Device for processing tubes and profiles, having transfer system for transferring tubes or profiles to be processed to working position

Abstract

The invention relates to equipment for machining a pipe and a profile. The equipment comprises a machining device; a holding device configured to hold the pipe or profile to be processed at an end opposite to an end of the pipe or profile to be processed facing the processing device, the holding device defining a feed axis or a working axis of the apparatus; and one or more transfer systems (20) configured to transfer the pipe or profile from a loading position on one side of the apparatus, in which the longitudinal axis of the pipe or profile is arranged parallel but spaced apart from the feed axis, to a working position, in which the longitudinal axis of the pipe or profile is arranged coincident with the feed axis. Each transfer system (20) comprises: a first support device (28) configured to support tubes or profiles during transfer of the tubes or profiles from the loading position to the working position; the second supporting device (32) is configured to support the pipe or the profile in the machining process when the pipe or the profile is located at the working position; a mounting structure (30) on which the first and second support means (28, 32) are mounted; and a drive device (36, 38, 40, 42, 44, 46, 48) configured to move the mounting structure (30) in a vertical plane perpendicular to the feed axis with at least two degrees of freedom to enable the tube or profile to be moved from the loading position to the working position.

Description

Technical Field

[0001] The present invention relates to an apparatus for processing pipes and profiles, such as an apparatus for cutting or welding pipes and profiles (particularly, though not necessarily, by means of a laser beam), which is provided with a transfer system for transferring the pipe or profile to be processed to a working position so as to allow the working head of the apparatus to process the pipe or profile. Background Technology

[0002] A transfer system (or loading system) is known for pipe and profile processing equipment (e.g., pipe and profile laser cutting equipment), the function of which is to transfer the pipe or profile to be processed to a working position each time, that is, to a position suitable for enabling the working head of the equipment to perform the expected machining operation (in particular, but not limited to one or more cutting operations).

[0003] Transfer systems for laser processing equipment of pipes and profiles are known, for example from EP2000249, EP3747591, EP0481462, EP1547723, CN107900539, CN111299824 and CN108726171.

[0004] Known transfer systems are typically used in conjunction with appropriate support systems, allowing the pipe or profile to be temporarily supported in the working position after being brought there by the transfer system, before being held by the holding device of the pipe holding bracket. This results in additional cost and increased complexity, both structurally and operationally.

[0005] A pipe and profile processing apparatus having at least one transfer system according to the preamble of the appended independent claim 1 is known from US2021 / 229227. Summary of the Invention

[0006] The purpose of this invention is to provide a pipe and profile processing equipment, which is equipped with at least one transfer system that can accurately, safely and reliably transfer the pipe or profile to be processed from a loading position on one side of the equipment to a working position, and is not affected by the defects of the prior art.

[0007] According to the invention, this and other objectives are fully achieved by the pipe and profile processing equipment as defined in the appended independent claim 1.

[0008] Advantageous embodiments of the invention are specified in the dependent claims, and their subject matter should be considered as constituting an integral part of the following description.

[0009] In summary, the present invention is based on the concept of providing at least one transfer system for a device, wherein the at least one transfer system comprises:

[0010] - A support device is configured to support the pipe or profile during the transfer of the pipe or profile from a loading position to a working position on one side of the equipment and during the processing of the pipe or profile while it is in the working position.

[0011] - Mounting structure, on which the support device is mounted, and

[0012] - A drive mechanism configured to allow the mounting structure to move with at least two degrees of freedom in a vertical plane perpendicular to the feed axis (or working axis) of the equipment, thereby allowing the pipe or profile to be moved from the loading position to the working position.

[0013] The support device includes a first support device and a second support device. The first support device is configured to support and hold the pipe or profile during the transfer of the pipe or profile from the loading position to the working position. The second support device is separate from the first support device and is configured to support the pipe or profile during processing in the working position.

[0014] The second support device includes a support member having an annular cavity, the annular cavity being adapted to at least partially accommodate the pipe or profile when it is in at least partial contact with the upper contour of the annular cavity.

[0015] The first support device includes at least one movable support member that is movable between an operating position and a non-operating position. In the operating position, the at least one movable support member is at least partially located above the upper contour of the annular cavity, thus enabling it to support the pipe or profile. In the non-operating position, the at least one movable support member is at least partially located below the upper contour of the annular cavity, thereby preventing interference with the pipe or profile when it is received in the annular cavity.

[0016] With this configuration, at least one transfer system of the device according to the invention is able to pick up the pipe or profile to be processed at the loading position and move it from that position to the working position (where the pipe or profile can be held at one end by the holding device of the pipe holding bracket of the device and supported at the opposite end by one or more support mechanisms located near the working head of the device), and is also able to support the pipe or profile in the middle portion during processing. Attached Figure Description

[0017] Further features and advantages of the invention will become clear from the following detailed description, taken in conjunction with the accompanying drawings, by way of non-limiting example only, wherein:

[0018] - Figure 1This is a perspective view of an apparatus for processing (in this example, laser cutting) pipes and profiles, equipped with multiple transfer systems according to an embodiment of the present invention.

[0019] - Figure 2 It is similar to Figure 1 The three-dimensional view also shows the pipes to be processed arranged at the loading position;

[0020] - Figure 3 yes Figure 1 A three-dimensional view of one of the transfer systems of the equipment;

[0021] - Figure 4 yes Figure 2 Side view of the transfer system; and

[0022] - Figures 5 to 10 It is shown in sequence. Figure 3 The transfer system presents a series of configurations during the process of moving a pipe with a circular cross-section from the loading position to the working position. Detailed Implementation

[0023] In the following description and claims, the term "longitudinal" is used to identify a direction that coincides with or is parallel to the longitudinal axis of the pipe or profile being processed on the equipment, while the term "transverse" is used to identify a direction located in a plane perpendicular to the longitudinal axis. Furthermore, terms such as "upper" and "lower" or "horizontal" and "vertical" used in connection with the transfer system are intended to indicate the state in which the transfer system is installed on the equipment.

[0024] First refer to Figure 1 and Figure 2 The pipe and profile processing equipment to which the transfer system according to the invention is applicable is generally designated by 10. In the example presented here, the equipment is for cutting (especially laser cutting) pipes and profiles, but the invention is equally applicable to other types of pipe and profile processing equipment.

[0025] Device 10 includes a working head 12 in a manner known per se, the working head being adapted for working with pipes or profiles ( Figure 2 As shown, (denoted by T) the processing operation is performed, such as by focusing a laser beam. In this example, such processing operations include cutting operations, but they can also include other types of operations, such as welding operations. Figure 2 as well as Figures 5 to 10The diagram shows a tube T with a circular cross-section, but the equipment 10 is still capable of processing tubes with any other cross-sectional shape (e.g., square or rectangular), as well as profiles of any shape (e.g., C-profiles, T-profiles, IPE profiles, HEA profiles, etc.). For convenience, the term "tube" will be used only in the following description, but it should be understood that the discussion below also applies to the case where the equipment is used to process profiles.

[0026] The working head 12 is carried by a drive system (not shown in the figure, but of a known type) configured to move the head in one or more degrees of freedom, thereby enabling the device to perform the desired processing operation on the tube T.

[0027] Near the working head 12, in this example immediately upstream, a support mechanism 14 is provided, adapted to support the pipe T in the section of the pipe T near the working area, allowing the pipe T to rotate about its longitudinal axis. The support mechanism 14 may also be arranged immediately downstream of the working head 12. In a manner known per se, the support mechanism 14 may be fixed, i.e., fixed relative to the foundation structure of the device 10, or movable along the longitudinal axis of the pipe T when the pipe T is in the working position.

[0028] The device 10 also includes a pipe holding bracket 16 with a holding device 18 configured to hold the pipe T at the end (tail end) opposite to the end operated by the working head 12. This holding device defines the feed axis (or working axis) x of the device, which is aligned with the longitudinal axis of the pipe T during processing.

[0029] During processing, the pipe T is moved forward along the feed axis x via the pipe retainer 16 and rotated about this axis if necessary. The support mechanism 14, located near the working head 12, supports and guides the pipe being processed, keeping the longitudinal axis of the pipe aligned with the feed axis x.

[0030] The equipment 10 also includes multiple transfer systems (or more generally, at least one transfer system) 20, which are configured to transfer the pipe T to be processed from an initial loading position (hereinafter referred to as the loading position) on one side of the equipment to a final working position (hereinafter referred to as the working position); in the loading position, the longitudinal axis of the pipe T is arranged parallel to but spaced apart from the feed axis x (e.g., Figure 2 (As shown); in the working position, the longitudinal axis of the pipe T is arranged to coincide with the feed axis x.

[0031] At the loading location, such as Figure 5 As specifically shown, the pipe T is composed of multiple loading mechanisms 22 ( Figure 5(Only one of them is visible in the image) The function of the loading device is to receive the pipe T fed into the device 10 each time (e.g., via a plurality of conveyor belts 24 arranged parallel to each other) and hold it statically in the loading position, awaiting the pipe T to be picked up by the transfer system 20 and carried to the working position. Each loading mechanism 22 is arranged next to a corresponding conveyor belt 24. In the embodiment presented herein, each loading mechanism 22 is constructed of a substantially L-shaped structure, thus having a pair of flat surfaces 22a and 22b (particularly arranged at right angles), on which the pipe T rests in the loading position. Each loading mechanism 22 is rotatably mounted about a rotation axis x1 that extends parallel to the feed axis x of the device and preferably coincides with the rotation axis of the pulley of the associated conveyor belt 24 arranged at the end of the conveyor belt facing the feed axis x. Each loading mechanism 22 is associated with an actuator 26, which in this example is a pneumatic or hydraulic cylinder, but could also be any other type of actuator (including, for example, an electric motor), to control the loading mechanism 22 about the rotation axis x1 in a first position (not shown) and a second position (shown in...). Figure 5 The loading mechanism 22 rotates between the two sides; in the first position, the flat surface 22a of the loading mechanism 22 is substantially aligned with the upper section of the conveyor belt 24 to receive the pipe T conveyed by the conveyor belt 24; in the second position, the flat surface 22a of the loading mechanism 22 is inclined downward relative to the first position, and in addition, the pipe T abuts against the flat surface 22b and is thus held thereby, thereby remaining in the loading position.

[0032] However, the loading mechanism 22 may have a configuration different from that shown in this paper.

[0033] Now for special reference Figure 3 and Figure 4 Each transfer system 20 generally includes a support device configured to support the pipe T during the transfer of the pipe T from the loading position to the working position and during processing (i.e., when the pipe T is in the working position).

[0034] Such support devices include a first support device and a second support device that are separate from each other, wherein the first support device is configured to support and hold the pipe T during the transfer of the pipe T from the loading position to the working position, and the second support device is configured to support the pipe T during the processing.

[0035] The first support device includes, for example, a pair of swing arms 28, each swing arm having a corresponding support surface 28a, particularly a flat support surface. The arms 28 are mounted on the mounting structure 30 of the transfer system 20 such that they can rotate about their respective axes of rotation x2 and x3 (in... Figure 6 (It can be seen more clearly in the image) Rotate by a predetermined angle, with rotation axes x2 and x3 parallel to each other and parallel to the feed axis x of the device.

[0036] A suitable actuating device (not shown in the figure, but of a known type) is associated with arm 28 to control arm 28 about its respective rotation axes x2 and x3 in the operating position (shown in the figure). Figure 3 , Figure 6 and Figure 7 (in the middle) and non-operating positions (shown in) Figure 4 as well as Figures 8 to 10 The arms 28 rotate between each other; in the operating position, the support surfaces 28a of the arms 28 form an angle α of less than 180° with each other, preferably between 60° and 120°, such as a right angle (as shown in the embodiment herein); in the non-operating position, the support surfaces 28a of the arms 28 are substantially coplanar, i.e., forming an angle α of 180° with each other. The actuation devices associated with the arms 28 may include, for example, a pair of electric motors (one per arm) or a pair of actuators (one per arm), such as pneumatic or hydraulic cylinders.

[0037] In addition to the swing arm, different components can be used as the first support device to support and hold the pipe T during the transfer of the pipe T from the loading position to the working position, such as grippers or more generally clamping components that are switchable between operating positions (where they hold the pipe) and non-operating positions (where they allow the pipe to disengage from these components).

[0038] In the embodiment shown herein, the second support device includes a roller 32 mounted side-by-side with the arm 28 on the mounting structure 30, its longitudinal axis (denoted by y) oriented perpendicular to the feed axis x of the device, and thus perpendicular to the rotation axes x2 and x3 of the arm 28. Preferably, the longitudinal axis y of the roller 32 lies in a horizontal plane. The roller 32 can be rotatably (particularly freely rotatably) mounted about its longitudinal axis y. Preferably, the roller 32 has a circumferential cavity 34, i.e., a cavity extending along the entire side of the roller 32, for at least partially accommodating the tube T. Therefore, the profile of the circumferential cavity 34 in the axial section (i.e., in the plane of section passing through the longitudinal axis y) is not straight but curved. In the embodiment presented herein, this profile has an arcuate shape, thus having a shape with a constant radius of curvature, but it can also have a shape with a variable radius of curvature. With the help of the circumferential cavity 34, the roller 32 can not only support the pipe T, but also restrain it laterally, thereby preventing the pipe from moving excessively laterally during processing.

[0039] Alternatively, a forming support member with an annular cavity can be used as a second support device, the profile of which is variable depending on the angular position of the member itself about its longitudinal axis. In other words, at the annular cavity, the cross-sectional profile of the forming support member is not circular, but has a variable radius, specifically increasing gradually along a given direction of rotation. In this case, a suitable drive device is associated with each forming support member to control the angular position of the member about its longitudinal axis, such that the radius of the annular cavity profile that the tube contacts at the working position can be adjusted according to the tube size.

[0040] In addition, instead of rollers or forming members, or in combination with rollers or forming members, the second support device may include fixed support members of different shapes, configured to provide sliding support for the pipe being processed.

[0041] Therefore, generally speaking, the second support device includes at least one support member having a support surface that supports the pipe during processing.

[0042] from Figure 4 as well as Figures 6 to 10 It can be seen that when arm 28 is in the operating position ( Figure 6 and Figure 7 When the roller 32 is in the non-operating position, its support surface 28a is at least partially located above the upper contour of the circumferential cavity 34 of the roller 32, so the pipe T rests on the support surface 28a of the arm 28; while when the arm 28 is in the non-operating position ( Figure 4 as well as Figures 8 to 10 When the pipe (e.g.) is in use, its support surface 28a is at least partially located below the upper contour of the circumferential cavity 34 of the roller 32, so that the pipe (e.g.) Figure 8 As shown, the arm 28 rests on the upper contour of the circumferential cavity 34 and does not interfere with the pipe.

[0043] Each transfer system 20 also includes a drive unit configured to move the mounting structure 30 (and thus the arm 28 and roller 32 together with it) in a vertical plane perpendicular to the feed axis x of the equipment with at least two degrees of freedom, thereby allowing the pipe T to be moved from the loading position to the working position.

[0044] According to the embodiment shown herein, the drive device first includes a slider 36, which is mounted on the base structure 38 of the transfer system 20 via a linear guide 40, so as to be able to move relative to the base structure 38 in a vertically extending first translational direction z. Figure 4Translation; and one or more actuating devices between the base structure 38 and the slider 36 to control the translational movement of the slider 36 relative to the base structure 38 in one or another direction along the first translational direction z. In the proposed example, a single actuating device is provided, specifically formed by an electric motor 42 mounted on the base structure 38, which controls the translational movement of the slider 36 via a rack and pinion mechanism (not shown).

[0045] In the case where the first translational direction z (as in the proposed example) is vertical, the upward or downward translational movement of the slider 36 and the accompanying second support device is advantageously used to "track" the profile of the tube T when machining a tube with a non-circular cross-section, i.e., to continuously ensure contact between the tube and the second support device (in this example, contact between the tube and the profile of the circumferential cavity 34 of the roller 32) as the tube rotates about its longitudinal axis. In this respect, using a roller with a circumferential cavity (especially a cavity with an arcuate axial cross-sectional profile) as the support device for the tube reduces the vertical acceleration that the slider 36 must control, thereby simplifying the management of such "tracking" motion.

[0046] According to the embodiment shown herein, the drive device further includes an arm (or beam) 44, which is mounted on the slider 36 via a linear guide 46 so as to be able to move relative to the slider 36 along a second translational direction y1 ( Figure 4 Translation, the second translation direction being located in a plane perpendicular to the feed axis x of the device, and being horizontally oriented or tilted relative to the horizontal direction as in the example herein (e.g., tilted at an angle between 0° and 30°); and electric motor 48 (which may be seen in...) Figure 3 The electric motor is mounted on the slider 36 and arranged to control the translational movement of the arm 44 relative to the slider 36 in one or the other direction of the second translational direction y1 via a motion conversion mechanism (not shown) (e.g., a rack and pinion system). Of course, instead of the electric motor associated with a motion conversion mechanism such as a rack and pinion mechanism, different drive systems can be used to control the movement of the arm 44 relative to the slider 36 in the second translational direction y1.

[0047] The arm 44 supports the mounting structure 30 at one end (upper end), and the arm 28 and the roller 32 are mounted on the mounting structure 30. In this way, the assembly formed by the mounting structure 30, the arm 28 and the roller 32 can move (simultaneously or sequentially) along the first translation direction z and the second translation direction y1.

[0048] Now refer to Figures 5 to 10 Describe the operation of transfer system 20.

[0049] Figure 5This shows the pipe T to be processed in the loading position, loaded by the loading mechanism 22 ( Figure 5 The case shown is supported by flat surfaces 22a and 22b (only one is shown). In this position, the longitudinal axis of the pipe T is oriented parallel to the feed axis x of the equipment.

[0050] When the pipe T is in the loading position, the control transfer system 20 brings the support surface 28a of the swing arm 28 (in the operating position) of each transfer system 20 into contact with the pipe T. At this time, the loading mechanism 22 is moved to disengage from the pipe T (in this example, by rotating downward about its respective axis of rotation x1), so that the pipe T is supported only by the arms 28 of the respective transfer systems 20.

[0051] From this position, the pipe T is moved to the working position, where its longitudinal axis is aligned with the feed axis x of the equipment. Figure 6 and Figure 7 This displacement is achieved by appropriately combining the translational movement of the arms 44 of each transfer system 20 along their respective second translational direction y1 and the translational movement of the sliders 36 of each transfer system 20 along their respective first translational direction z. The translational movements along the translational directions y1 and z can be controlled sequentially, or at least partially simultaneously. For example, in the first step, the slider 36 must be moved upward to disengage the pipe T from the loading mechanism 22; in the second step, the arm 44 must be moved along the translational direction y1 toward the feed axis x, while the slider 36 must be moved downward.

[0052] During these steps, the paired arms 28 of each transfer system 20 are held in the operating position to support the pipe T and prevent it from falling. Once the pipe T is brought to the working position, it is held by the holding device 18 of the pipe holding bracket 16.

[0053] At this time, the paired arms 28 of the transfer system 20 are moved from the operating position to the non-operating position. Figure 8 Then, through the upward translation of the slider 36, the rollers 32 of the transfer system 20 are moved upward so that their respective circumferential cavities 34 contact the pipe T. Figure 9 At this time, the pipe T rests on the rollers 32 of each transfer system 20, and the rollers 32 can therefore act as a support mechanism during the processing.

[0054] As the pipe T advances toward the working head 12, and as a result, the rollers 32 of the transfer system 20 gradually lose contact with the pipe T (from the transfer system 20 furthest from the working head 12 to the closest), the transfer system 20 returns to... Figure 5Their initial positions. To do this, first move the slider 36 downward so that the circumferential cavity 34 of the roller 32 moves away from the feed axis x of the device, and then move the arm 44 towards the loading mechanism 22 along the second translation direction y1. Figure 10 ).

[0055] As can be clearly seen from the above description, the transfer system according to the present invention can accurately, safely, and reliably transfer the pipe (and also profiles) to be processed from the loading position to the working position, and can also perform the function of supporting the pipe (or profile) before, during, or after processing. This avoids the need, as in the prior art, for a dedicated support system outside the transfer system to support the pipe that has been transferred by the transfer system to a position where the longitudinal axis of the pipe is aligned with the feed axis of the equipment.

[0056] Furthermore, since it includes first and second support devices that are separate from each other, wherein the first support device is configured to support and hold the pipe during the transfer of the pipe from the loading position to the working position, and the second support device is configured to support the pipe during processing, the transfer system of the present invention allows for optimal support of the pipe during the transfer phase from the loading position to the working position and during processing.

[0057] The present invention has been described herein with reference to its possible embodiments. It should be understood that other embodiments are conceivable that share the same inventive core as those described herein, as defined in the appended claims.

Claims

1. An apparatus for processing pipes and profiles (T), comprising: - A processing device (12) is arranged to perform processing operations on the pipe or profile (T), such as cutting or welding; - A holding device (16, 18) is configured to hold the tube or profile (T) to be processed at one end opposite the end facing the processing device (12), the holding device (16, 18) defining the feed axis (x) or working axis of the device; and - One or more transfer systems (20) are configured to transfer a pipe or profile (T) from a loading position on one side of the equipment to a working position, wherein in the loading position the longitudinal axis of the pipe or profile (T) is arranged parallel to but spaced apart from the feed axis (x), and in the working position the longitudinal axis of the pipe or profile (T) is arranged to coincide with the feed axis (x); Each transfer system (20) includes: - Supporting devices (28, 32) are configured to support the pipe or profile (T) during the transfer of the pipe or profile (T) from the loading position to the working position and during the processing of the pipe or profile (T) in the working position. - Mounting structure (30), on which the support devices (28, 32) are mounted; and - The drive unit (36, 38, 40, 42, 44, 46, 48) is configured to move the mounting structure (30) in a vertical plane perpendicular to the feed axis (x) with at least two degrees of freedom, thereby allowing the pipe or profile (T) to be moved from the loading position to the working position. The characteristic feature is that the support device (28, 32) comprises a first support device and a second support device that are separate from each other. The first support device (28) is configured to support and hold the pipe or profile (T) during the transfer of the pipe or profile (T) from the loading position to the working position. The second support device (32) is configured to support the pipe or profile (T) during processing when the pipe or profile (T) is in the working position. The second support device (32) includes at least one support member having a support surface (34) adapted to at least partially accommodate the pipe or profile (T) when it is in at least partial contact with the upper contour of the support surface (34). The first support device (28) includes at least one movable support member that is movable between an operating position and a non-operating position. In the operating position, the at least one movable support member is located at least partially above the upper contour of the support surface (34), thus enabling it to support the pipe or profile (T). In the non-operating position, the at least one movable support member is located at least partially below the upper contour of the support surface (34), so as not to interfere with the pipe or profile when it rests on the support surface (34).

2. The device according to claim 1, wherein, The at least one support member is a roller support member, which is mounted on the mounting structure (30) such that the longitudinal axis (y) of the roller support member is oriented perpendicular to the feed axis (x).

3. The device according to claim 2, wherein, The support surface (34) of the roller support member is an annular cavity with a curved profile in the axial section, particularly with an arc shape.

4. The device according to claim 2 or claim 3, wherein, The support surface (34) of the roller support member has a circular profile in cross-section.

5. The device according to any one of claims 2 to 4, wherein, The roller support member is rotatably mounted about its longitudinal axis (y).

6. The device according to claim 5, wherein, The support surface (34) of the roller support member has a profile with a variable radius in cross-section, particularly a profile with a gradually increasing radius in a given rotational direction about its longitudinal axis (y).

7. The device according to any one of the preceding claims, wherein, The first support device (28) includes a pair of swing arms as movable support members, the pair of swing arms being rotatable about their respective rotation axes (x2, x3) which are parallel to each other and parallel to the feed axis (x) of the device, having their respective support surfaces (28a), particularly flat support surfaces, and each also including at least one actuator device associated with the pair of arms for controlling the opening of the pair of arms between the above-mentioned operating position and the above-mentioned non-operating position by rotating about their respective rotation axes (x2, x3). In the operating position, the support surfaces (28a) of the arms form an angle of less than 180° with each other, preferably between 60° and 120°, and even more preferably a right angle; in the non-operating position, the support surfaces (28a) of the arms are substantially coplanar or form an angle such that the support surfaces (28a) are at least partially located below the upper contour of the support surface (34) of the at least one support member.

8. The device according to any one of the preceding claims, wherein, The first support device (28) includes a holding member, such as a gripper, capable of clamping and holding the tube or profile (T).

9. The device according to any one of the preceding claims, wherein, The first drive unit (36, 38, 40, 42, 44, 46, 48) includes a base structure (38), a slider (36) and an arm (44), and a first actuation device and a second actuation device (48, 42); the slider (36) is mounted on the base structure (38) so as to be translatable relative to the base structure along a first translational direction (z), the first translational direction (z) being particularly vertical; the arm (44) is mounted on the slider (36) so as to be translatable relative to the slider along a second translational direction (z) The second translation direction (y1) is horizontal or inclined relative to the horizontal direction, particularly at an angle between 0° and 30°, and the arm (44) carries the mounting structure (30) at one end; the first actuation device and the second actuation device (48, 42) are arranged to control the translational movement of the slider (36) relative to the base structure (38) along the first translation direction (z) and the translational movement of the arm (44) relative to the slider (36) along the second translation direction (y1), respectively.

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