Pipe processing system for pipe processing machine and laser pipe processing machine comprising said pipe processing system

Abstract

A tube handling system (1) for a tube processing machine (100), the tube handling system (1) configured to pick up tubes (T) and load the tubes (T) into the tube processing machine (100). The pipe treatment system (1) comprises:-a support frame (2) extending in a longitudinal direction (X-X) between a first end portion (21) and a second end portion (22); -a first manipulator (3) mounted on the support frame (2) at a first end portion (21), the first manipulator (3) comprising first gripping means (31) configured to grip the tube (T) and first driving means (32) configured to move the first gripping means (31) perpendicular to the longitudinal direction (X-X); and-one or more second manipulators (4, 5) mounted on the support frame (2) in a slidable manner along the longitudinal direction (X-X) between the first manipulator (3) and the second end portion (22). Wherein each second manipulator (4, 5) comprises second gripping means (41, 51) configured to grip the tube (T), second driving means (42, 52) configured to move the second gripping means (41, 51) perpendicular to the longitudinal direction (X-X), third driving means (43, 53) configured to drive the second manipulator (4, 5) to slide the second manipulator (4, 5) on the support frame (2) relative to the first manipulator (3) in the longitudinal direction (X-X).

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of apparatuses and components for handling tubes on tube processing machines.

[0002] More specifically, the present invention relates to a handling system for a tube processing machine, configured to clamp, support and load a tube to be processed into a tube processing machine.

[0003] The present invention also relates to a laser tube processing machine comprising such a tube handling system. BACKGROUND

[0004] Laser cutting is a well-known technique which uses a laser beam to melt and / or vaporize a material, thus creating a cut edge or an engraving.

[0005] Such laser cutting technique has been combined with computer numerical control in CNC machines to automate cutting operations of workpieces such as sheet metal or tubes.

[0006] A laser tube processing machine comprises a loading station equipped with a tube handling system configured to clamp a tube and to feed it to a processing station in which a laser head is configured to perform cutting operations on the tube.

[0007] In detail, the known handling system comprises several manipulators, such as four or more, configured to jointly clamp, support and carry a tube to be processed.

[0008] The manipulators are arranged in series along a longitudinal direction. In use, the manipulators contact respective tube sections to jointly pick up, support and load the tube, wherein the axial direction of the tube extends along the longitudinal direction.

[0009] Each manipulator is equipped with a clamp which can be moved along two axes perpendicular to the longitudinal direction, a z-axis (vertical) and a y-axis (horizontal, radial to the tube).

[0010] In detail, the clamp of each manipulator comprises a horizontal support configured to support the tube against gravity and a vertical element configured to laterally constrain the tube. The clamping action is obtained by rotation of the vertical element about a vertical rotation axis of the manipulator which clamps the tube against the structure of the manipulator. During rotation about the vertical rotation axis of the manipulator, the position of the horizontal support is controlled by an encoder mounted on an asynchronous motor, so as to clamp tubes having different cross-sectional shapes and / or dimensions.

[0011] In order to handle tubes of various lengths, the known handling system requires several manipulators, which disadvantageously increases the complexity and cost of the tube handling system.

[0012] Furthermore, the longitudinal distance between the manipulators limits the minimum pipe length that the pipe handling system can process. In fact, pipes shorter than the longitudinal distance between the manipulators cannot be clamped and supported.

[0013] Furthermore, the large longitudinal distance between the manipulators does not allow for proper support of tubes with small diameters, which are extremely flexible due to their small moment of inertia. Therefore, to handle tubes with small cross-sections, known processors must be equipped with a large number of manipulators, increasing the complexity and cost of tube handling systems.

[0014] In some cases, known processing systems are also used to measure the length of tubes. In these cases, the processing system is equipped with a specific measuring element configured to move longitudinally between the ends of the tube. Therefore, to measure the length of a tube, known machines require the introduction of a specific moving element, which increases complexity and cost.

[0015] Furthermore, it has been found that the asynchronous motor used to rotate the horizontal support during pipe clamping does not allow control over the torque applied to clamp the pipe, but only over the position during rotation. This can lead to damage to the outer surface of the clamped pipe or insufficient clamping. In other words, known pipe handling systems are unable to achieve reliable pipe clamping.

[0016] DD229974A1 discloses an apparatus for separating pipes from a loose pipe bundle stored on a support grid in order of their diameter. The individual pipes are removed in any order. The apparatus includes a crossbeam movable on the support grid and having two lifting columns positioned on the crossbeam according to their function and having extendable and retractable lifting elements. Each lifting element is equipped with a rotating gripping element at its lower end, and a sensor located on the rotating gripping element transmits a signal indicating the position of the pipe. For different pipe diameters, the gripping element can be set to a preselectable angle relative to a vertical plane, such that only one pipe is gripped by the gripping element at a time.

[0017] EP3950218A1 discloses a machining center for processing profiles, the machining center having an elongated base and a processing station, the processing station being provided along the base with an operating head for processing profiles. The machining center includes: at least one gripping and conveying unit movable along the base and through the processing station; and at least one loading and / or unloading station, the loading and / or unloading station being provided along the base with a conveying assembly for transferring profiles from and to the gripping and conveying unit. The conveying assembly has a gripping device with two jaws movable in a generally horizontal direction between a gripping position and a release position to grip and release at least one profile. Scope of Invention

[0018] In this context, one object of the present invention is to provide a simple and economical tube processing system for tube processing machines, such as laser tube cutting machines, capable of handling various types of tubes.

[0019] Another object of the present invention is to provide a simple and economical laser tube processing machine suitable for processing various tubes, such as a laser tube cutting machine. Summary of the Invention

[0020] The present invention provides a tube handling system for a tube processing machine configured to pick up tubes and load them into the tube processing machine, particularly into the processing station of the tube processing machine.

[0021] The pipe handling system includes a support frame extending longitudinally between a first end portion and a second end portion, and a first manipulator mounted on the support frame at the first end portion.

[0022] In detail, the first manipulator includes a first gripping device adapted to grip the tube and a first drive device configured to move the first gripping device perpendicular to the longitudinal direction.

[0023] The pipe handling system also includes one or more second manipulators arranged at intervals along the longitudinal direction.

[0024] Each second manipulator has a second gripping device configured to grip the tube and a second drive device configured to move the second gripping device perpendicular to the longitudinal direction. The first gripping device and the second gripping device are configured to jointly pick up and support the tube when the tube extends longitudinally in the axial direction of the tube.

[0025] Furthermore, each second actuator is slidably mounted on the support frame in a longitudinal direction between the first actuator and the second end portion, and includes a third drive mechanism configured to drive the second actuator in a longitudinal direction relative to the first actuator on the support frame.

[0026] The longitudinal movement of the second manipulator relative to the first manipulator allows the distance between the first and second gripping devices to be adapted to the length of the tube. In this way, the tube handling system can load tubes of various lengths into the processing station of the tube processing machine using only two manipulators.

[0027] Therefore, advantageously, the present invention allows for the provision of a simple and economical tube processing system for tube processing machines, which is capable of processing various types of tubes regardless of their length.

[0028] According to one embodiment, the first manipulator is fixedly mounted on the support frame along the longitudinal direction. Therefore, in use, the longitudinal distance between the first and second manipulators is adapted to the length of the pipe by moving only one or more second manipulators relative to the first manipulator. This allows for minimizing the number of moving parts, thereby reducing the cost and complexity of the pipe handling system.

[0029] According to one embodiment, the tube handling system includes a measuring unit configured to measure the length of the tube along its axial direction. Specifically, the measuring unit includes at least a first measuring sensor mounted on at least one of the second manipulators, the first measuring sensor being configured to detect a first tube end. Preferably, the first measuring sensor is mounted on a second gripping device of at least one of the second manipulators.

[0030] By placing a first measuring sensor on a second manipulator, the tube processing system can utilize the longitudinal mobility of the second manipulator to measure the length of the tube. This eliminates the need for a separate movable measuring element, as described above, which increases the complexity and cost of conventional processing systems.

[0031] According to one embodiment, the measuring unit includes a second measuring sensor mounted on a support frame at a first end portion and configured to detect a second tube end. This allows for rapid measurement of the tube length by calculating the relative position between the second manipulator and the first end portion of the frame when the first and second measuring sensors detect the first and second tube ends, respectively.

[0032] According to one embodiment, the first drive device is configured to move the first gripping device along a first movement direction and a second movement direction perpendicular to the longitudinal direction.

[0033] According to one embodiment, the second drive device is configured to move the second gripping device along a third and a fourth movement direction perpendicular to the longitudinal direction.

[0034] This dual-axis movement of the first gripping device and / or the second gripping device allows the tube handling system to move the tube perpendicular to its axial direction, for example, to move the tube from the loading station to the tube support system of the laser tube processing machine.

[0035] According to one embodiment, the first gripping device and / or the second gripping device includes a body, a support element pivotally mounted on the body about a rotation axis, a pin attached to the support element and extending parallel to a direction defined by the rotation axis, and a pivoting device configured to drive the support element about the rotation axis to clamp a tube supported by the support element between the body and the pin.

[0036] Preferably, the pivoting device includes a brushless motor kinematically connected to the support element for driving the support element about the axis of rotation. Advantageously, the brushless motor can be controlled to provide a reliable clamping action on the tube, thereby avoiding both damage to the tube and undesirable slippage of the tube during longitudinal movement of the second manipulator.

[0037] Furthermore, the support element preferably extends transversely in the direction of gravity between a first end portion and an opposite second end portion, the first end portion being kinematically connected to a pivoting device, and a pin being mounted on the second end portion.

[0038] According to one embodiment, the first gripping device includes a roller on which the tube slides when at least one of the second manipulators moves in a longitudinal direction to feed the tube to a tube processing machine. Advantageously, the roller prevents damage to the tube surface due to sliding friction as the tube moves in its axial direction.

[0039] According to one embodiment, one or more second manipulators include a plurality of second manipulators arranged sequentially along the longitudinal direction between the first manipulator and a second end portion of the support frame. A third drive mechanism for each second manipulator is configured to move the corresponding second manipulator along the longitudinal direction independently of the other second manipulators. Advantageously, the plurality of second manipulators allows for adequate support of pipes with very small cross-sections, which are prone to bending due to their small moment of inertia and therefore require multiple support points.

[0040] The present invention also relates to a laser tube processing machine having a loading station and a processing station. The loading station includes the aforementioned processing system and is configured to pick up the tube to be processed and load the tube into the processing station.

[0041] Advantageously, the processing system—which, according to the above, is simple, economical, and capable of loading tubes of various sizes into the processing station—allows for the provision of a simple and economical laser tube processing machine suitable for processing tubes of various sizes. Attached Figure Description

[0042] Other features and advantages of this invention will become clearer from the indicative and therefore non-limiting description of preferred, but not exclusive, embodiments of the tube processing system and laser tube processing machine as illustrated in the accompanying figures, in which:

[0043] - Figure 1 The invention is shown Figure 1 A three-dimensional diagram of the pipe processing system.

[0044] - Figure 2 It shows Figure 1 A three-dimensional view of a part of the pipe processing system;

[0045] - Figure 3a It shows Figure 1 A perspective view of the first gripping device of the pipe processing system;

[0046] - Figure 3b It shows Figure 1 A perspective view of the first embodiment of the second gripping device of the pipe processing system;

[0047] - Figure 3c It shows Figure 1 A perspective view of a second embodiment of the second gripping device of the pipe processing system;

[0048] - Figure 4a It shows Figure 3a A three-dimensional view of the first gripping device holding a small-diameter tube;

[0049] - Figure 4b It shows Figure 3a A three-dimensional view of the first gripping device clamping a large-diameter pipe;

[0050] - Figure 5 A schematic top view of a laser tube processing machine according to the present invention is shown. Detailed Implementation

[0051] The present invention relates to a tube processing system 1 (hereinafter referred to as "processing system 1") for tube processing machines, particularly for laser tube processing machines such as laser tube cutting machines.

[0052] When installed in the loading station 101 of the pipe processing machine 100, the processing system 1 is configured to pick up the pipe T to be processed and load the pipe T into the pipe processing machine 100.

[0053] For example, refer to Figure 5The processing system 1 is configured to pick up pipe T from the single device 101a of the loading station 101 and load pipe T onto the support system 103, which supports pipe T during processing and feeds pipe T to the processing station 102 along the feeding direction FF.

[0054] In the context of this invention, the term "tube" is used to refer to an elongated structure extending along the axial direction XX between opposite tube ends T1 and T2. It is worth noting that the term "tube" is not limited to pipes—i.e., circular tubes—but also refers to any elongated structure having a hollow cross-section, such as a rectangle, square, or ellipse, as well as profiles with open cross-sections, such as C-shaped, U-shaped, V-shaped, X-shaped, T-shaped, H-shaped, or cross-shaped profiles.

[0055] Reference Figure 1 and Figure 2 The pipe processing system 1 includes a support frame 2 extending along the longitudinal direction XX between a first end portion 21 and a second end portion 22.

[0056] When the processing system 1 is installed in the pipe processing machine 100, the support frame 2 is arranged upstream of the processing station 102 of the pipe processing machine 100 along the feeding direction FF.

[0057] Preferably, the support frame 2 is configured to be installed in the loading station 101 of the tube processing machine 100, wherein the longitudinal direction XX is aligned with the feeding direction FF, and the first end portion 21 is oriented toward the processing station 102.

[0058] According to one aspect, the first end portion 21 is arranged close to the processing station 102 along the feeding direction FF, such that the processing system 1 can load the pipe T when one of the pipe ends T1 is close to the processing station 102. Advantageously, this reduces processing idle time (i.e., the time between the end of one processing activity and the start of the next processing activity).

[0059] exist Figure 1 and Figure 2 In the embodiment shown, the support frame 2 includes: two crossbars 23a and 23b extending parallel to the longitudinal direction XX between a first end portion 21 and a second end portion 22; and two pairs of columns 24a and 24b, each of the two pairs of columns 24a and 24b being configured to support the corresponding crossbars 23a and 23b at a given height above the ground surface (not shown) in the height direction ZZ.

[0060] The crossbars 23a and 23b and the corresponding uprights 24a and 24b are spaced apart along the transverse direction YY, which is perpendicular to the longitudinal direction XX.

[0061] existFigure 5 In this embodiment, the support system 103 is arranged along the lateral direction YY between the crossbars 23a, 23b and the corresponding columns 24a, 24b. Therefore, the support frame 2 defines an internal region 25 extending along the longitudinal direction XX, the lateral direction YY, and the height direction ZZ, which is configured to receive the support system 103.

[0062] Furthermore, always referring to the embodiment shown in FIG6, the unitized device 101a is arranged along the lateral direction YY on one side of the support system 103, and particularly arranged in the height direction ZZ below one of the crossbars 23a and 23b of the support frame 2. Therefore, the support frame 2 is configured to also receive at least a portion of the unitized device 101a into the internal region 25.

[0063] In the context of this application, a unitization device is a system configured to separate tubes from a tube bundle.

[0064] Reference Figure 5 The processing system 1 is preferably configured to pick up the tube T to be processed from the assembly device 101a—or more generally from the pick-up area P1—so that the tube T is moved in the lateral direction YY, and unload the tube T onto the support system 103 of the tube processing machine 100—or more generally unload it into the unloading area P2. The movements performed by the processing system 1 in… Figure 5 The middle part is schematically represented by arrow A.

[0065] In an alternative embodiment not shown in the accompanying drawings, the support frame 2 may include only one crossbar or more than two crossbars.

[0066] Reference Figure 2 The processing system 1 includes a first manipulator 3 mounted on a support frame 2 at a first end portion 21.

[0067] The first manipulator 3 has a first gripping device 31 adapted to grip the tube T and a first drive device 32 configured to move the first gripping device 31 perpendicular to the longitudinal direction XX.

[0068] In the context of this invention, the gripping device 31 is a system configured to grip a single tube T to perform the pick-up and processing operations described above. Further details of the gripping device 31 will be provided later in the specification.

[0069] Preferably, the first drive device 32 is configured to move the first gripping device 31 along a first moving direction Y1-Y1 and a second moving direction Z1-Z1, both of which are perpendicular to the longitudinal direction XX. In other words, the first drive device 32 is configured to move the first gripping device in a plane orthogonal to the longitudinal direction XX.

[0070] According to one aspect, the first moving direction Y1-Y1 and the second moving direction Z1-Z1 are parallel to the lateral direction YY and the vertical direction ZZ, respectively.

[0071] Furthermore, in a preferred embodiment, the first manipulator 3 is fixedly mounted on the support frame along the longitudinal direction XX. Therefore, the relative position of the gripping device 31 with respect to the support frame 2 along the longitudinal direction XX is fixed.

[0072] The processing system 1 also includes one or more second manipulators 4, 5, each of which is slidably mounted on the support frame 2 in a longitudinal direction between the first manipulator 3 and the second end portion 22 of the frame 2.

[0073] exist Figure 1 In the embodiment shown, the processing system 1 includes two second manipulators 4, 5 arranged spaced apart along the longitudinal direction XX. However, in an alternative embodiment not shown in the figures, the processing system 1 may include only one second manipulator 4, or more than two second manipulators.

[0074] Each of the second manipulators 4, 5 includes a second gripping device 41, 51 configured to grip the tube T and a second drive device 42, 52 configured to move the second gripping device 41, 51 perpendicular to the longitudinal direction XX.

[0075] The first gripping device 31 and the second gripping devices 41 and 51 are configured to jointly pick up and support the tube T when the axial direction AA extends parallel to the longitudinal direction XX.

[0076] Preferably, the second drive devices 42 and 52 are configured to move the second gripping devices 41 and 51 along a third moving direction Y2-Y2 and a fourth moving direction Z2-Z2, both of which are perpendicular to the longitudinal direction XX. In other words, the second drive devices 42 and 52 are configured to move the second gripping devices 41 and 51 in a plane orthogonal to the longitudinal direction XX.

[0077] according to Figure 2As shown in one aspect, the third moving direction Y2-Y2 and the fourth moving direction Z2-Z2 are parallel to the first moving direction Y1-Y1 and the second moving direction Z1-Z1, respectively.

[0078] Preferably, the first drive device 32 and the second drive devices 42, 52 are configured to cause the first gripping device 31 and the second gripping devices 41, 51 to move synchronously along the corresponding moving directions Y1-Y1, Z1-Z1, Y2-Y2, Z2-Z2 to perform the processing operations described above.

[0079] According to another aspect, the third moving direction Y2-Y2 and the fourth moving direction Z2-Z2 are parallel to the lateral direction YY and the vertical direction ZZ, respectively.

[0080] In conjunction with the movements along the corresponding directions of movement Y1-Y1, Z1-Z1, Y2-Y2, Z2-Z2, the first gripping device 31 and the second gripping devices 41, 51 are configured to move between the pick-up area P1 (e.g., the unitization device 101a) and the unloading area P2 (e.g., the support system 103) in order to pick up the pipe to be processed and load the pipe into the pipe processing station of the work machine 100.

[0081] Each of the second manipulators 4, 5 also includes a third drive device 43, 53 configured to drive the second manipulator 4, 5 to slide relative to the first manipulator 3 in the longitudinal direction XX on the support frame 2.

[0082] The relative movement of the second manipulators 4 and 5 with respect to the first manipulator 3 in the longitudinal direction XX allows the distance between the first gripping device 31 and the second gripping devices 41 and 51 to be adapted to the length of the tube T.

[0083] Furthermore, the relative movement of the second manipulators 4 and 5 with respect to the first manipulator 3 allows adjustment of the distance between the first gripping device 31 and the second gripping devices 41 and 51 in the longitudinal direction XX according to the cross-section of the tube T. In this way, the processing system 1 according to the invention allows for a closer support point along the axial direction AA to a tube with a small cross-section, which is easily bent due to its small moment of inertia.

[0084] In an embodiment in which two or more second manipulators 4, 5 are arranged sequentially along the longitudinal direction XX between the first manipulator 3 and the second end portion 22, the third drive device 43, 53 of each second manipulator 4, 5 is configured to move the corresponding second manipulator 4, 5 independently of the other second manipulator 4, 5 along the longitudinal direction XX.

[0085] Reference Figure 1 and Figure 2In the embodiment shown, the first manipulator 3 and the second manipulators 4 and 5 are slidably mounted on the crossbars 23a and 23b of the support frame 2.

[0086] In detail, when the processing system 1 is installed in the pipe processing machine 100, the crossbars 23a and 23b support the first manipulator 3 and the second manipulators 4 and 5, thereby arranging the corresponding first gripping device 31 and the second gripping device 41 and 51 above the support system 103 along the height direction ZZ.

[0087] Preferably, the first manipulator 3 and the second manipulators 4 and 5 are arranged along the lateral direction YY between the crossbars 23a and 23b.

[0088] Furthermore, in order to enable the corresponding first gripping device 31 and second gripping devices 41, 51 to move perpendicular to the longitudinal direction XX (e.g., along the first movement direction Yl-Yl, the second movement direction Zl-Zl, the third movement direction Y2-Y2, and the fourth movement direction Z2-Z2 mentioned above), the first drive device 32 and the second drive device 42, 52 are preferably configured to move the first manipulator 3 and the second manipulator 4, 5 relative to the crossbars 23a, 23b along the lateral direction YY and / or along the vertical direction ZZ.

[0089] Preferably, the first drive unit 32 and the second drive units 42, 52 include a brushless motor (not shown) with an integrated encoder (not shown) configured to control the position of the gripping devices 31, 41, 51.

[0090] According to one embodiment, the first drive device 32 and the second drive devices 42, 52 are dual-axis Cartesian robots, and the first gripping device 31 and the second gripping devices 41, 51 are mounted on the dual-axis Cartesian robot to move perpendicular to the longitudinal direction XX.

[0091] Some embodiments of the first gripping device 31 and the second gripping devices 41, 51 are described below. Figure 3a , Figure 3b and Figure 3c As shown in the image.

[0092] More specifically, in Figure 3a , Figure 3b and Figure 3c In one embodiment, the first gripping device 31 and / or the second gripping devices 41, 51 include a main body 34, 44, 54, and the first driving device 32 / second driving device 42, 52 is configured to act on the main body 34, 44, 54 to move the first gripping device / second gripping device 41, 51 perpendicular to the longitudinal direction XX.

[0093] Always refer to Figure 3a ,Figure 3b and Figure 3c In the embodiments shown, the first gripping device 31 and / or the second gripping devices 41, 51 further include support elements 35, 45, 55 mounted on the main bodies 34, 44, 54, pins 36, 46, 56 attached to the support elements 35, 45, 55, and pivoting devices 37, 47, 57 configured to act on the support elements 35, 45, 55.

[0094] In detail, the support elements 35, 45, and 55 are pivotally mounted on the main bodies 34, 44, and 54 about the rotation axes R1-R1, R2-R2, and R3-R3, and the pivoting devices 37, 47, and 57 are configured to drive the support elements 35, 45, and 55 about the rotation axes R1-R1, R2-R2, and R3-R3.

[0095] Support elements 35, 45, 55 and pins 36, 46, 56 extend mainly transversely to and parallel to the rotation axes R1-R1, R2-R2, R3-R3, respectively.

[0096] Preferably, the support elements 35, 45, 55 extend laterally, and particularly perpendicularly, to the direction of gravity (vertical direction ZZ) between the first end portions 35a, 45a, 55a and the second end portions 35b, 45b, 55b. The first end portions 35a, 45a, 55a are kinematically connected to the pivoting devices 37, 47, 57, and pins 36, 46, 56 are mounted on the second end portions 35b, 45b, 55b.

[0097] Reference Figure 4a and Figure 4b In use, when the tube T is positioned on the support elements 35, 45, 55 located between the main bodies 34, 44, 54 and the pins 36, 46, 56, the pivoting devices 37, 47, 57 drive the support elements 35, 45, 55 about the rotation axes R1-R1, R2-R2, R3-R3 in the clamping direction to clamp the supported tube T between the main bodies 34, 44, 54 and the pins 36, 46, 56. Similarly, to release (unwind) the supported tube T, the pivoting devices 37, 47, 57 pivot the support elements 35, 45, 55 about the rotation axes R1-R1, R2-R2, R3-R3 in the release direction opposite to the clamping direction.

[0098] Preferably, the pivoting devices 37, 47, and 57 include brushless motors 38, 48, and 58, which are kinematically connected to the support elements 35, 45, and 55 for driving the support elements 35, 45, and 55 about the rotation axes R1-R1, R2-R2, and R3-R3 in the clamping rotation direction and the release rotation direction.

[0099] Always refer to Figure 4a and Figure 4b It should be noted that the gripping devices 31, 41, and 51 described above can be used to grip tubes T with different cross-sections by simply changing the angle at which the support elements 35, 45, and 55 rotate around the rotation axes R1-R1, R2-R2, and R3-R3.

[0100] Preferably, the first gripping device 31 of the first manipulator 3 includes a roller 33, and the supported tube T slides on the roller 33 when at least one of the second manipulators 4 and 5 moves along the longitudinal direction XX.

[0101] exist Figure 3a In one embodiment, rollers 33 are arranged on support elements 35, 45, 55, and preferably extend between the first end portions 35a, 45a, 55a and the second end portions 35b, 45b, 55b.

[0102] The roller 33 has a rolling axis RR, which is preferably oriented along the direction connecting the first end portions 35a, 45a, 55a and the second end portions 35b, 45b, 55b.

[0103] In one embodiment, the processing system 1 is configured to measure the length of the tube T being processed. Specifically, in this embodiment, the processing system 1 includes a measuring unit 6 configured to measure the extent of the tube's extension along the axial direction AA when the tube is supported by a first gripping device 31 and second gripping devices 41, 51.

[0104] The measuring unit 6 includes a first measuring sensor 61, which is mounted on at least one of the second manipulators 4 and 5 and configured to detect the first tube end Tl.

[0105] Reference Figure 3b The first measuring sensor 61 is preferably mounted on the second gripping device 41 of at least one of the second manipulators 4 in the second manipulator. Specifically, in Figure 3b In one embodiment, the first measuring sensor 61 is arranged on the main bodies 34, 44, 54 of the gripping device 41 so as to face the supported tube T.

[0106] For example, the first measuring sensor 61 is a photoelectric sensor, particularly a triangulation-based photoelectric sensor, i.e., a sensor capable of sensing objects a few centimeters away, or a time-of-flight-based sensor. These sensors are well-known and commercially available, and therefore will not be described further.

[0107] During the length of the measuring tube T, the second manipulators 4 and 5, on which the first measuring sensor 61 is arranged, move along the axial direction of the tube until the first measuring sensor 61 detects the first tube end Tl.

[0108] Preferably, the measuring unit 6 includes a second measuring sensor 62, which is mounted on the support frame 2, particularly at the first end portion 21, and is configured to detect a second tube end T2 opposite to the first tube end T1.

[0109] The second measuring sensor 62 is, for example, a photoelectric sensor, particularly a reflective photoelectric sensor, or a triangulation sensor, or a time-of-flight sensor.

[0110] In use, once the first measuring sensor 61 has detected the first tube end T1, the tube T is moved by the second manipulators 4 and 5 along the longitudinal direction XX toward the first end portion 21 until the second measuring sensor 62 detects the second tube end T2.

[0111] The length of the tube is then measured by calculating the difference between the position of the first tube end T1 and the position of the second tube end T2.

[0112] Another object of the present invention is a laser tube processing machine, particularly a laser tube cutting machine, configured to process various tubes T.

[0113] Specifically, refer to Figure 5 The laser tube processing machine 100 includes a processing station 102 configured to process tubes T and a loading station 101 configured to pick up tubes T and supply tubes T to the processing station 102.

[0114] Loading station 101 includes the processing system 1 described above, and preferably includes a unitization device 101a.

[0115] The processing station 102 includes a laser processing head (not shown) adapted to generate an engraving / cutting laser beam and a support system 103 configured to support the tube T during processing operations and feed the tube T to the processing station 102.

[0116] It will be apparent to those skilled in the art that various modifications and variations can be made to the arrangement described above to meet occasional and specific needs. All such modifications and variations fall within the scope of the invention as defined in the appended claims.

Claims

1. A pipe handling system (1) for a pipe processing machine (100), the pipe handling system (1) being configured to pick up a pipe (T) extending along an axial direction (AA) and load the pipe (T) extending along the axial direction (AA) into the pipe processing machine (100), the pipe handling system (1) comprising: - A support frame (2) extending along the longitudinal direction (XX) between a first end portion (21) and a second end portion (22). - A first manipulator (3), which is mounted on the support frame (2) at the first end portion (21), the first manipulator (3) comprising: - A first gripping device (31), the first gripping device (31) being configured to grip the tube (T), and - A first drive device (32), configured to move the first gripping device (31) perpendicular to the longitudinal direction (XX). - One or more second manipulators (4, 5) arranged at intervals along the longitudinal direction (XX), each second manipulator (4, 5) comprising: - Second gripping device (41, 51), the second gripping device (41, 51) is configured to grip the tube (T). - A second drive unit (42, 52), configured to move the second gripping device (41, 51) perpendicular to the longitudinal direction (XX). The first gripping device (31) and the second gripping devices (41, 51) are configured to jointly pick up and support the tube when the axial direction (AA) extends along the longitudinal direction (XX). in, - Each second manipulator (4, 5) is slidably mounted on the support frame (2) along the longitudinal direction (XX) between the first manipulator (3) and the second end portion (22). - Each second manipulator (4, 5) includes a third drive unit (43, 53) configured to drive the second manipulator (4, 5) to slide relative to the first manipulator (3) along the longitudinal direction (XX) on the support frame (2). The tube processing system (1) is characterized in that it includes a measuring unit (6) configured to measure the length of the tube (T) along the axial direction (AA) when the tube (T) is supported by at least the first gripping device (31) and the second gripping device (41, 51), the measuring unit (6) including at least a first measuring sensor (61) mounted on at least one of the second manipulators (4, 5), the first measuring sensor (61) configured to detect a first tube end (Tl).

2. The pipe processing system (1) according to claim 1, wherein, The first manipulator (3) is fixedly mounted on the support frame (2) along the longitudinal direction (XX).

3. The pipe processing system (1) according to any one of the preceding claims, wherein, The first measuring sensor (61) is mounted on the second gripping device (41) of at least one of the second manipulators (4) in the second manipulator.

4. The pipe processing system (1) according to any one of the preceding claims, wherein, The measuring unit (6) includes a second measuring sensor (62) which is mounted on the support frame (2) at the first end portion (21) and configured to detect a second tube end (T2) opposite to the first tube end (T1).

5. The pipe processing system (1) according to any one of the preceding claims, wherein, The first drive device (32) is configured to move the first gripping device (31) along a first moving direction (Y1-Y1) and a second moving direction (Z1-Z1), the first moving direction (Y1-Y1) and the second moving direction (Z1-Z1) being perpendicular to the longitudinal direction (XX).

6. The pipe processing system (1) according to any one of the preceding claims, wherein, The second drive device (42, 52) is configured to move the second gripping device (41, 51) along a third movement direction (Y2-Y2) and a fourth movement direction (Z2-Z2), which are perpendicular to the longitudinal direction (XX).

7. The pipe processing system (1) according to any one of the preceding claims, wherein, The first gripping device (31) and / or the second gripping device (41, 51) include: - Main body (34, 44, 54). - Support elements (35, 45, 55), which are pivotally mounted on the main body (34, 44, 54) about rotation axes (R1-R1, R2-R2, R3-R3). - Pins (36, 46, 56), said pins (36, 46, 56) being attached to said support elements (35, 45, 55), said pins (36, 46, 56) extending from said support elements (35, 45, 55) parallel to the direction defined by said rotation axes (R1-R1, R2-R2, R3-R3), - A pivoting device (37, 47, 57) configured to drive the support elements (35, 45, 55) about the axis of rotation (R1-R1, R2-R2, R3-R3) to lock the tube (T) supported by the support elements (35, 45, 55) between the body (34, 44, 54) and the pin (36, 46, 56).

8. The pipe processing system (1) according to claim 8, wherein, The pivoting device (37, 47, 57) includes a brushless motor (38, 48, 58) kinematically connected to the support element (35, 45, 55) to drive the support element (35, 45, 55) about the rotation axis (R1-R1, R2-R2, R3-R3).

9. The pipe processing system (1) according to claims 8 and 9, wherein, The support elements (35, 45, 55) extend transversely to the direction of gravity between a first end portion (35a, 45a, 55a) and a second end portion (35b, 45b, 55b) opposite to the first end portion (35a, 45a, 55a), the first end portion (35a, 45a, 55a) being kinematically connected to the pivoting device (37, 47, 57), and the pins (36, 46, 56) being mounted at the second end portion (35b, 45b, 55b).

10. The pipe processing system (1) according to any one of the preceding claims, wherein, The first gripping device (31) includes a roller (33) on which the tube slides when at least one of the second manipulators (4, 5) moves along the longitudinal direction (XX).

11. The pipe processing system (1) according to any one of the preceding claims, wherein, One or more of the second manipulators (4, 5) include a plurality of second manipulators (4, 5) arranged sequentially along the longitudinal direction (XX) between the first manipulator (3) and the second end portion (22), and the third drive device (43, 53) of each second manipulator (4, 5) is configured to move the corresponding second manipulator (4, 5) along the longitudinal direction (XX) independently of the other second manipulators (4, 5).

12. A laser tube processing machine (100) comprising a loading station (101) and a processing station (102), the loading station (101) being configured to pick up a tube (T) and provide the tube (T) to the processing station (102), the loading station (101) comprising a tube processing system (1) according to any one of the preceding claims.

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