l between the central and outer columns 12l, as shown in FIG. 5, an isometric view of the laser machine 10 during a fixture removal / installation process, with only one of the foundation sections 11l shown for simplicity. As illustrated in FIG. 5, the fixture 25 is moved along an extraction track 27 on an extraction cart 28 that carries it to a support and positioning element, i.e., a lifting system 26, which, among other things, lifts the fixture 25, holds it, and moves it into position for operation. As mentioned, it is not excluded that the described solution may allow removal of the fixture while the cantilever and the operating head, e.g., the laser cutting head, continue to operate in other parts of the operating area 30, e.g., parts not corresponding to the opening 20s where the fixture is replaced, if safety conditions permit.

[0057] The laser manipulation machine 10 therefore comprises base elements, e.g. 11l, 11r, supporting cantilevers and corresponding heads attached to pillars, e.g. 12l, 12r, which are on the road surface, i.e. the road surface on which the beams are supported by the pillars, and thus defines openings, e.g. 19l, 19r, between said pillars, e.g. 12l, 12r, and base elements having a size suitable to allow the passage of fixtures, e.g. 25, for the work parts, and in particular a track 27 passing through said openings 19l, 19r.

[0058] For example, each drive system A1, A2, A3, A4 in the plurality of subsystems 141, 142, 143, 144 may be configured to move each machine tool head OH1, OH2, OH3, OH4 along five axes, or degrees of freedom, such as the Cartesian coordinate axes X, Y, Z and A and B axes of two further heads (e.g., tilt and rotation of the heads relative to the Z axis).

[0059] Therefore, the position in space of each of the operating heads OH1, OH2, OH3, OH4 may be expressed by numerical coordinates relative to the drive axes.

[0060] The cantilever 141 is shown with its end 141a resting on the movable support 151 and its supporting head OH1, 141b, connected by a flange 141c. As can be seen from Figures 1 and 3, the head OH1 is mounted on the distal end 141b of the cantilever 141, but not in the center of the cantilever end 141b with respect to the X-axis, but in the corner region of the cantilever formed by the part of the cantilever end 141b closer to or nearest the actuation region 30, i.e., facing or closer to the actuation region 30, in particular the longest side substantially closer to or facing the actuation region 30, and the shorter side of the distal end 141b, i.e., the side of the cantilever along the X-axis. This determines that the head OH1 is mounted asymmetrically, i.e., closer to the actuation region 30, rather than in the middle of the dimension of the cantilever end 141b. 2 and 3, this may also apply to the heads OH1, OH2, OH3, OH4 operating in respective (e.g., partially overlapping) portions of the object manufacturing space, i.e., manufacturing volume 30, available in the apparatus 10. In particular, all four heads OH1, OH2, OH3, OH4 are positioned facing or closer to the working area 30, in particular with their longest side and their far end 141b substantially closer to or facing the working area 30. , 142b , 143b , 144b. Each head is therefore located closer to the manipulation region 30, instead of being at the center or midpoint of the end, i.e., free end, of the cantilever measured along the X axis. This asymmetry facilitates manipulating the heads at close range without interference from the carriage.

[0061] 3, which depicts apparatus 10 in a top view, shows heads OH1, OH2, OH3, OH4 operating in respective (e.g., partially overlapping) portions of the object-facing volume, all facing manipulation area 30, substantially in the region of the corner of the cantilever formed by the longest side and the shorter side of the cantilever corresponding to the farthest end closer to or facing manipulation area 30. In other words, heads OH1, OH2, OH3, OH4 are positioned closer to or closest to manipulation area 30 along a direction parallel to the X-axis, i.e., in the portion closer to or facing manipulation area 30, particularly on the corresponding edge or corner.

[0062] As illustrated in FIG. 3, the drive devices A1, A2, A3, A4 are configured to move each operating tool head OH1, OH2, OH3, OH4 to a respective (e.g., partially overlapping) portion of the object manufacturing volume OB available within the apparatus 10.

[0063] for example, the first group of actuation devices A1 is configured to move the first manipulation head OH1 along a plurality of X-, Y-, and Z-axes to fabricate a 3D object O (e.g., a vehicle shield) in the first portion 301 of the manufacturing volume 30; a second group of drive systems A2 configured to move the second manipulation head 142 along multiple X-, Y-, and Z-axes to fabricate the 3D object OB in the second portion 302 of the manufacturing volume 30; a third group of actuation devices A3 configured to move the third manipulation head 143 along a plurality of X-, Y-, and Z-axes to fabricate the 3D object OB in the third portion 303 of the manufacturing volume 30; The fourth group of actuation devices A4 is configured to move the fourth manipulation head 144 along multiple X-, Y-, and Z-axes to fabricate the 3D object OB within the fourth portion 304 of the manufacturing volume 30.

[0064] 2 and 3, there may be a partial overlap between the portions 301, 302, 303, and 304 of the production volume 30 assigned to each operating head OH1, OH2, OH3, and OH4. This overlap facilitates increased flexibility and efficiency in operating multiple heads OH1, OH2, OH3, and OH4, which may work simultaneously and collaboratively on the same workpiece. Therefore, restrictions on defining the work pieces assigned to each head may be reduced.

[0065] As illustrated in FIG. 3 , one or more robotic arms R13 may be present in the system 100, preferably on one of the open sides adjacent to the two base elements of the apparatus 10. For example, the robotic arm R13 may be used to place a new sheet of material onto a fixture and / or to move a part at the end of a part production cycle (e.g., to move a completed door ring part after it has been cut). In one or more embodiments, this movement of the machined part can be performed immediately after the operating head slides along the X-axis to move toward another fixture present in the workspace. Thus, the robotic arm R13 may be operated during “downtime,” thereby facilitating increased productivity of the machine 10. As illustrated in FIG. 3 , at the end of a processing cycle, rails RLS passing through windows between the columns supporting each base element may be used to change fixtures, as described above with reference to FIG. 5 .

[0066] For example, as illustrated in Figure 3, Each of the sections 301, 302, 303, 304 has a respective subspace defined by a parallelepiped having, for example, a length along X of about 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 volume of each section 301, 302, 303, 304 and their overlap, such that the total volume 30 is equivalent 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.

[0067] As illustrated in Figure 3, The first volume 301 and the second volume 302 have a first overlap 312 between them of 83% or more, for example, the first overlap volume 312 has a length along X of about 4350 mm, a width along Y of about 1530 mm, and a height along Z of about 1530 mm, for a total of 4.326 m 3 may be defined as a parallelepiped of the third volume 303 and the fourth volume 304 have a second overlap 334 of 83% or more, e.g., the second overlap volume 334 has the same size as the first overlap volume 312; The first volume 301 and the third volume 303 have a third overlap 313 of 7% or less, e.g., the third overlap volume 313 has a length along X of about 4350 mm, a width along Y of about 200 mm, and a height along Z of about 650 mm, for a total of about 0.565 m 3 may be defined as a parallelepiped of The second volume 302 and the fourth volume 304 have a fourth overlap 324 of 7% or less, for example, the fourth overlap volume 324 has the same size as the third overlap volume 313 .

[0068] As illustrated in FIG. 2, the apparatus 10 is a computer numerically controlled (CNC) machine in which the drive devices of the subsystems A1, A2, A3, and A4 are connected to a CNC controller configured to provide drive signals to move each of the operational heads OH1, OH2, OH3, and OH4 within the manufacturing volume 30 according to a tool path trajectory calculated using the method according to the present disclosure.

[0069] In a known manner, the CNC control device 100 is further configured to receive signals from sensors and other components mounted on the base of the apparatus 10 (not shown in FIG. 1 ) in order to apply a feedback control mechanism to the drive devices A1, A2, A3, A4 and drive the laser processing via the operating heads OH1, OH2, OH3, OH4 in the multiple subsystems A1, A2, A3, A4.

[0070] As illustrated in FIG. 2, the CNC controller 100 is configured to be connected to a processing device CP to perform computer-aided design (CAD) and / or computer-aided manufacturing of parts produced by the operating machine 10.

[0071] CAD files generated by a CAD system are a common input for a CAM system. In some cases, CAD data may be input directly into a CAM system, which may provide basic CAD functionality.

[0072] In a known manner, the main purpose of a CAM system is to convert a CAD file containing geometric information about a part into a part program file PP containing sequential commands for a particular CNC machine 10. The part program file PP may also be called a machine command or tool path file.

[0073] As illustrated herein, the CNC controller 100 is configured to process part program files PP and convert the commands into drive signals that set the speeds, feeds, accelerations, and various other parameters of actuators A1, A2, A3, A4 of multiple machine subsystems A1, A2, A3, A4.

[0074] As illustrated herein, the CNC controller 100 includes a human-machine interface HMI or user interface UI configured to receive user data (e.g., via a touchscreen) and / or machine data (e.g., provided by machine sensors) and enable data exchange between the user and the machine regarding input / output data.

[0075] Figure 1 provides an exemplary diagram of the arrangement of multiple subsystems A1, A2, A3, A4 of apparatus 10, illustrating how cantilever carriers 141, 142, 143, 144 are connected to each manipulation head OH1, OH2, OH3, OH4. Figure 2 further illustrates how each of the multiple carriers 141, 142, 143, 144 comprises a drive device A1, A2, A3, A4 configured to move each respective head OH1, OH2, OH3, OH4 at least along multiple Cartesian coordinate axes X, Y, Z of a 3D workspace.

[0076] FIG. 3 is a further exemplary diagram of a principle according to one or more embodiments.

[0077] As illustrated in FIG. 3, when manufacturing an object OB on a multi-head machine 10, the part program PP may: How to separate the overall cutting shape of the object OB in the various sections CS1, CS2, CS3, CS4 in order to obtain individual tool paths for the various actuators A1, A2, A3, A4 of the device 10; It is configured to consider how to manage areas of potential collision at the boundaries of individual sub-volumes 301, 302, 303, 304 and / or overlapping sub-volumes 312, 424, 313, 334.

[0078] As those skilled in the art will appreciate, a toolpath is not just a geometrical entity, but the path of the tool, i.e., the tool moving along a path. Every machine has regions and directions in which it may be difficult to navigate the toolpath. The part program PP contains toolpaths specified in coordinates of lines and circles, or splines that use the calculation of a cross section between two surfaces, i.e., the tool radius and a surface mathematically defined by the CAD system.

[0079] As illustrated in FIG. 3, the placement of the operating heads OH1, OH2, OH3, and OH4 and the corresponding CNC machines limits (e.g., speed, acceleration) the placement changes achieved so that overlapping edges of objects that span adjacent volumes 312 and 324 become problematic in machine space.

[0080] As those skilled in the art will appreciate, the term "digital twin" currently refers to a detailed and dynamically updated virtual replica of a physical object or process, created to monitor performance, test different conditions, predict problems, and detect optimization opportunities. With respect to existing computer-aided design and computer-aided engineering (CAD / CAE) models, digital twins have real-world counterparts where real-time data is received via sensors mounted on the equipment. Hardware components include, among other things, actuators that convert digital signals into mechanical movements, network devices such as routers, edge servers, and Internet of Things (IoT) gateways. Data from sensors is stored in a middleware platform that also handles tasks such as connectivity, data integration, data processing, data quality control, data visualization, data modeling, and governance. An analytics engine (e.g., driven by machine learning models) performs real-time monitoring and runs simulation software.

[0081] As illustrated in Figure 4, a method for operating a multi-head operation machine (while reducing the risk of collisions) is a block 400 applying an (offline) CAM process based on a model of the device 10 and a CAD file of the object to be manufactured, resulting in a tool path TP for producing the object for the outline of a shape to be laser cut from a surface (e.g., the top surface) of the object OB; and emulating or simulating the execution of movements of the tool heads OH1, OH2, OH3, OH4 of the plurality of subsystems A1, A2, A3, A4, thereby arranging or dividing the overall tool path TP into a plurality of tool paths TP1, TP2, TP3, TP4 for calculation via CAM (e.g. via an auto-balancing algorithm), thus assigning each tool path to each of the operating machine heads of the apparatus 10, via a digital twin model DT (known per se) of the apparatus 10, which is configured to reflect the dynamic performance of the physical apparatus 10, for example, the auto-balancing algorithm comprising applying an artificial neural network (ANN) process to the simulated tool path segments to select a way to arrange the tool path with reduced time and / or reduced risk of collision, and to do so, the ANN process stage may be trained using given training data on verified or calculated tool paths or collision-free tool path segments SCFTP (obtained as described below) to apply a pattern recognition process (known per se) to the tool path segments, Block 404 checks for the presence of a potential risk of collision in adjacent working areas CS12, CS23, CS34, CS41 in multiple tool paths TP1, TP2, TP3, TP4 by detecting whether, for example, the pairwise distance between the heads falls below a threshold value (e.g., 20 mm with an overrun sensitivity of approximately 0.003 mm) at any time during the simulated manufacturing process, and if the check result is positive indicating the presence of a collision, returns to block 402, and if the check result is negative, results in multiple collision-free tool paths CFTP1, CFTP2, CFTP3, CFTP4. and (b) emulating (or simulating) the respective collision-free tool paths CFTP1, CFTP2, CFTP3, CFTP4 received for each machine operating head OH1, OH2, OH3, OH4 in order to provide enhancements of performance factors of interest to the user (e.g., optimizing speed, reducing variations in actuator kinematic parameters such as jerk, minimizing total production time, etc.), block 406. Any modification affecting a single tool path (e.g., TP1 of the first head OH1 is modified to take into account the fact that the head has an old actuator for movement along the horizontal axis X) causes a retry of the operation of blocks 402, 404, and as a result of the second iteration of blocks 402, 404, 406, a collision-free tool path group SCFTP is provided, block 406.

[0082] Preferably, in block 408, the collision-free toolpath sets SCFTP are tagged 408 as collision-free and saved in memory so that they may be identified and retrieved. For example, if the new modifications effected in block 406 fail to calculate a new stable collision-free path, it is possible to revert to the previously calculated collision-free paths CFTP1, CFTP2, CFTP3, CFTP4 and provide them as the collision-free toolpath sets SCFTP.

[0083] In one or more embodiments, a collision-free toolpath introduces a delay between potentially contacting heads, allowing one to be stopped while the other is operating, relative to a collision-causing toolpath. For example, if two or more heads (e.g., OH1 and OH2) are about to collide, a synchronization system will stop one or more heads (e.g., OH1 or OH2) until the other is out of range. The delay (e.g., approximately one second) is introduced in a manner that balances workload and simultaneously minimizes the total manufacturing cycle time for a particular object OB. For example, if some "colliding" heads have reduced workload relative to others, it is the latter that is delayed to balance workload and reduce the total time. This method of assigning delays facilitates synchronization of the total time each operational head is actively operating. For example, identifying potential collisions between toolpaths TP1, TP2, TP3, and TP4 involves calculating the total cycle time based on the operational length and the machine's set speed.

[0084] As illustrated in FIG. 4, the method includes: Block 410: for each operating head of the plurality of operating heads OH1, OH2, OH3, OH4 (e.g., starting from the first operating head OH1), a preparatory run of each collision-free tool path (e.g., TP1) of the collision-free tool path group is performed (e.g., via the HMI of the CNC control device) with a movement speed of each head (e.g., OH1) below a certain threshold (e.g., 10% of the maximum speed) in order to detect whether there is still a possibility of a collision between the operating heads in the production environment; if a collision is still detected, one head is stopped until it is out of range (synchronous system); in case of an incorrect program or procedure, the method comprises: performing a real-time collision check on the machine 10 during the preparatory run and stopping the actuator just before a possible collision, Block 410; - for each operating head of the plurality of operating heads OH1, OH2, OH3, OH4 (e.g., starting from the first operating head OH1), performing (e.g., via the HMI of the CNC control device) a preparatory run of each collision-free tool path (e.g., TP1) of the group of collision-free tool paths while disabling the speed limit set in block 410, block 412, in case of an erroneous program or procedure, the method comprising performing a real-time collision check on the machine 10 during the preparatory run and stopping the actuator just before a possible collision, block 412; block 414 applying the laser cutting process for the tool path that has passed through blocks 410, 412, and if there is still a desire to apply changes after making the first cut, the manufacturing process can be stopped and a return to the tool path planning stage 402 can be made, and the machine 10 can be configured to introduce a further delay via a synchronization system that stops one head relative to another if a potential collision is detected, and in the event of an erroneous program or procedure, the method comprises performing a real time collision check on the machine 10 during pre-runs and stopping the actuator just prior to a potential collision, block 414; and block 416 for manufacturing an object OB via the apparatus 10 (e.g., laser cutting a vehicle component such as a door shield). In one or more embodiments, if a modification is requested during production 416, the program can run the entire procedure again while stopping any attempts to execute the tool path without running a simulation on the digital twin.

[0085] The validation process of the machine program file PP on the digital twin DT of the device 10 prior to actual execution on the machine facilitates subsequent on-machine validation, which depends on the CNC machine used and the complexity of the part being validated, and may result in significant non-cutting or waiting time, and therefore may be undesirable in some situations.

[0086] Thus, one or more embodiments assist a user in dealing with head or machine contact, such as a collision.

[0087] As illustrated in the first example, the method includes assigning tool paths to a plurality of manipulation heads of a manipulation tool (such as a three-dimensional, 3D laser cutting manipulation tool), the manipulation heads being movable within respective manipulation regions via a plurality of subsystems of the manipulation tool. For example, the method may include: generating an overall tool path based on a calculated object model provided via a computer-aided design (CAD) processing stage; Dividing the entire tool path based on each operation area and a target movement time, and allocating a tool path segment of the tool path segment group to each operation head of the plurality of operation heads; providing a calculated machine model configured to emulate the dynamic behavior of an operating machine; emulating, via the calculated machine model, movements of the operating heads of the plurality of operating heads associated with the tool path segments of the set of tool path segments; Detecting collisions between machine operating heads in the plurality of machine operating heads based on the emulated movements; adjusting and (reallocating) tool path segments of the set of tool path segments to each of the plurality of machine operating heads in response to detecting the existence of a mutual collision; providing a set of toolpath segments as a set of collision-free toolpaths in response to failing to detect the presence of a mutual collision; and providing the collision-free tool path groups to an operating machine device to drive a subsystem of the subsystem group to move each operating head of the plurality of operating heads associated with each collision-free tool path group of the collision-free tool path groups.

[0088] As exemplified herein, the dividing and allocating of the tool path segments of the set of tool path segments comprises reducing, and preferably minimizing, a target travel time for each of the set of subsystems that move each of the plurality of operating heads through each of the tool path segments of the set of tool path segments, e.g., the target travel time for each of the tool path segments of the set of tool path segments is approximately the same.

[0089] As illustrated herein, detecting mutual collisions between the operating heads of the multiple operating heads during the emulated movement comprises calculating pairwise distances between the positions of the operating heads of the multiple operating heads, and comparing the calculated pairwise distances to a threshold that indicates the presence of a collision in response to the comparison not exceeding the threshold.

[0090] For example, adjusting and reallocating tool path segments of the group of tool path segments for each operating head of the plurality of operating heads comprises introducing a delay in the movement of at least one head relative to other operating heads involved in the detected collision.

[0091] As illustrated herein, the method comprises tagging a set of collision-free tool paths and storing the tagged set of collision-free tool paths in a computer-readable medium.

[0092] As illustrated herein, the operating areas of the operating heads of the multiple operating heads partially overlap.

[0093] For example, the method comprises: Driving the subsystems of the subsystem group so as to move each of the plurality of operation heads associated with each collision-free tool path of the collision-free tool path group at a certain rate of the maximum movement speed (for example, 1 / 10 of the maximum speed); The method further includes performing real-time collision detection while driving the subsystem, and stopping the subsystem in response to detecting a collision between the plurality of manipulation heads. As exemplified herein, the method includes driving a subsystem of a group of subsystems to move each operational head of a plurality of operational heads associated with each collision-free tool path of the group of collision-free tool paths; performing real-time collision detection while driving the subsystem; and introducing a delay into a tool path of the at least one operating head in response to detecting a collision between the at least one operating head and the at least another operating head.

[0094] As illustrated herein, a processing system configured to perform methods according to the present disclosure includes at least one CNC controller connected to a manipulation machine.

[0095] As exemplified herein, the laser manipulation machine includes: The laser beam scanning device includes a plurality of laser manipulation heads configured to perform laser processing, each attached to a cantilever, the cantilevers being attached to at least one elongated base element movable at least along the base element longitudinal axis of the base element, each cantilever extending substantially perpendicular to the base element longitudinal axis, and each cantilever being driven by a respective drive system that provides translational movement at least along the base element longitudinal axis and a cantilever longitudinal axis (Y) perpendicular to the base element longitudinal axis.

[0096] As illustrated herein, a laser manipulation machine comprises two base elements arranged parallel to and spaced apart from each other along their longitudinal dimensions, defining a manipulation region in the space between the base elements, each base element supporting at least two cantilevers extending inwardly into the space between the base elements, generally perpendicular to the base element longitudinal axis, each cantilever driven by a respective drive system with translational motion along at least the base element longitudinal axis and a cantilever longitudinal axis perpendicular to the base element longitudinal axis.

[0097] For example, at least the base element supports at least two cantilevers extending substantially perpendicular to the base element longitudinal axis.

[0098] As exemplified herein, the system comprises: at least one manipulation machine device (e.g., 3D laser cutting) that provides a group of manufactured objects within a work area as a result of moving a plurality of manipulation heads according to respective collision-free tool paths provided via the method of the present disclosure; and at least one robot station configured to move manufactured objects in the group of manufactured objects from the work area to a user station during movement of the plurality of manipulation heads.

[0099] It is to be separately understood that the various individual implementation options illustrated in the figures attached hereto are not necessarily intended to be employed in the same combinations illustrated in the figures. Thus, one or more embodiments may employ these (otherwise non-essential) options individually and / or in different combinations relative to the combinations illustrated in the attached figures.

[0100] Without prejudice to the underlying principles, details and embodiments may vary significantly from what has been described purely by way of example without departing from the scope of protection, which is defined by the appended claims.

Claims

1. The tool path group (SCTFP, PP) is operated by a plurality of operation heads (OH) of the operation machine device (10). １ , OH ２ , OH ３ , OH ４ ) and the method of allocating the operating head (OH １ , OH ２ , OH ３ , OH ４ ) includes a plurality of subsystems (14) of the operating mechanism (10). １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ ) through each operation area (30 １ , 30 ２ , 30 ３ , 30 ４ ) and The method comprises: generating (400) a global tool path (TP) based on a calculated object model (OB) provided via a computer-aided design (CAD) processing stage (CP); Each operation area (30 １ , 30 ２ , 30 ３ , 30 ４ ) and a target moving time, and dividing (402) the overall tool path (TP), and dividing the tool path segments of the tool path segment group (TP1, TP2, TP3, TP4) into the plurality of operating heads (OH １ , OH ２ , OH ３ , OH ４ ) to each operation head; providing a calculated machine model (DT) configured to emulate the dynamic behavior of the operating mechanism (10); The plurality of operation heads (OH) related to the tool path sections of the tool path section group (TP1, TP2, TP3, TP4) are operated via the calculated machine model (DT). １ , OH ２ , OH ３ , OH ４ ) emulating the movement of the manipulation head (402); Based on the emulated movement, the plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ Detecting collisions between the operational heads (404); In response to detecting a mutual collision, the plurality of operating heads (OH １ , OH ２ , OH ３ , OH ４ adjusting and reallocating (402, 404, 406) the tool path segments of said tool path segment group (TP1, TP2, TP3, TP4) for each operational head of said group; providing (406) the set of tool path segments (TP1, TP2, TP3, TP4) as a collision-free set of tool path segments (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP) in response to failing to detect the existence of the mutual collision; The plurality of operation heads (OH) associated with each of the collision-free tool paths of the collision-free tool path group (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP). １ , OH ２ , OH ３ , OH ４ ) so as to move the operation heads of the respective subsystems (14) １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ and providing (410) the set of collision-free tool paths (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP) to the operating machine device (10).

2. The dividing (402) and allocating the toolpath segments of the toolpath segment groups (TP1, TP2, TP3, TP4) are performed by the subsystem groups (14 １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ Each subsystem of the plurality of operation heads (OH) passes through each of the tool path sections of the tool path section groups (TP1, TP2, TP3, TP4), １ , OH ２ , OH ３ , OH ４ 2. The method of claim 1, further comprising reducing, preferably minimizing, the target movement times for moving each operating head of the group of tool path segments (TP1, TP2, TP3, TP4), wherein preferably the target movement times for each tool path segment of the group of tool path segments (TP1, TP2, TP3, TP4) are substantially the same.

3. The plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ Detecting mutual collisions between the operational heads (404) During the emulated movement (402), the plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ Calculating the pairwise distance between the positions of the operation heads of the 3. The method of claim 1, further comprising: performing a comparison (404) of the calculated pairwise distance with a threshold value; and indicating the presence of a collision in response to the comparison not exceeding the threshold value.

4. The plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ 4. The method according to claim 1, wherein for each operating head of the set of tool path segments (TP1, TP2, TP3, TP4), adjusting and reallocating the tool path segments of the set of tool path segments (TP1, TP2, TP3, TP4) comprises introducing a delay in the movement of at least one head relative to other operating heads involved in the detected collision.

5. 5. The method of claim 1, further comprising tagging (408) the set of collision-free tool paths (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP); and storing the tagged set of collision-free tool paths in a computer-readable medium.

6. The plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ ) each operation area (30 １ , 30 ２ , 30 ３ , 30 ４ 6. The method according to claim 1, wherein (312, 313, 324, 334) are partially overlapping.

7. The plurality of operation heads (OH) associated with each of the collision-free tool paths of the collision-free tool path group (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP). １ , OH ２ , OH ３ , OH ４ ) so as to move each of the operation heads at a constant rate, preferably 1 / 10 of the maximum movement speed. １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ ) driving said subsystems (410); performing real-time collision detection during the operation of the subsystem (410); and １ , OH ２ , OH ３ , OH ４ and stopping the subsystem in response to detecting a collision between the operational heads of the

8. The plurality of operation heads (OH) associated with each of the collision-free tool paths of the collision-free tool path group (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP). １ , OH ２ , OH ３ , OH ４ ) to move each of the operation heads of the subsystem group (14) １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ ) driving said subsystems (410); During the operation of the subsystem (410), real-time collision detection is performed, and at least one operation head and another operation head (OH １ , OH ２ , OH ３ , OH ４ and introducing a delay into the tool path of at least one operating head in response to detecting a collision between the operating head and the tool path.

9. Each operation area (30) １ , 30 ２ , 30 ３ , 30 ４ ) with a plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ ) connected to a plurality of subsystems (14) １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ 9. A processing device comprising at least one CNC control device (100, CP) configured to be connected to an operating machine (10) comprising a CNC controller (100, CP), the processing device being configured to perform the method according to any one of claims 1 to 8.

10. Each operation area (30) １ , 30 ２ , 30 ３ , 30 ４ ) with a plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ ) connected to a plurality of subsystems (14) １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ )and, The plurality of operation heads (OH) for each collision-free tool path of the collision-free tool path group (CFTP1, CFTP2, CFTP3, CFTP4, SCFTP) provided through the method of any one of the preceding claims. １ , OH ２ , OH ３ , OH ４ the plurality of subsystems (14) so ​​as to move the operation heads of the １ , 14 ２ , 14 ３ , 14 ４ , A １ , A ２ , A ３ , A ４ and at least one CNC controller (100), preferably a 3D laser cutting manipulation machine, configured to drive said subsystems of the manipulation machine.

11. At least one operating mechanism (10) according to claim 10, wherein said operating mechanism (10) is configured to operate said plurality of operating heads (OH) associated with each collision-free tool path. １ , OH ２ , OH ３ , OH ４ a manipulation mechanism (10) for moving a plurality of objects (OB) to provide a group of manufactured objects (OB) in the working area (30); The plurality of operation heads (OH １ , OH ２ , OH ３ , OH ４ and at least one robot station (R13) configured to move the manufactured objects of the group of manufactured objects (OB) from the work area (30) to a user station during movement of the robot station (R13).

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