Laser end effector, corresponding laser machine tool and manufacturing method

Abstract

An end effector for a machine tool used in a laser machining process is configured to direct a laser beam onto a work surface along an optical axis. The end effector comprises: a support body including a conduit having an axis parallel to at least a portion of the optical axis along which the laser beam propagates; and a support body configured to couple the conduit to an outlet portion, which includes another conduit having an axis parallel to at least a portion of the optical axis along which the laser beam propagates. The support body also includes a set of auxiliary fluid conduits formed as a single piece and a heat exchanger for a cooling system located within the support body. The auxiliary fluid conduits are configured to direct a corresponding fluid used in the laser machining process onto the work surface and are coupled to the outlet portion. The heat exchanger comprises an inlet chamber and an outlet chamber that communicate with each other for passage of the cooling fluid. The heat exchanger comprises a lattice structure of heat-conducting elements.

Description

Technical Field

[0001] The present disclosure relates to an end effector for a laser machine tool, which is configured to direct a laser beam onto a work surface along a propagation optical axis of the laser beam.

[0002] The above-mentioned end effector includes a support body and an end effector, wherein the support body has a guide tube having an axis parallel to at least a portion of the propagation optical axis of the laser beam, and the end effector includes another guide tube and is configured to be connected to the support body and provide an outlet for the laser beam.

[0003] One or more embodiments may be applied to a laser machine tool, such as a laser cutting machine. Background Art

[0004] In the field of laser processing, there are various devices for delivering electromagnetic radiation, often referred to as "laser heads," which can operate as the end effector of a laser machine tool. Each type of laser head can be specialized for performing a certain number or set of laser processing operations simultaneously. For example, there might be a laser head for laser welding that is different from a laser head for laser cutting, as the optical paths used may differ.

[0005] A laser head of this type is known, for example, from document No. EP 1 134 052 A1 filed in the name of the present applicant.

[0006] There are known devices for providing a radiation source, in particular a laser source, in the form of a processing beam which can be brought into contact with a workpiece in order to process the material.

[0007] When a laser beam is used to perform a machining operation on a given material, due to diffraction and diffusion of the light (due to the coating of the optics used), a portion of the power emitted by the laser is dissipated as heat within the conduit used to guide the laser beam, located within the end effector of the machine tool.

[0008] Therefore, each laser head can be designed to guide a laser beam emitted by a laser radiation source with specific characteristics. For example, in various laser heads, the power value that can be used is limited to 20 kW using conventional cooling methods.

[0009] The laser head may be configured to be coupled to a conduit for distributing a process gas, such as an inert gas, that is directed onto the work surface when the work surface is being processed using the laser beam (eg, during cutting).

[0010] Thus, the whole formed by the laser head together with the channels for distributing the gas connected thereto can present a considerable burden.The laser head can also have a considerable weight, which can complicate its dynamics in the working plane.

[0011] Reducing the weight of the laser head (e.g., by reducing the amount of material used to produce it) can reduce its burden and improve its dynamics at the expense of changes in thermal cooling inertia. This cost can further limit the laser power that can be used for machining operations. Summary of the Invention

[0012] It is an object of one or more embodiments to provide a solution that takes into account the technical problems discussed above.

[0013] According to one or more embodiments, the above objects can be achieved by an end effector having the characteristics set forth in the following claims.An end effector (or laser head) configured to be used as a tool in a laser machine tool can be an example of such a tool device.

[0014] One or more embodiments may relate to corresponding apparatus. A machine tool including a laser head as discussed herein may be an example of such an apparatus.

[0015] One or more embodiments may relate to a method of additive manufacturing and a corresponding laser head obtained using the method.

[0016] In this disclosure and the claims that follow, the term "additive manufacturing" means techniques known per se in the art, in which an energy source (such as a laser beam) is used to selectively melt layers of powdered material of varying sizes in order to form a component layer by layer of metallic or plastic material.

[0017] Some embodiments present the advantage of using a heat exchanger for cooling that covers as much as possible of the surface of the laser radiation guiding catheter.

[0018] One or more embodiments make it possible to overcome conventional limitations on the laser power that can be used in laser machining operations, such as laser cutting.

[0019] One or more embodiments may envision a new configuration of a heat exchanger that would include multiple channels for the flow of cooling liquid, wherein each channel extends according to a tortuous path in order to increase the surface for heat exchange.

[0020] One or more embodiments enable increased heat exchange efficiency given the same overall volume of the heat exchanger.

[0021] Compared to known devices, one or more embodiments make it possible to provide a heat exchanger having a lighter structure given the same heat exchange efficiency.

[0022] The claims form an integral part of the technical teaching provided herein with reference to the exemplary embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments will now be described, purely by way of example, with reference to the accompanying drawings, in which:

[0024] Figure 1 is a schematic diagram illustrating a laser processing device;

[0025] Figure 2 This is an example Figure 1 A schematic diagram of a control module of a laser processing device;

[0026] Figure 3 is a partial cross-sectional perspective view of a laser head according to one or more embodiments;

[0027] Figure 4 yes Figure 3 A perspective view of a support body of a laser head;

[0028] Figure 5 yes Figure 4 A partial cross-sectional view of a conduit in a support body;

[0029] Figure 6 is Figure 4 The view of the box indicated by the arrow VI;

[0030] Figure 7 is Figure 6 A perspective view of the box indicated by arrow VII;

[0031] Figure 8 is a schematic diagram illustrating the operating principles of one or more embodiments;

[0032] Figure 9 yes Figure 3 Another perspective view of the laser head;

[0033] Figure 10 is a partial cross-sectional perspective view of a laser head according to one or more embodiments;

[0034] Figure 11 is based on Figure 10 A cross-sectional view taken along line XI-XI;

[0035] Figure 12 yes Figure 10 An enlarged perspective view of a portion of a laser head;

[0036] Figure 13 is based on Figure 10 A cross-sectional view in the plane of line XIII-XIII;

[0037] Figure 14 is based on Figure 10 A perspective view taken along line XIII-XIII;

[0038] Figure 15 is a perspective view of a support body according to one or more embodiments;

[0039] Figure 16 is based on Figure 15 a perspective view of a section taken along line XVI-XVI;

[0040] Figure 17 is based on Figure 15 A cross-sectional view taken along line XVII-XVII of ;

[0041] Figure 18 is based on Figure 15 A cross-sectional view taken along line XVIII-XVIII of ; and

[0042] Figure 19 According to arrow XIX Figure 15 Cross-sectional view of a portion of. DETAILED DESCRIPTION

[0043] In the following description, one or more specific details are illustrated to provide a deeper understanding of the examples of the embodiments of the present disclosure. These embodiments can be obtained without one or more specific details, or by using other methods, components, materials, etc. In other cases, well-known operations, materials, or structures are not illustrated or described in detail so as not to obscure certain aspects of the embodiments.

[0044] In the framework of this specification, references to "an embodiment" or "one embodiment" are intended to indicate that a particular configuration, structure, or characteristic described with reference to the embodiment is included in at least one embodiment. Therefore, phrases such as "in an embodiment" or "in one embodiment" that may appear in one or more points of this specification do not necessarily refer to precisely the same embodiment.

[0045] Furthermore, the particular configurations, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0046] References used herein are for convenience only and therefore do not limit the scope of protection or the scope of the embodiments.

[0047] Figure 1 Schematic diagram of a laser processing device 10 or a laser machine tool is shown in FIG. , including:

[0048] - a laser source 12 of electromagnetic radiation configured to generate a laser beam L propagating along an optical path;

[0049] a set of optical components 14 arranged along the optical path of the laser beam L and configured to deflect the direction of the laser beam L, directing it along the optical axis OP towards a working surface 16 on which the element to be machined may rest; and

[0050] a laser head (or end effector) 20 configured to guide a laser beam and having a central conduit 26 surrounding at least a portion of an optical path of the laser beam L along the optical axis OP, the portion being configured so as to direct the laser beam toward the work surface 16 , the laser head 20 being configured to serve as an end effector of the laser machine tool 10 .

[0051] For example, such a machine tool 10 may include a transport structure configured to translate and / or rotate the laser head 20 and be of a cantilever type, a robotic arm (anthropomorphic) type, or some other type known per se as will be appreciated by those skilled in the art.

[0052] As mentioned above, the laser head 20 is prearranged for receiving the laser beam L propagating along the optical axis OP in the (central) conduit 26 and guiding or transmitting the laser beam L inside it to an exit opening for its purpose on the working surface 16 .

[0053] In particular, if Figure 1 The apparatus 10 illustrated in FIG. 1 may be pre-arranged for performing a variety of different laser processing operations in a flexible manner, among which laser cutting, welding, cladding, direct energy deposition (DED) additive manufacturing, ablation, heat treatment, texturing, among others.

[0054] It should be noted that the foregoing list of possible laser processing operations and the foregoing combinations of processing operations and sources are presented only as examples, i.e. without any restriction on the types of laser processing for which the apparatus can be pre-arranged to operate in a flexible manner.

[0055] In this specification, the term "additive manufacturing" refers to a method known in the art that involves sequentially depositing layers of powdered material and, during the deposition of the layers, using an energy source (such as a laser beam) to melt or sinter selective regions of the layers in such a way that a component of a certain material (for example, metal or plastic) is built up layer by layer. The powder layers can be, for example, a powder bed, in which the laser beam selectively manipulates the layers by melting or sintering them, or they can be powder strips and dots deposited via a nozzle in the area of action of the laser beam.

[0056] For example, Figure 1 As shown, the laser head 20 may have a support structure, which includes:

[0057] a support 22 comprising a central conduit 26, for example a tubular conduit, which may include a coupling configured to mechanically couple the laser head 20 to a transport structure, for example to a robotic arm of the machine tool 10; the tubular central conduit 26, the main axis of which in the illustrated example is substantially perpendicular to the work surface 16, being configured to receive the laser beam L and direct it toward the work surface 16; and

[0058] - an outlet portion or sensor cone 24 comprising inside it a duct 28 having a frustoconical shape, comprising an inlet opening downstream of the central duct 26 of the support body 22, and an outlet opening 28a, the inlet opening constituting the large base of the duct having a conical shape, from which it receives the laser beam L, and an outlet opening 28a (i.e. the small base) facing the working surface 16 for transmitting the laser beam L.

[0059] In various embodiments, the laser head 20 may include optical components 14 therein. As described above, these optical components (or modules) direct the laser beam L from the laser source 12 so that the laser beam L impinges upon the work surface 16 according to an optical axis OP, which is generally substantially perpendicular to the work surface 16. The optical components 14 may be orientable (i.e., movable) to direct the laser beam L toward the work surface 16, to perform specific functions of the machining process, and to follow the movement of the laser head 20, particularly as determined by the transport structure of the machine tool 10. The set of optical components 14 may include, for example:

[0060] - Module for directing laser beams, in Figure 1 In the figure, it is indicated by 14′, which is configured to impart at least one dynamic oscillatory motion ω about the optical axis OP to the laser beam L once it is emitted by the laser head 20 onto the work surface 16; Figure 1 In particular, a fixed reflector 14 ″ is shown which deflects the light beam originating from the source 12 for the first time onto a module 14 ′ which is controlled for directing the laser beam L in the guide tube 26 ;

[0061] - beam shaping optics (e.g. a diffractive lens for changing the (resonance) mode of the laser beam L), i.e. configured to selectively change the power distribution of the laser beam directed onto the machining surface area; and

[0062] - a focusing lens configured to direct the laser beam L onto an area of the working surface 16 in order to form a focal point of the laser beam on the aforementioned area.

[0063] Generally speaking, a “machining surface / plane” 16 means a surface / plane at a height at which machining is performed, in particular a surface / plane which may also be a support or an element, on which machining is performed.

[0064] It should be noted that this set of optical components 14 is presented purely as a non-limiting example, on the other hand, it should be understood that in various embodiments, one or more of the elements 14 may be different or absent according to the requirements of the user, so as to be able to configure the device 10 according to the requirements of the type of processing to be performed.

[0065] The means for directing the laser beam in the set of optical modules 14 may comprise, for example, a mirror that can be directed via one or more actuators coupled thereto, such as galvanometer actuators, configured to vary at least its tilt angle via an optical scanner. For example, the optical scanner may envisage driving at least one actuator of the directable mirror according to a program for imparting a dynamic motion to the laser beam L, for example by varying at least one angle α between an axis perpendicular to the reflective surface of the mirror and the direction of propagation of the laser beam L (i.e., the optical axis OP) at a frequency ω. Such a program may be implemented, for example, in a manner known per se.

[0066] It should be noted that although the aforementioned optical components have been described as being included in the laser head, in various embodiments, they may not be present or may be arranged outside the laser head; in particular, the module for directing the laser beam may be located at the entrance of the laser head, but mechanically separated from the laser head.

[0067] like Figure 1 As illustrated, the apparatus 10 further includes a cooling system 40, such as a heat exchanger integrated into the support body 22 of the laser head 20, as discussed below. The cooling system can be configured to supply a flow of cooling fluid, such as water, at inlets to and outlets from corresponding inlet chambers in the support body 22 and outlet chambers in the support body 22, as discussed below.

[0068] Some laser machining processes use fluids or gases in addition to the laser beam to perform the machining operation. Figure 1 By way of example, the apparatus 10 may therefore include a system 50 for distributing such an assist gas. In particular, in the case of a laser cutting operation, the laser head 20 may include an integrated conduit configured to supply assist gas for the machining process, which assist gas may be introduced into the distal end portion 24 of the laser head 20 such that the gas exits from the same exit orifice 28 as the laser beam L (e.g., coaxially therewith), as discussed below. Figure 1 As illustrated, the laser head 20 in the apparatus 10 is therefore connected to one or more flexible tubes 52 , such that the tubes 52 will be able to supply a gas flow to the central conduit 26 .

[0069] In various embodiments, the device may include further modules, such as a control module 30 for driving, for example, one or more of the following:

[0070] - a laser source 10 in order to generate a light beam L having given characteristics;

[0071] - an optical component 14 , for example for imparting rapid oscillations to the light beam in a manner known per se, in order to obtain improved processing results;

[0072] - a structure for carrying the laser head 20 so as to enable the laser head 20 to be displaced in order to perform a programmed machining operation on a workpiece resting on the work surface 16; and

[0073] - A cooling system 40 or a gas distribution system 50 .

[0074] For example, in various embodiments of the apparatus 10, a portion of the laser beam L may be deflected and analyzed, with feedback possibly applied to the source 10 via the control module 30 based on the analysis.

[0075] In various embodiments, the control module 30 may include a digital control unit 60, such as Figure 2 Illustrated with examples.

[0076] The digital control unit 60 can be configured to manage the control of actuators, i.e. motors, such as a motor of a transport structure that moves its axis, a motor that moves the laser beam directing module 14, as well as further systems, such as the cooling system 40 or the system 50 for distributing auxiliary gas.

[0077] The aforementioned unit 60 may comprise a first computer 61 operating as a user interface for sending instructions and commands to a second computer 62. The second computer preferably comprises an operating system 62a associated with a real-time type extension 62b for managing the machine 10. For example, the operating system may be of the Linux type, of the WinCE type, or obtained via a proprietary solution.

[0078] For example, implemented in the computer 62 and the servo control card 63 is a program for driving the device 10. The computer 62 may provide the servo control card 63 with a path to be followed for controlling the actuator.

[0079] Figure 3 A perspective view of the laser head 20 is shown, wherein an inner section of the support body 22 is visible.

[0080] The support body 22 may be made of a metal material, preferably an aluminum alloy, a titanium alloy or a nickel alloy.

[0081] In particular, the support body 22 may be obtained via an additive manufacturing process so as to make it easy to obtain complex structures integrated therein, as discussed below.

[0082] In the following, for simplicity, reference will be made to a laser head 20 comprising a support body 22 obtained by an additive manufacturing technique of the powder bed fusion type, it being understood, on the other hand, that this type of additive technique used is provided purely as a non-limiting example.

[0083] In providing various embodiments, it is possible to use other additive manufacturing processes such as binder jetting, electron beam melting, material extrusion, material jetting and other processes known per se to a person skilled in the art in this branch.

[0084] Preferably, the support body 22 can be obtained using an additive manufacturing technique configured to have a melting thickness substantially equal to 30 μm (1 μm = 1 micrometer = 10 -6 m) material layer.

[0085] like Figure 3 By way of example, the support body 22, which in this example has the shape of a parallelepiped, comprises in its interior a box 400 surrounding the central duct 26. Figure 4 or Figure 16 The central duct 26, more clearly visible in the figure, is covered thereon with a positioning tray 23 having a substantially parallelepiped shape and provided with its own cylindrical hole having a cross-section corresponding to that of the central duct 26, which comprises optical means for focusing the laser beam L and adjusting its position.

[0086] Figure 3 The support body 22 is also shown to include a set of tubular conduits 520, 522, 523, 524 for conveying fluids to assist in laser processing. The set of tubular conduits can be coupled to one or more systems 50 for distributing gases or other processing aids.

[0087] For example, Figure 3 As illustrated, the set of tubular conduits 520, 522, 523, 524 may include:

[0088] - a first tubular conduit 520 configured to convey a laser cutting assist gas, such as oxygen;

[0089] - Optionally, a second tubular conduit 522 configured to convey a laser cutting assisting liquid for performing water-assisted cutting (WAC);

[0090] - optionally, a third tubular conduit 523 configured to convey an additional assist gas, such as nitrogen for nitrogen perforation; and

[0091] - A fourth tubular duct 524 configured to convey cooling air.

[0092] It should be noted that such a set of four tubes is provided purely as a non-limiting example, and on the other hand, it should be understood that in various embodiments, any number of conduits and other auxiliary elements 520, 522, 523, 524 for distributing gas can be connected to the laser head 22 and integrated therein.

[0093] like Figure 3 As shown, the laser head 20 also includes one or more adjusters 70, i.e., screw-type adjusters, which are configured to be coupled to one or more optical focusing elements of the tray 23, which typically form part of the optical element 14, so as to vary in a fine manner the alignment thereof within the conduit 26 and the subsequent properties of the optical focus of the laser beam L propagating along the optical path OP.

[0094] Figure 4 It is a front view of only the support body 22 of the laser head 24 , in which a portion of the volume of the heat exchanger 400 is depicted (the external structure of the support body 22 is indicated by a dotted line).

[0095] like Figure 4 As illustrated, the heat exchanger 400 surrounds the tubular conduit 26 passing through the support body 22 .

[0096] In various embodiments, such as Figure 4 As illustrated, the cooling system 40 may be coupled to the support body 22 via an inlet chamber 224 and an outlet chamber 225 , each configured to receive cooling liquid at an inlet and return it at an outlet.

[0097] As discussed later, the volume of the heat exchanger 400 includes a grid or mesh structure within it. Figure 6 or Figure 7 As shown, the grid structure can include multiple units of thermally conductive connector elements (e.g., arranged in a three-dimensional network). In various embodiments, this arrangement can produce a two-dimensional network. The grid or mesh can provide a broad thermally conductive surface configured to transfer heat dissipated from the walls of the conduit 26 (e.g., when the laser beam L passes through the thermally conductive surface during one or more processing operations).

[0098] The cooling liquid supplied by the cooling system 40 flows inside the heat exchanger 400, passing between the inlet chamber 224 and the outlet chamber 225. As it flows, the liquid both extracts heat directly from the portion of the conduit 26 covered by the heat exchanger 400, given that the cooling liquid passes through the gaps in the mesh of the grid, and also extracts heat "carried away" by the grid structure (which occupies the three-dimensional volume of the tank), as discussed below (e.g., with reference to Figure 8 ).

[0099] Figure 5 is a partial cross-sectional perspective view of the interior volume of conduit 26 within support body 22 according to some embodiments.

[0100] like Figure 5 As illustrated, the guide tube 26 internally has a cylindrical tubular shape, a portion 260 of which has an expanded portion so as to serve as an outer shell 260 of a cylindrical body made of glass, also referred to hereinafter as "glass" 262, which protects upstream optical components (such as optical lenses for focusing the laser beam L) from potential damage during processing.

[0101] The cylindrical tube of the guide tube 26 has, for example, a first diameter W, while the annular housing 260 for the glass 262 has a second diameter Wm that is larger than the first diameter W.

[0102] Advantageously, the presence of the expansion facilitates the insertion of the cover glass into the duct 26 of the support 22 via a mechanical notching mechanism, thus simplifying the coupling mechanism. Figure 6 Shown by Figure 4 The arrow VI in FIG. 1 indicates a portion of the internal structure of the box 400 within the box.

[0103] like Figure 6 As illustrated, the grid or mesh structure of heat exchanger 400 includes a plurality of heat-conducting or connector elements 402, namely, straight segments (i.e., in the form of rods or bars), which are typically substantially cylindrical, unbroken, and made of a metallic material and interconnected. These segments are heat-conducting and arranged to create a network occupying a three-dimensional volume, which can be obtained by the periodic spatial repetition (e.g., two-dimensional or three-dimensional spatial repetition) of unit cells. The mesh or grid provides a surface for dissipating heat present on the walls of conduit 26 while laser beam L passes through conduit 26 during one or more processing operations. In other words, the grid structure of heat exchanger 400 acts as a porous wall through which a cooling liquid flows.

[0104] The grid structure of heat exchanger 400 can include a group of substantially identical units. For example, each unit can have a polyhedral skeleton shape, wherein connectors 402 represent edges. In different embodiments, each unit can even have a two-dimensional or three-dimensional shape, regular or irregular, polygonal or polyhedral.

[0105] Figure 7 A perspective view showing a three-dimensional structure of a single unit of a plurality of units that are substantially identical to each other, e.g. Figure 6 The unit in Box VII of .

[0106] like Figure 6 As illustrated, a single unit cell of the grid structure of the box 400 may have a skeletal shape of a rhombus or a trapezoidal-rhombic dodecahedron.

[0107] On the other hand, it should be understood that this polyhedral shape is presented purely by way of example, given that the individual cells of the grid structure of the box 400 can have virtually any shape (whether regular or irregular), in particular any shape obtainable via an additive manufacturing process.

[0108] The grid structure of the box can be parameterized according to the size of the unit cell, such as Figure 7 By way of example, this may include: a diameter D, a length or pitch P, and an inclination angle β of the connector 402 relative to a plane (eg, a horizontal plane).

[0109] In various embodiments, the diameter D of the connector 402 of the unit may preferably be comprised between 0.5 mm and 1 mm (1 mm = 1 mm = 10 -3 meters) to allow the cooling liquid to flow in the conduits through which the cooling fluid passes in the grid structure for the heat exchanger box 400.

[0110] In one or more embodiments, the grid preferably has a grid pitch P comprised between 4 mm and 10 mm.

[0111] In various embodiments, the cells of the grid of the heat exchanger box 400 may be inclined relative to a horizontal plane, preferably at an angle β greater than 40°.

[0112] The embodiment described above presents the advantage that, given the same volume, the heat exchanger 400 has a very large number of heat-conducting connectors per unit surface of its cross section and therefore a very high value of heat exchange surface.

[0113] Figure 8 is a simulation of the flow of cooling liquid (eg, water) that may occur within the heat exchanger tank 400 of the support body 22 , which is coupled to the cooling system 40 via the inlet chamber 224 and the outlet chamber 225 .

[0114] like Figure 8 As illustrated, the cooling system 40 supplies liquid at a first temperature (e.g., Ti) to the inlet chamber 224, from which the liquid follows a complex flow path, coats the sidewalls of the conduit 26 within the support body 22, and propagates in a network of meshes that occupies the three-dimensional volume of the box 400, thereby extracting heat therefrom that may be present due to the laser power dissipated during processing. The flow of cooling liquid then continues toward the outlet chamber 225, from which it is brought back to the cooling system 40 at a second temperature To that is higher than the first temperature Ti.

[0115] like Figure 8 In the illustrated example, a cooling liquid (e.g., water) passes through the volume of the heat exchanger 400, which operates as a tank. As described above, the cooling liquid is transferred from the inlet chamber 224 to the outlet chamber 225, so that the internal volume of the heat exchanger 400 is connected to the cooling system 40 via two sections of pipes, and the cooling liquid flows in the pipes in such a way that a flow cycle is achieved within the tank 400.

[0116] A cooling liquid (e.g., water) flowing through tubes within the housing 400 removes heat generated by the laser beam as it follows its optical path OP from the walls of the conduit 26. This is particularly advantageous for protecting the properties of the focusing optics and glass 262, for example, the focal length used to focus the laser light, which may be particularly sensitive to temperature variations. This can also be advantageous for protecting the mechanical properties of the laser head 20.

[0117] The increased effectiveness of the grid heat exchanger 400 in dissipating heat generated by the laser in the conduit 26 (and lens 262) facilitates the use of lasers with higher powers than are typically used, for example, up to about 20 kW (1 kW = 10 3 W = 1 kW) of the laser beam L.

[0118] Thanks to the use of additive manufacturing technology, it is possible to obtain a structure of the connector 402 of the heat exchanger 400 inside the support body 22, which would otherwise be difficult to obtain at a low cost using other technologies. Additive manufacturing technology also makes it possible to provide the body of the heat exchanger 400 with a desired overall configuration different from that of conventional heat exchangers.

[0119] Figure 9 is a perspective view of the laser head 20 , wherein the external structure of the support body 22 is depicted with dashed lines and wherein the structure inside the laser head 20 of the set of tubular ducts 520 , 522 , 523 , 524 is visible.

[0120] The above-mentioned tubular ducts 520, 522, 523, 524 extend from the top of the support body 22 in a manner that is substantially parallel to each other and linearly extending almost as far as the bottom of the support body itself, until they open into the duct 26 inside the support body 22 and / or inside the interface for connection with the sensor cone 24.

[0121] like Figure 9 As illustrated, the sensor cone 24 can have its tubular internal conduit 28 for guiding the laser beam divided into two parts relative to the position of a central plate 240 or flange with a circular base. The support body 22 comprises in its own bottom part below the conduit 26 a corresponding circular seat 222, into which the flange is inserted for coupling the sensor cone 24 to the support body 22. The seat 222 is located at Figure 4 It can also be seen in FIG, in which the sensor cone 24 is absent.

[0122] For example, in addition, Figure 14 As illustrated, the conduit 28 within the sensor cone 24 may include:

[0123] a first duct portion 242 (e.g., the top portion relative to the plate 240 ), which is substantially cylindrical both in its outer and inner walls and is configured to be connected to an end portion of the duct 26 inside the laser head 20 and comprises a plurality of chambers 520 ′, 522 ′, 524 ′ for connection to at least one tubular duct, such as the one indicated by 520 , the chambers 520 ′, 522 ′, 524 ′ in turn communicating with the interior of the sensor cone 24 (i.e., the duct 28 , in particular with through-holes 521 in the chambers leading to the duct 28 ); and

[0124] a second duct portion 244 , for example the portion arranged below the plate 240 , having a distal portion 246 tapering as far as the exit orifice of the laser beam L; inside the second portion 244 , the duct 29 likewise has a diameter that tapers downwards, following a substantially frustoconical shape.

[0125] In various embodiments, such as Figure 9 As illustrated, near the first portion 242 of the sensor cone of the conduit 26 configured to be coupled to the support 22 , at least one tubular conduit, such as the first tubular conduit 520 , branches into a plurality of distribution sub-conduits.

[0126] For example, the first tubular conduit 520 may branch into four internal distribution sub-conduits, two of which are located in the Figure 9 As can be seen in FIG. 5 , indicated by reference numerals 520 a, 520 b, as discussed below (e.g., with respect to FIG. Figure 11 ).

[0127] Figure 10is a perspective view of the laser head 20 , in which a partial cross section of the support body 22 is visible.

[0128] like Figure 10 As illustrated, the laser head 20 may include a collector 526 configured to be connected to the inlet / outlet chambers 224, 225 of the heat exchanger 400, and to one or more tubes 52 of the corresponding conduit delivery system 50 of the laser head 22 for supplying processing auxiliary gas or other auxiliary fluid and a tube of the cooling system 40 for distributing cooling liquid.

[0129] For example, the collector 526 may include a conduit for connecting the system for distributing laser cutting assist gas to corresponding distribution conduits inside the laser head 20, such as the first distribution conduit 52 connected to a set of distribution conduits 520, 522, 524, 523 located inside the support body 22.

[0130] Figure 11 is a top view of a cross section along the plane XY (perpendicular to the optical axis OP of the laser beam L), which passes through the Figure 10 The arrow XI-XI of the laser head 20 indicates the line.

[0131] exist Figure 11 The interior of the second portion of the inner conduit 28 of the sensor cone can be seen in the view of FIG. 2 , in particular the tapered portion 246 or tip which creates the housing for the outlet nozzle for the gas and laser beam.

[0132] Highlighted in the horizontal cross-section is the box 400a through which the tubular conduits 520, 522, 524 pass.

[0133] like Figure 11 As illustrated, the distribution conduit 520 for the processing assist gas may include four branches 520a, 520b, 520c, and 520d, which may be configured to connect to the first portion 242 of the cylindrical inner conduit 28 of the sensor cone 24 at four corresponding points located at the same height and equidistant from one another (i.e., each arc of the circumference between two points subtends a right angle located on the circular edge) about the circumference defined by the circular edge of the first portion 242 of the inner conduit 28. Thus, in this manner, the assist gas (e.g., oxygen) is distributed uniformly within the chamber. Thus, the configuration of the branches 520a, 520b, 520c, and 520d may be accomplished in a manner to facilitate uniform distribution of the laser processing assist fluid within the conduits 26 and 28 for propagation of the laser beam, particularly within the portion of the conduit 28 within the sensor cone 24, or in any other configuration as may be desired.

[0134] Using an additive manufacturing process, it is possible to obtain a flexible geometry of branches, which can be at least practically of any number and shape.

[0135] As described above, having a set of branches 520a, 520b (eg, four branches of a tubular conduit for distributing laser cutting assist gas) can slow the gas and reduce its turbulence, thereby facilitating the fluid dynamic coupling between the sensor cone 24 and the embodiment itself.

[0136] In various embodiments, the sensor cone may be obtained by additive or conventional techniques.

[0137] like Figure 12 and Figure 14 As illustrated by the example, Figure 12 The sensor cone 24 is shown in a perspective view, Figure 14 A partial cross section of the sensor cone 24 itself coupled to the guide tube 26 is shown, the sensor cone 24 having a cylindrical portion 242 that fits into the guide tube 26. The outer diameter of the cylindrical portion 242 is substantially the same as the inner diameter of the guide tube 28, except for the tolerances required for coupling by insertion. The cylindrical portion 242 has a plurality of annular grooves on its outer wall, each ring being situated in a plane perpendicular to the main axis of the cylindrical portion 242, the grooves being arranged relative to one another in such a way that, when the portion 242 is inserted into the guide tube 28, each groove, together with the inner wall of the guide tube 28, defines an annular chamber surrounding the portion 242.

[0138] exist Figure 12 Indicated in the figure are three chambers 520', 522', 524', which define corresponding distribution areas, which are respectively divided from the top into: an area 520' for cutting auxiliary gas, to which the tubular conduit 520 is connected; an area 522' for cooling air, to which the tubular conduit 522 is connected; and an area 524' for cutting emulsion, to which the tubular conduit 524 is connected. Figure 12 By way of example, these areas are separated and isolated on the non-grooved portion between one groove and the other by a gasket, for example an O-ring, in order to ensure leaktightness with respect to fluids, in particular gases, in order to define a chamber.

[0139] like Figure 18 As illustrated, the tubular ducts 520 , 522 , 524 open into the aforementioned respective regions or chambers 520 ′, 522 ′, 524 ′, which then comprise respective holes 521 in the wall of the portion 242 in order to allow access to the sensor cone 24 .

[0140] Figure 12Also illustrated is a chamber 523' defining a distribution area for an auxiliary fluid conduit 523 configured to carry additional auxiliary gas, such as nitrogen for nitrogen perforation.

[0141] The use of additive technology to achieve one or more embodiments facilitates positioning all of these supplies within a very limited area of the sensor cone 24 in a compact manner.

[0142] Thus, the connection obtained between the sensor cone 24 and the embodiment itself helps to increase the flow rate of gas at high pressure.In addition, the designer can obtain a high degree of flexibility in parameter variation when providing the connection in order to control and change the gas flow rate at high / low pressure.

[0143] Figure 13 1 illustrates a cross-sectional view in a plane passing through the optical axis of the support body 22 of the laser head 20. Figure 13 As illustrated, the support body 22 of the end effector 20 further includes an opening that is pre-arranged so as to place the interior of the guide tube 26 in communication with the exterior via the opening 268 .

[0144] Such an opening may be prearranged for providing a housing for an optical sensor 1300 , in particular a photodiode, in a first portion of the conduit 26 upstream of the housing 260 of the protective glass 262 .

[0145] For example, the housing can be configured so that the sensor 1300 is positioned in a directional manner, in particular forming an angle γ, which will help monitor light that, during laser processing, reaches the sensor 1300 after being reflected by the top wall of the protective glass 262. This angle γ can be approximately equal to 45° (measured between the horizontal plane of the glass and the optical axis of the sensor 1300), for example, in order to detect the state of preservation of the protective glass 262, thereby enabling replacement of the protective glass 262 in the most efficient time and in the most effective manner.

[0146] It should be noted that the opening 268 can be closed once the optical sensor 1300 has been inserted via the removable hatch 270 , which is purposely provided with connection means hinged to the support 22 , for example with screws.

[0147] exist Figure 15, which is generally made in a single piece solely through additive manufacturing, and which comprises in the support body 22 both the heat exchanger 400 and the tubular ducts 520, 522, 523, 524. The support body 22 has a substantially parallelepiped shape and has a rear wall 22a on which the collector 526 is covered. Present between the side walls 22d of the support body 22, arranged in the top wall 22b, is a U-shaped or C-shaped housing 22c, open towards the front wall 22e and whose rear wall (which is curved in the example shown) defines a gap with the rear wall 22a, in the bottom of which the duct 26 opens; the mouth of the latter is therefore arranged at a lower level than the top 22b, approximately halfway up the support body 22. This housing 22c receives the Figure 3 The positioning tray 23 is visible in FIG.

[0148] Figure 16 A perspective view of the support body 22 cut along a vertical plane parallel to the axis OP is shown, from Figure 16 It can be noted that the tubular ducts 520, 522, 524 pass vertically along the rear wall 22a in its vicinity. The heat exchanger 400, indicated by the lattice structure visible in the cross-section, comprises a tank portion 400a in the gap between the rear wall 22a and the rear wall of the housing 22c, and a substantially circular tubular portion 400b extending from the tank 400a and surrounding the ducts 26 at substantially the height of its mid-section.

[0149] This is Figure 17 It is also visible in Figure 17 is a cross-sectional view according to a horizontal plane passing through the major diameter of the tubular portion 400b.

[0150] It can be noted that Figure 17 The cross-sectional view may correspond to a representation of a grown layer during additive manufacturing.

[0151] exist Figure 16 , it can also be noted how the box portion 400b extends over the entire length of the duct 26, even below the portion 260 (i.e. in the portion inserted into the portion 242), wherein the vertically descending tubular ducts 520, 522, 524 bend to reach a substantially horizontal position, wherein the corresponding chambers 520′, 522′, 524′ on the sensor cone 24 are located so as to open into the aforementioned chambers 520′, 522′, 524′ via their own outlet openings.

[0152] Figure 18 is a front view of the support body 22 , further highlighting how the heat exchanger 400 surrounds the conduit 26 .

[0153] Figure 19is a cross-sectional view in a vertical plane parallel to the rear wall 22a in its vicinity, i.e. through the major diameter of the tubular ducts 520, 522, 524, which shows how the latter enter horizontally into the collector 526 comprising corresponding connection inlets for the fluid lines, then bends downwards and extends vertically inside the box 400 as far as the level of the portion 242 of the cone 24, once it is inserted, and here, as Figure 16 As shown, they bend again to reach the horizontal portion 242. It is emphasized how it is possible to obtain advantageously through additive manufacturing both the heat exchanger (in particular the tank 400a) and the aforementioned tubular ducts 520, 522, 524, which, as shown, pass inside and bend according to the connection requirements for the distribution of the fluids used in the process.

[0154] Thus, from what has just been highlighted above, according to some embodiments, the end effector comprises a heat exchanger 400 comprising a tank portion 400a which is pre-arranged partially or entirely in the space between the central duct 28 and the wall of the support body 22, in particular in the gap between the rear wall 22a and at least the outer wall of the duct 28 facing it.

[0155] Furthermore, according to some embodiments, the end effector comprises at least one portion having a tubular shape 400b arranged around the central catheter 28. In different embodiments, there may even be several tubular portions surrounding the catheter 28.

[0156] Without prejudice to the basic principle of the invention, the details and embodiments may vary, even slightly, with respect to what has been described purely by way of example, without departing from the scope of protection defined by the appended claims.

[0157] It should be pointed out that, according to one aspect of the present specification, the described solution can also be directed to an end effector, wherein the support body 22 of the end effector 20 between the set of conduits 520-524 and the heat exchanger 400 includes, for example, only one set of auxiliary fluid conduits 520, 522, 524, 523 integrated in the same piece via additive manufacturing, which are configured to guide the corresponding fluid used in laser processing onto the working surface 16 and are configured to be connected to the outlet portion 24, in particular, wherein at least one auxiliary fluid conduit 520 of the set of auxiliary fluid conduits 520, 522, 524, 523 includes a plurality of branches 520a, 520b, 520c, 520d, which are configured to be connected to the outlet portion 24 so as to provide a substantially uniform fluid flow in the additional conduits 28 of the outlet portion 24.

[0158] Thus, in this manner, the assist gas (e.g., oxygen) is evenly distributed in the chamber 520'. Thus, the configuration of the branches 520a, 520b, 520c, 520d can be provided in such a manner as to facilitate even distribution of the laser machining assist fluid within the conduits 26, 28 used for propagation of the laser beam, in particular in the portion of the conduit 28 within the sensor cone 24, or in other configurations as may be desired.

[0159] The aforementioned solution, which integrates the channel in the support, offers advantages in terms of weight and load, particularly when manufactured using additive manufacturing processes, and in particular with flexible branch geometry, which can be at least in virtually any number and shape. This geometry can, for example, be used in a tubular duct for distributing laser cutting assist gas, slowing the gas and reducing turbulence, thus facilitating the hydrodynamic coupling between the sensor cone and the embodiment itself.

[0160] It should be pointed out that, according to a further aspect of the present disclosure, the described solution may also be directed to an end effector in which the support body 22 of the end effector 20 between the set of ducts 520-524 and the heat exchanger 400 comprises, for example, integrated in one piece via additive manufacturing, only the heat exchanger 400 for the cooling system 40, the heat exchanger 400 being located in the support body 22 so as to occupy volumes 400a, 400b surrounding at least a portion of the tubular ducts 26 of the support body 22, wherein the heat exchanger 400 comprises an inlet chamber 224 and an outlet chamber 226. 5. The inlet chamber 224 and the outlet chamber 225 are connected to each other for the passage of cooling fluid, and wherein the heat exchanger 400 has a grid structure of heat-conducting elements 402, and the heat-conducting elements 402 are arranged so as to produce a three-dimensional network, which is configured to allow the cooling fluid to pass between the inlet chamber 224 and the outlet chamber and enter the heat exchanger 400; in particular, the three-dimensional grid structure of the heat-conducting elements in the heat exchanger box 400 includes a group of units (e.g., three-dimensional units) of the heat-conducting elements 402, and the units are substantially identical to each other, for example, each unit has a polyhedral skeleton structure.

[0161] The above solution presents the advantage of performing cooling using a heat exchanger that covers as much as possible the surface of the conduit for guiding the laser radiation and makes it possible to overcome conventional limitations of the laser power that can be used in laser machining operations such as laser cutting.

[0162] Furthermore, due to the lattice structure and the fact that the cooling fluid covers the ducts, the above solution achieves an increase in the heat exchange efficiency given the same total volume of the heat exchanger and makes it possible to obtain a heat exchanger with a lighter structure compared to known devices, given the same heat exchange efficiency.

[0163] The aforementioned heat exchanger 400 or the set of auxiliary ducts 520 , 522 , 523 , 524 is likewise formed in one piece in the support body 22 by means of an additive manufacturing technique of the powder bed fusion type, configured as a layer of molten metal material.

[0164] In general, the two aspects described above can therefore be used individually or in combination. In combination, the solution described and claimed herein relates in particular to an embodiment of an end effector 20 of a machine tool 10 for a laser machining process, configured to direct a laser beam L along an optical axis OP onto a work surface 16, said end effector 20 comprising a support 22 comprising a guide 26 having an axis parallel to at least a portion of said optical axis OP of the propagation of the laser beam L, said support 22 being configured to couple said guide 26 to an outlet portion, in particular a sensor cone 24, comprising a further guide 28 having an axis parallel to at least a portion of said optical axis OP of the propagation of said laser beam L, in order to provide an outlet of said laser beam L towards the work surface 16,

[0165] The support body 22 of the end effector 20 further comprises:

[0166] - a set of auxiliary fluid conduits 520, 522, 524, 523 configured to direct the respective fluids used in the laser machining process onto the working surface 16 and configured to be coupled to the outlet portion 24; and

[0167] a heat exchanger 400 for the cooling system 40, situated in the support body 22 so as to occupy a volume 400a, 400b of at least a portion of the tubular conduit 26 surrounding the support body 22, wherein the heat exchanger 400 comprises an inlet chamber 224 and an outlet chamber 225, which communicate with one another for the passage of a cooling fluid, and wherein the heat exchanger 400 has a lattice structure of heat-conducting elements 402 configured to allow the cooling fluid to pass between the inlet chamber 224 and the outlet chamber into the heat exchanger 400.

[0168] The aforementioned individual parts are obtained in particular by additive manufacturing.

[0169] The above-described solution advantageously makes it possible to obtain an end effector that achieves effective cooling as a whole, by integrating a shaped conduit (in particular a conduit with multiple branches) and a heat exchanger with a grid structure into a single piece, without compromising the weight of the end effector and therefore the thermal inertia, and thus also making it possible to overcome the conventional limitations of the laser power that can be used in laser processing operations (such as laser cutting).

[0170] Furthermore, the production of the central body of the end effector in a single piece, in particular through additive manufacturing, makes it possible to reduce the number of parts and machining operations, as well as manage a single schedule. In particular, using additive manufacturing eliminates the need to seal any possible contact surfaces (resulting in reduced contamination). This reduction in contamination is an advantage for the performance of the end effector, as it reduces the failure rate.

[0171] Furthermore, the solution may also be directed to an end effector, wherein the guide tube 26 of the support 22 has a tubular body with a variable diameter, wherein:

[0172] The first proximal portion of the catheter 26 has a first diameter W,

[0173] The second central portion of the conduit 26 has a second diameter Wm that is greater than the first diameter W and is configured to provide a housing 260 for a cylindrical glass body used as a cover glass 262, wherein the second diameter Wm is substantially equal to the diameter of the cylindrical glass body used as the cover glass 262, and

[0174] The third distal portion of the catheter 26 has a diameter equal to or smaller than the first diameter W;

[0175] And wherein the end effector further comprises an opening 268, the opening being pre-arranged so as to provide communication with the interior of the conduit 26, the conduit 26 having an axis parallel to at least a portion of the optical axis OP of propagation of the laser beam L and being located in the support body, the opening being pre-arranged for providing a housing for an optical sensor in the first portion of the conduit of the support body of the end effector, the housing being pre-arranged for accommodating an optical sensor, preferably a photodiode, oriented so as to detect the preservation state of the protective glass.

[0176] The above solution facilitates the mounting of optical sensors without the need for recourse to further fixed supports in the laser head body, since the guide tube forms an integral part of the laser head body and can be customised for each sensor.

Claims

1. An end effector (20) of a machine tool (10) for a laser machining process, the end effector (20) being configured to direct a laser beam (L) along an optical axis (OP) onto a work surface (16), the end effector (20) comprising: a support (22) comprising a conduit (26) having an axis parallel to at least a portion of the optical axis (OP) of propagation of the laser beam (L); the support (22) being configured to couple the conduit (26) to an outlet portion (24), comprising a further conduit (28) having an axis parallel to at least a portion of the optical axis (OP) of propagation of the laser beam (L) to provide an outlet of the laser beam (L) towards the working surface (16); Wherein, the support body (22) of the end effector (20) further comprises: a set of auxiliary fluid conduits (520, 522, 523, 524) configured to direct respective fluids used in the laser machining process onto the working surface (16) and coupled to the outlet portion (24); and A heat exchanger (400) for a cooling system (40), located in the support (22) so as to occupy a volume (400a, 400b) of at least a portion of the conduit (26) surrounding the support (22), wherein the heat exchanger (400) comprises an inlet chamber (224) and an outlet chamber (225), the inlet chamber (224) and the outlet chamber (225) being in communication with each other for the passage of a cooling fluid, and wherein the heat exchanger (400) has a grid structure of heat-conducting elements (402), the grid structure of the heat-conducting elements (402) being configured to allow the cooling fluid to pass through the A passage is passed between the inlet chamber (224) and the outlet chamber (225) in the heat exchanger (400), the volume (400a, 400b) comprising a portion (400a) of a box, the portion (400a) of the box being partially or entirely arranged in a space comprised between the central duct (26) and the wall of the support body (22), the heat exchanger (400) for the cooling system (40) and the set of auxiliary fluid ducts (520, 522, 523, 524) located in the support body (22) being formed as a single piece by means of an additive manufacturing technique configured as a layer of molten metal material.

2. The end effector (20) according to claim 1, wherein: At least one auxiliary fluid conduit (520) of the set of auxiliary fluid conduits (520, 522, 523, 524) comprises a plurality of branches (520a, 520b, 520c, 520d), the branches (520a, 520b, 520c, 520d) being configured to be coupled to the outlet portion (24) so as to provide a uniform fluid flow in the further conduits (28) of the outlet portion (24).

3. The end effector (20) according to claim 1 or 2, wherein: The end effector (20) includes an alloy of at least one metal selected from the group consisting of aluminum, titanium, and nickel as a metal material.

4. The end effector (20) according to claim 1 or 2, wherein: The grid structure of the heat exchanger (400) includes heat-conducting elements (402) arranged so as to create a three-dimensional network configured to allow a cooling fluid to pass in the heat exchanger (400) between the inlet chamber (224) and the outlet chamber (225).

5. The end effector (20) according to claim 4, characterized in that The three-dimensional network of heat-conducting elements of the heat exchanger (400) comprises a set of three-dimensional cells of heat-conducting elements (402), the cells being identical to one another.

6. The end effector (20) according to claim 5, wherein: Each of the units of the heat-conducting element (402) has a polyhedral skeleton structure.

7. The end effector (20) according to claim 4, wherein: The heat conducting element of the grid structure of the heat exchanger (400) has a cylindrical shape.

8. The end effector (20) according to claim 5, wherein: The set of three-dimensional cells comprises a periodic spatial repetition of three-dimensional cells of a thermally conductive element (402), the thermally conductive element having a specific pitch (P) of the periodic spatial repetition.

9. The end effector (20) according to claim 5, wherein: A set of identical units comprises units inclined at an angle (β) relative to the working surface (16).

10. The end effector (20) according to claim 1 or 2, wherein: The volume (400a, 400b) includes at least one portion (400b) having a tubular shape arranged around the conduit (26).

11. The end effector (20) according to claim 1 or 2, wherein: Also said outlet portion (24) including the further duct (28) is obtained by means of an additive manufacturing technique configured as a layer of molten metal material.

12. The end effector (20) according to claim 2, wherein: The plurality of branches (520a, 520b, 520c, 520d) of the at least one auxiliary fluid conduit (520) includes four branches (520a, 520b, 520c, 520d) configured to be coupled to the outlet portion (24) at points evenly spaced along the circumference of the further conduit (28) of the outlet portion (24).

13. The end effector (20) according to claim 1 or 2, wherein: The set of auxiliary fluid conduits (520, 522, 523, 524) is configured to guide fluid used in the laser processing process, the auxiliary fluid conduits including at least one of the following: a first auxiliary fluid conduit (520) configured to carry a laser cutting assist gas; a second auxiliary fluid conduit (522) configured to carry an auxiliary liquid for water-assisted cutting (WAC); a third auxiliary fluid conduit (523) configured to carry additional auxiliary gas; and A fourth auxiliary fluid conduit (524) is configured to carry cooling air.

14. The end effector (20) according to claim 1 or 2, wherein: The conduit (26) of the support (22) has a tubular body with a variable diameter, wherein: The first proximal portion of the catheter (26) has a first diameter (W); The second central portion of the conduit (26) has a second diameter (Wm) greater than the first diameter (W) and is configured to provide an enclosure (260) for a cylindrical glass body serving as a cover glass (262), wherein the second diameter (Wm) is equal to the diameter of the cylindrical glass body serving as the cover glass (262), and The third distal portion of the catheter (26) has a diameter that is equal to or smaller than the first diameter (W).

15. The end effector (20) according to claim 14, further comprising an opening (268) pre-arranged to provide communication with the interior of the conduit (26) of the support body (22), the opening (268) pre-arranged for providing a housing for an optical sensor (1300) in a first portion of the conduit (26) of the support body (22), the housing being pre-arranged for accommodating an optical sensor (1300) oriented (γ) so as to detect the preservation state of the protective glass (262).

16. The end effector (20) according to claim 1, wherein The outlet portion (24) is a sensor cone.

17. The end effector (20) according to claim 1, wherein The additive manufacturing technology is of the powder bed fusion type.

18. The end effector (20) according to claim 6, wherein: The polyhedron is a rhombus or a trapezoidal-rhombic dodecahedron.

19. The end effector (20) according to claim 7, wherein: Said cylindrical shape has a diameter (D) comprised between 0.5 mm and 1 mm.

20. The end effector (20) according to claim 8, wherein The pitch (P) is comprised between 4 mm and 10 mm.

21. The end effector (20) according to claim 9, wherein: The angle (β) is greater than 40°.

22. The end effector (20) according to claim 11, wherein The additive manufacturing technology is of the powder bed fusion type.

23. The end effector (20) according to claim 13, wherein: The laser cutting auxiliary gas is oxygen.

24. The end effector (20) according to claim 13, wherein The additional auxiliary gas is nitrogen for nitrogen perforation.

25. The end effector (20) according to claim 15, wherein The optical sensor (1300) is a photodiode.

26. A machine tool (10) for a laser machining process, the machine tool (10) comprising: at least one laser source (12, 14) configured to generate at least one laser beam (L); The end effector (20) according to any one of claims 1 to 25; one or more axes moved by one or more actuators coupled to the end effector (20); and A processing module (30) comprising at least one digital control unit (60) and coupled to the one or more actuators of the laser machine tool (10) for driving the actuators to move the end effector (20) on the work surface (16) so as to perform at least one laser machining process.

27. The machine tool (10) according to claim 26, wherein The laser processing process is a laser cutting process.

28. A method for manufacturing an end effector (20) of a machine tool (10) for a laser machining process according to any one of claims 1 to 25, the method comprising obtaining the set of auxiliary fluid ducts (520, 522, 523, 524) and the heat exchanger (400) for a cooling system (40) in a single piece by means of an additive manufacturing technique configured to molten metal material layers, the auxiliary fluid ducts (520, 522, 523, 524) being configured to guide the corresponding fluid used in the laser machining process onto the working surface (16), the heat exchanger being located in the support body (22) of the end effector (20).

29. The method according to claim 28, wherein The additive manufacturing technology is of the powder bed fusion type.

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