Search

CN-121989095-A - Double-spindle dynamic anti-collision machining equipment and control method

CN121989095ACN 121989095 ACN121989095 ACN 121989095ACN-121989095-A

Abstract

The invention discloses a double-spindle dynamic anti-collision processing device and a control method. The device comprises a frame, a first processing head, a second processing head and a protective arm, wherein the first processing head and the second processing head can independently move along the length direction of the frame, and the protective arm is arranged between the first processing head and the second processing head in a sliding mode. The protection arm is provided with a laser ranging unit for monitoring the distance between the protection arm and the two processing heads in real time. The control system receives the distance measurement data and the motion state of the processing heads, and calculates the real-time distance between the two processing heads in real time. And when the distance is smaller than the safety threshold and collision risk exists, controlling the protection arm driving assembly to move the protection arm to the predicted collision area to form physical isolation. In addition, the control system can also execute a center following mode or a single-side avoiding mode according to the state of the processing head, and dynamically adjust the position of the protective arm. The invention realizes the dynamic and active anti-collision protection of the double-spindle machining process through the active intervention of the movable protection arm, and obviously improves the safety and reliability of the operation of the equipment.

Inventors

  • Xu Yinglai
  • YU ZHICHENG
  • Ye Conggang
  • Xu Tiechen
  • Huang Yicou

Assignees

  • 其锐达智能装备(宁波)有限公司

Dates

Publication Date
20260508
Application Date
20260403

Claims (10)

  1. 1. The utility model provides a two main shaft developments anticollision processing equipment which characterized in that includes: a frame (10); The first processing head (21) and the second processing head (22) are both connected to the frame (10) in a sliding manner, and the first processing head (21) and the second processing head (22) are arranged at intervals along the length direction of the frame (10) and can independently move along the length direction of the frame (10); A protection arm (30) slidably disposed on the frame (10) and located between the first and second processing heads (21, 22); A guard arm drive assembly (40) for driving the guard arm (30) to move in the direction of the first or second processing head (21, 22); A laser ranging unit (50) arranged on the protection arm (30) and used for monitoring the real-time distance between the protection arm (30) and the first processing head (21) and the second processing head (22) in real time; A control system (100) which is respectively in communication connection with the laser ranging unit (50), the guard arm driving assembly (40), the first processing head (21) and the second processing head (22); The control system (100) is configured to receive ranging data of the laser ranging unit (50) in real time, acquire real-time motion state data of the first processing head (21) and the second processing head (22), calculate real-time distance between the first processing head (21) and the second processing head (22) according to the ranging data in real time, and output a control signal to the guard arm driving assembly (40) to drive the guard arm (30) to move to a predicted collision area to form physical isolation when judging that the real-time distance is smaller than a preset safety threshold.
  2. 2. The dual spindle dynamic anti-collision machining apparatus according to claim 1, wherein the control system (100) is further configured to have a center following mode, wherein the control system (100) enters the center following mode when a real-time distance between the first machining head (21) and the second machining head (22) calculated by the control system (100) is greater than the preset safety threshold value, and wherein in the center following mode, the control system (100) adjusts the position of the guard arm (30) according to real-time distance data fed back by the laser ranging unit (50) such that a distance between the guard arm (30) and the first machining head (21) and a distance between the guard arm (30) and the second machining head (22) are equal, thereby dynamically maintaining the guard arm (30) at a midpoint position of a connection line between the first machining head (21) and the second machining head (22).
  3. 3. The dual spindle dynamic anti-collision machining apparatus according to claim 1, wherein the laser ranging unit (50) comprises a first laser ranging sensor (501) and a second laser ranging sensor (502) which are mounted back to back on two sides of the guard arm (30), a detection end of the first laser ranging sensor (501) faces the first machining head (21) for monitoring a real-time distance between the guard arm (30) and the first machining head (21), and a detection end of the second laser ranging sensor (502) faces the second machining head (22) for monitoring a real-time distance between the guard arm (30) and the second machining head (22).
  4. 4. The double-spindle dynamic anti-collision machining device according to claim 1, wherein the protective arm driving assembly (40) comprises a servo motor (401) and a screw rod (402), the servo motor (401) is connected with the screw rod (402) through a coupler, a nut seat (301) in threaded fit with the screw rod (402) is arranged at the bottom of the protective arm (30), and the screw rod (402) drives the nut seat (301) to drive the protective arm (30) to do linear reciprocating motion.
  5. 5. A dual spindle dynamic anti-collision machining apparatus according to claim 3, characterized in that the first and second machining heads (21, 22) are each configured with a post (201) extending in the vertical direction of the frame (10), the mounting positions of the first and second laser ranging sensors (501, 502) being configured such that the detection rays of both are projected within the central area of the posts (201) of the first and second machining heads (21, 22), respectively.
  6. 6. The double-spindle dynamic anti-collision machining device according to claim 1, further comprising a pair of parallel linear guide rails (11) which are spaced apart and extend along the length direction of the frame (10), wherein sliding blocks (60) matched with the linear guide rails (11) are arranged at the bottoms of the first machining head (21), the second machining head (22) and the protection arm (30), and the first machining head (21), the second machining head (22) and the protection arm (30) share the pair of linear guide rails (11).
  7. 7. The dual spindle dynamic anti-collision machining apparatus of claim 1, wherein the control system (100) is further configured to have a single side avoidance mode, and when the control system (100) monitors that the first machining head (21) or the second machining head (22) is in a moving machining state and the other machining head is in a stationary standby state according to the real-time motion state data, the control system (100) controls the guard arm (30) to move toward the machining head in the stationary standby state until the guard arm (30) reaches a stopped position maintaining a preset safety distance from the machining head in the stationary standby state and stops to avoid the machining head in the moving machining state.
  8. 8. The dual spindle dynamic anti-collision processing apparatus according to claim 1, wherein both side end surfaces of the guard arm (30) are provided with a cushion pad (320) for absorbing collision impact force.
  9. 9. A control method for double-spindle dynamic anti-collision, characterized in that the double-spindle dynamic anti-collision processing device according to any one of claims 1-8 is used, comprising the following steps: S1, monitoring ranging data between the protective arm (30) and the first processing head (21) and between the protective arm and the second processing head (22) in real time through a laser ranging unit (50) arranged on the protective arm (30), and acquiring real-time motion state data of the first processing head (21) and the second processing head (22) at the same time; s2, calculating the real-time distance between the first processing head (21) and the second processing head (22) in real time according to the ranging data, and judging whether the real-time distance is smaller than the preset safety threshold value or not; S31, when the real-time distance is smaller than the preset safety threshold value and collision occurs, outputting a control signal to drive the protection arm (30) to move to a predicted collision area to form physical isolation; And S32, when the real-time distance is judged to be larger than the preset safety threshold, the control system (100) selects one of a center following mode and a single-side avoidance mode to execute according to the real-time motion state data of the first processing head (21) and the second processing head (22).
  10. 10. The control method for dual spindle dynamic crash prevention according to claim 9, wherein if it is detected that both the first machining head (21) and the second machining head (22) are in a controlled operation state, the control system (100) selects a center following mode to execute, and when one of the machining heads is in a controlled operation state and the other machining head is in a stationary standby state, the control system (100) selects a single-side avoidance mode to execute, wherein the center following mode is that the control system calculates a midpoint position of a connection line between the first machining head (21) and the second machining head (22) and drives the guard arm (30) to be dynamically maintained at the midpoint position, and the single-side avoidance mode is that the control system (100) controls the guard arm (30) to move toward the machining head in the stationary standby state until reaching a stop position where a preset safety distance is maintained between the guard arm and the machining head in the stationary standby state and stops.

Description

Double-spindle dynamic anti-collision machining equipment and control method Technical Field The invention relates to the technical field of machining center equipment, in particular to double-spindle dynamic anti-collision machining equipment and a control method. Background The numerical control machining technology is widely applied to the manufacture of shaft parts, pipe parts and sleeve parts, and the workpiece usually needs a plurality of working procedures such as turning, milling, drilling and the like on the outer circle, the end face or a specific axial position of the workpiece. In order to improve the production efficiency, modern numerical control equipment often adopts a double-processing-head design, so that two processing heads can independently move along the same axial direction (axial direction) of a workpiece so as to synchronously execute the same or different processing tasks, thereby obviously shortening the processing beat. However, this efficient dual-head configuration also introduces significant technical risks and design challenges in that two high-speed moving heads operate in a limited axial space, with serious potential for collision due to program errors, servo drive failure, or mishandling. In case of collision, not only the expensive processing head and the workpiece are damaged, but also the precision of the machine tool is lost and even safety accidents are caused. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a double-spindle dynamic anti-collision processing device and a control method thereof so as to solve the problem that in the prior art, two processing heads operate in the same axis and the two processing heads collide with each other. In order to achieve the above purpose, in a first aspect, the present invention provides a dual spindle dynamic anti-collision processing device, which adopts the following technical scheme: a dual spindle dynamic anti-collision machining apparatus, comprising: A frame; the first processing head and the second processing head are both connected to the frame in a sliding manner, are arranged at intervals along the length direction of the frame and can independently move along the length direction of the frame; the protection arm is arranged on the frame in a sliding manner and is positioned between the first processing head and the second processing head; The protective arm driving assembly is used for driving the protective arm to move towards the first processing head or the second processing head; The laser ranging unit is arranged on the protection arm and used for monitoring the real-time distance between the protection arm and the first processing head and the second processing head in real time; The control system is respectively in communication connection with the laser ranging unit, the protective arm driving assembly and the first processing head and the second processing head; The control system is configured to receive the ranging data of the laser ranging unit in real time, acquire real-time motion state data of the first processing head and the second processing head, calculate real-time distance between the first processing head and the second processing head in real time according to the ranging data, and output a control signal to the protection arm driving assembly to drive the protection arm to move to a predicted collision area to form physical isolation when judging that the real-time distance is smaller than a preset safety threshold to collide. By adopting the technical scheme, a set of linkage safety protection mechanism is formed by arranging the protection arm which can slide along the frame, the laser ranging unit arranged on the protection arm and the control system with the capability of real-time calculation and decision. The safety mechanism accurately senses the relative position of the double processing heads in real time, predicts the collision risk, and rapidly drives the protective arm driving assembly to drive the protective arm to intervene in the dangerous area to form rigid isolation before collision occurs, so that the potential safety hazard of collision caused by double spindle equipment in high-speed and synchronous processing is effectively solved, and the safety and reliability of the equipment are improved. The control system is further 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 larger than the preset safety threshold value, the control system enters the center following mode, and in the center following mode, the control system adjusts the position of the protection arm according to real-time distance data fed back by the laser ranging unit, so that the distance between the protection arm and the first processing head and the distance between the protection arm and the second processing head are equal, and the p