Apparatus for processing tubes and profiles, with a transfer system for transferring the tube or profile to be processed to a working position

Abstract

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

Description

[0001] APPARATUS FOR PROCESSING TUBES AND PROFILES, WITH A TRANSFER SYSTEM FOR TRANSFERRING THE TUBE OR PROFILE TO BE PROCESSED TO A WORKING POSITION

[0002] Technical field of the invention

[0003] The present invention relates to an apparatus for processing tubes and profiles, for example an apparatus for cutting or welding tubes and profiles (particularly, though not necessarily, by means of a laser beam), provided with a transfer system for transferring the tube or profile to be processed to a working position for allowing the tube or profile to be processed by a working head of the apparatus.

[0004] State of the art

[0005] Transfer systems (or loading systems) for tube and profile processing apparatuses, such as tube and profile laser cutting apparatuses, are known, which have the function of transferring each time the tube or profile to be processed to a working position, i.e., to a position suitable for enabling the working head of the apparatus to perform the intended machining operation(s) (particularly, but not exclusively, one or more cutting operations). Transfer systems for tube and profile laser processing apparatuses are known, for example, from EP2000249, EP3747591 , EP0481462, EP1547723, CN 107900539, CN111299824, and CN108726171.

[0006] The known transfer systems are generally used in conjunction with appropriate support systems, so that the tube or profile can be temporarily supported in the working position, after being brought to that position by the transfer system(s), before being held by the holding means of the tube-holding carriage. This involves additional costs and increased complexity, both in terms of construction and in terms of operation.

[0007] A tube 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.

[0008] Summary of the invention

[0009] It is an object of the present invention to provide a tube and profile processing apparatus which is provided with at least one transfer system capable of accurately, safely and reliably transferring the tube or profile to be processed from a loading position on a side of the apparatus to a working position, and which is not affected by the aforementioned drawbacks of the prior art.

[0010] This and other objects are fully achieved according to the present invention by a tube and profile processing apparatus as defined in the appended independent claim 1.

[0011] Advantageous embodiments of the invention are specified in the dependent claims, the subject-matter of which is to be intended as forming an integral part of the following description.

[0012] In summary, the invention is based on the idea of providing the apparatus with at least one transfer system comprising:

[0013] - support means configured to support the tube or profile both during transfer of the tube or profile from a loading position on a side of the apparatus to a working position, and during processing, with the tube or profile in the working position,

[0014] - a mounting structure on which said support means are mounted, and

[0015] - driving means configured to move the mounting structure with at least two degrees of freedom in a vertical plane perpendicular to a feed axis (or working axis) of the apparatus so as to allow movement of the tube or profile from the loading position to the working position, wherein said support means comprise first support means configured to support and retain the tube or profile during transfer of the tube or profile from the loading position to the working position, as well as second support means, separate from said first support means, configured to support the tube or profile during processing, with the tube or profile in the working position, wherein the second support means comprise a support member having an annular cavity adapted to at least partially accommodate the tube or profile in a condition in which the tube or profile is in contact with at least part of the upper profile of the annular cavity, and wherein the first support means comprise at least one movable support member that is movable between an operating position, in which it is at least partly above the upper profile of the annular cavity and is thus capable of supporting the tube or profile, and a non-operating position, in which it is at least partly below the upper profile of the annular cavity so as not to interfere with the tube or profile when the latter is received in the annular cavity.

[0016] By virtue of such a configuration, the at least one transfer system of the apparatus according to the invention is capable of picking up, in a loading position, the tube or profile to be processed and moving it from that position to a working position, in which the tube or profile can be held at one end thereof by holding means of a tube-holding carriage of the apparatus and supported at its opposite end by one or more support devices in the vicinity of the working head of the apparatus, and is also capable of supporting the tube or profile in an intermediate section thereof during processing.

[0017] Brief description of the drawings

[0018] Further features and advantages of the present invention will be apparent from the following detailed description, given purely by way of non-limiting example with reference to the accompanying drawings, in which:

[0019] - Figure 1 is a perspective view of an apparatus for processing (in the present case for laser cutting) tubes and profiles provided with a plurality of transfer systems according to an embodiment of the present invention;

[0020] - Figure 2 is a perspective view similar to that of Figure 1 , in which a tube to be processed, arranged in the loading position, is also shown;

[0021] - Figure 3 is a perspective view of one of the transfer systems of the apparatus of Figure 1 ;

[0022] - Figure 4 is a side view of the transfer system of Figure 2; and

[0023] - Figures 5 to 10 are side views showing in sequence a series of configurations assumed by the transfer system of Figure 3 during the movement of a tube with circular crosssection from the loading position to the working position.

[0024] Detailed description

[0025] In the following description and claims, the term “longitudinal” is used to identify a direction coincident with, or parallel to, a longitudinal axis of the tube or profile that is being processed on the apparatus, while the term “transverse” is used to identify a direction lying in a plane perpendicular to the longitudinal axis. In addition, terms such as “upper” and “lower,” or “horizontal” and “vertical,” etc., used in connection with the transfer system, are intended to refer to the condition in which the transfer system is installed on the apparatus.

[0026] With reference first to Figures 1 and 2, a tube and profile processing apparatus to which a transfer system according to the invention is applicable is generally indicated with 10. In the example proposed herein, the apparatus is an apparatus for cutting, in particular for laser cutting, tubes and profiles, but the invention is equally applicable to other types of tube and profile processing apparatuses. The apparatus 10 comprises, in a per-se-known manner, a working head 12 adapted to perform processing operations on a tube or profile (shown in Figure 2, where it is denoted with T), for example by means of a focused laser beam. In the present case, such processing operations consists in cutting operations, but they might also comprise other types of operations, such as welding operations. In Figure 2, as well as in Figures 5 to 10, a tube T of circular cross-section is shown, but the apparatus 10 is nevertheless capable of processing tubes having cross-sections of any other shape, e.g., square or rectangular, as well as profiles of any shape, e.g., C-profiles, T-profiles, IPE-profiles, HEA-profiles, and the like. For convenience, only the term tube will be used in the following description, it being understood, however, that what is discussed below is equally applicable to the case where the apparatus is used for the processing of a profile. The working head 12 is carried by a driving system (not shown in the drawings, but in any case of a per-se-known type) configured to move the head with one or more degrees of freedom, so as to enable the apparatus to perform on the tube T the intended processing operations.

[0027] In the vicinity of the working head 12, in the present case immediately upstream of it, there is provided a support device 14 adapted to support the tube T in a section thereof close to the working area, allowing the rotation of the tube T about its longitudinal axis. The support device 14 might also be arranged immediately downstream of the working head 12. In a per-se-known manner, the support device 14 may be stationary, that is, fixed with respect to a base structure of the apparatus 10, or may be movable along the direction of the longitudinal axis of the tube T when the latter is in the working position.

[0028] The apparatus 10 further comprises a tube-holding carriage 16 provided with holding means 18 configured to hold the tube T at an end thereof (trailing end) opposite to the one on which the working head 12 operates. Such holding means define a feed axis (or working axis) x of the apparatus, with which the longitudinal axis of the tube T is aligned during processing.

[0029] During processing, the tube T is moved forward by the tube-holding carriage 16 along the feed axis x, as well as rotated, if necessary, about this axis. The support device 14 located near the working head 12 supports and guides the tube that is being processed, keeping the longitudinal axis of the tube aligned with the feed axis x.

[0030] The apparatus 10 further comprises a plurality of transfer systems (or, more generally, at least one transfer system) 20 configured to transfer each time the tube T to be processed from an initial loading position on a side of the apparatus (hereinafter simply referred to as the loading position), in which the tube T is arranged with its longitudinal axis parallel to, but spaced from, the feed axis x (as shown in Figure 2), to a final working position (hereinafter simply referred to as the working position), in which the tube T is arranged with its longitudinal axis coincident with the feed axis x.

[0031] In the loading position, as shown in particular in Figure 5, the tube T is supported by a plurality of loading devices 22 (only one of which is visible in Figure 5) whose function is to receive each time a tube T which is fed to the apparatus 10, e.g., by a plurality of conveyor belts 24 arranged parallel to each other, and hold it stationary in the loading position, while waiting for the tube T to be picked up by the transfer systems 20 to be brought to the working position. Each loading device 22 is arranged next to a respective conveyor belt 24. In the embodiment proposed herein, each loading device 22 is formed of a substantially L-shaped structure, so as to have a pair of flat faces 22a and 22b, arranged in particular at a right angle, on which the tube T rests in the loading position. Each loading device 22 is rotatably mounted about an axis of rotation x1 , which extends parallel to the feed axis x of the apparatus and preferably coincides with the axis of rotation of the pulley of the associated conveyor belt 24 arranged at the end of the conveyor belt facing the feed axis x. Each loading device 22 is associated with an actuator 26, which in the present case is a pneumatic or hydraulic cylinder but might be an actuator of any other type (including, for example, an electric motor), to control the rotation of the loading device 22 about the axis of rotation x1 between a first position (not shown), in which the flat face 22a of the loading device 22 is substantially aligned with the upper belt branch of the conveyor belt 24, so as to receive the tube T being conveyed by the conveyor belt 24, and a second position (shown in Figure 5), in which the flat face 22a of the loading device 22 is inclined downward relative to the first position and, in addition, the tube T abuts against the flat face 22b so as to be retained by it, thereby remaining in the loading position.

[0032] The loading devices 22 might however have a configuration different from the one illustrated herein.

[0033] With reference now in particular to Figures 3 and 4, each transfer system 20 generally comprises support means configured to support the tube T both during transfer of the same from the loading position to the working position and during processing, that is, when the tube T is in the working position.

[0034] Such support means comprise first and second support means separate from each other, wherein the first support means are configured to support and retain the tube T during its transfer from the loading position to the working position, while the second support means are configured to support the tube T during processing.

[0035] The first support means comprise, for example, a pair of swinging arms 28, each having a respective support face 28a, particularly a flat support face. The arms 28 are mounted on a mounting structure 30 of the transfer system 20 so that they can rotate by a given angle about respective axes of rotation x2 and x3 (which can be better seen in Figure 6) parallel to each other, as well as parallel to the feed axis x of the apparatus.

[0036] Suitable actuating means (not shown in the drawings, but nevertheless of a per-se- known type) are associated with the arms 28 to control the rotation of the arms 28 about the respective axes of rotation x2 and x3 between an operating position (shown in Figures 3, 6 and 7), in which the support faces 28a of the arms 28 form with each other an angle a less than 180°, preferably an angle between 60° and 120°, e.g., a right angle (as in the embodiment illustrated herein), and a non-operating position (shown in Figure 4, as well as in Figures 8 to 10), in which the support faces 28a of the arms 28 are, for example, substantially coplanar, i.e., form an angle of 180° with each other. The actuating means associated with arms 28 might comprise, for example, a pair of electric motors (one for each arm) or a pair of actuators (one for each arm), such as pneumatic or hydraulic cylinders.

[0037] Instead of swinging arms, different members might be used as the first support means for supporting and retaining the tube T during its transfer from the loading position to the working position, e.g., grippers or, more generally, gripping members that are switchable between an operating position, in which they hold the tube, and a non-operating position, in which they allow disengagement of the tube from such members.

[0038] In the embodiment illustrated herein, the second support means comprise a roller 32, which is mounted on the mounting structure 30 alongside the arms 28, with its longitudinal axis (denoted by y) oriented perpendicular to the feed axis x of the apparatus, thus perpendicular to the axes of rotation x2 and x3 of the arms 28. Preferably, the longitudinal axis y of roller 32 lies in a horizontal plane. The roller 32 may be rotatably mounted (in particular, freely rotatably) about its longitudinal axis y. Preferably, the roller 32 has a circumferential cavity 34, i.e., a cavity extending along the entire lateral surface of the roller 32, for accommodating at least partially the tube T. The circumferential cavity 34 has therefore a profile in axial section (i.e., in a section plane passing through the longitudinal axis y) that is not straight but curved. In the embodiment proposed herein, this profile has a circumference arc shape, thus a shape with a constant radius of curvature, but it might also have a shape with a variable radius of curvature. Thanks to the circumferential cavity 34, the roller 32 is able not only to support the tube T but also to contain it laterally, thus avoiding excessive lateral movements of the tube during processing.

[0039] Alternatively, shaped support members having an annular cavity with a variable profile depending on the angular position of the member itself around its longitudinal axis may be used as the second support means. In other words, at the annular cavity the shaped support member has a profile in cross-section that is not circular, but has a variable radius, in particular a radius gradually increasing in a given direction of rotation. In this case, suitable driving means will be associated with each shaped support member for controlling the angular position of the member around its longitudinal axis, so that the radius of the profile of the annular cavity with which the tube is in contact in the working position can be adjusted depending on the size of the tube.

[0040] Furthermore, instead of, or in combination with, a roller or shaped member, the second support means may comprise stationary support members of different shapes, configured to provide a sliding support for the tube that is being processed.

[0041] Thus, in general, the second support means comprise at least one support member having a support surface on which the tube is supported during processing.

[0042] As can be seen from Figure 4 and Figures 6 to 10, when the arms 28 are in the operating position (Figures 6 and 7), their support faces 28a are, at least partially, above the upper profile of the circumferential cavity 34 of the roller 32, and thus the tube T rests on the support faces 28a of the arms 28, while when the arms 28 are in the non-operating position (Figure 4 and Figures 8 to 10), their support faces 28a are, at least partially, below the upper profile of the circumferential cavity 34 of the roller 32, and thus the tube (as shown only in Figure 8) rests on the upper profile of the circumferential cavity 34, without the arms 28 interfering with the tube.

[0043] Each transfer system 20 further comprises driving means configured to move the mounting structure 30, and hence the arms 28 and the roller 32 therewith, with at least two degrees of freedom in a vertical plane perpendicular to the feed axis x of the apparatus, so as to allow the tube T to be moved from the loading position to the working position.

[0044] According to the embodiment illustrated herein, the driving means comprise first a slide 36, which is mounted on a base structure 38 of the transfer system 20 by means of linear guides 40 so as to be able to translate relative to the base structure 38 along a first direction of translation z extending vertically (Figure 4), and one or more actuating devices interposed between the base structure 38 and the slide 36 to control the translation movement of the slide 36 in one direction or the other relative to the base structure 38 along the first direction of translation z. In the proposed example, there is provided a single actuating device, formed in particular by an electric motor 42, which is mounted on the base structure 38 and controls the translational movement of the slide 36 via a rack-and-pinion mechanism (not shown).

[0045] In the case where, as in the proposed example, the first direction of translation z is vertical, the upward or downward translational movement of the slide 36, and of the second support means therewith, is advantageously used during the processing of the tube T, in the case of a tube with a non-circular cross-section, to “track” the profile of the tube, i.e. , to continuously ensure the contact between the tube and the second support means (in the present case, the contact between the tube and the profile of the circumferential cavity 34 of the roller 32), when the tube is rotated about its longitudinal axis. In this regard, using a roller having a circumferential cavity, in particular a cavity with a profile in axial section having a circumference arc shape, as a support means for the tube, makes it possible to reduce the vertical accelerations with which the slide 36 must be controlled and thus simplify the management of such “tracking” motion.

[0046] According to the embodiment illustrated herein, the driving means further comprise an arm (or beam) 44, which is mounted on the slide 36 by means of linear guides 46 so as to be able to translate with respect to the slide 36 along a second direction of translation y1 (Figure 4) lying in a plane perpendicular to the feed axis x of the apparatus and directed horizontally or, as in the example illustrated herein, inclined to the horizontal, e.g., by an angle between 0° and 30°, and an electric motor 48 (which can be seen in Figure 3) that is mounted on the slide 36 and is arranged to control by means of a motion conversion mechanism (not shown), e.g., a rack-and-pinion system, the translational motion of the arm 44 in one direction or the other relative to the slide 36 along the second direction of translation y1 . Of course, instead of an electric motor associated with a motion conversion mechanism such as a rack-and-pinion mechanism, a different drive system might be used to control the movement of the arm 44 relative to the slide 36 along the second direction of translation y1.

[0047] The arm 44 carries, at an end thereof (upper end), the mounting structure 30 on which the arms 28 and the roller 32 are mounted. In this way, the assembly formed by the mounting structure 30, the arms 28 and the roller 32 can be moved (simultaneously or sequentially) both along the first direction of translation z and along the second direction of translation y1. The operation of the transfer system 20 will now be described, with reference to Figures

[0048] 5 to 10.

[0049] Figure 5 shows the condition in which the tube T to be processed is in the loading position, supported by the flat faces 22a and 22b of the loading devices 22 (only one of which is shown in Figure 5). In that position, the tube T is oriented with its longitudinal axis parallel to the feed axis x of the apparatus.

[0050] With the tube T in the loading position, the transfer systems 20 are controlled to bring the support faces 28a of the swinging arms 28 (which are in the operating position) of each transfer system 20 into contact with the tube T. At this point, the loading devices 22 are moved so as to disengage from the tube T (in the present case, by downward rotation about their respective axes of rotation x1), and thus the tube T remains supported only by the arms 28 of the various transfer systems 20.

[0051] Starting from that position, the tube T is moved to the working position, where it is arranged with its longitudinal axis aligned with the feed axis x of the apparatus (Figures

[0052] 6 and 7). This displacement is achieved by appropriate combination of the translational movements of the arms 44 of the various transfer systems 20 along their respective second directions of translation y1 and of the slides 36 of the various transfer systems 20 along their respective first directions of translation z. The translational movements along the directions of translation y1 and z may be controlled sequentially or, at least partially, simultaneously. For example, in a first step the slides 36 will have to be moved upwards to allow the tube T to be disengaged from the loading devices 20 and, in a second step, the arms 44 will have to be moved along the direction of translation y1 towards the feed axis x and the slides 36 will have to be moved downwards.

[0053] During these steps the pairs of arms 28 of each of the transfer systems 20 are held in the operating position so as to support the tube T, preventing it from falling. Once it has been brought to the operating position, the tube T is held by the holding means 18 of the tube-holding carriage 16.

[0054] At this point, the pairs of arms 28 of the transfer systems 20 are moved from the operating position to the non-operating position (Figure 8), and the rollers 32 of the transfer systems 20 are then moved upwards, by upward translation of the slides 36, so as to bring their respective circumferential cavities 34 into contact with the tube T (Figure 9). At this point, the tube T is resting on the rollers 32 of the various transfer systems 20, which can thus act as support devices during processing. As the tube T is advanced towards the working head 12, and thus the rollers 32 of the transfer systems 20 gradually lose contact with the tube T (starting with the transfer system 20 farthest from the working head 12 to the nearest one), the transfer systems 20 are returned to their initial position of Figure 5. For this purpose, first the slides 36 are moved downwards so as to move the circumferential cavity 34 of the rollers 32 away from the feed axis x of the apparatus, and then the arms 44 are moved along the second direction of translation y1 towards the loading devices 22 (Figure 10).

[0055] As is evident from the description above, a transfer system according to the present invention enables to precisely, safely and reliably transfer the tube to be processed (but the same applies also to the case of a profile) from the loading position to the working position and is also capable of performing the function of supporting the tube (or profile) before, during or after processing. This avoids the need to use special support systems, in addition to the transfer systems, to support the tube once it has been transferred by the transfer systems to a position where the longitudinal axis of the tube is aligned with the feed axis of the apparatus, as is the case with the prior art.

[0056] Furthermore, by virtue of the fact that it comprises first and second support means separate from one another, wherein the first support means are configured to support and retain the tube during the transfer of the tube from the loading position to the working position, while the second support means are configured to support the tube during processing, the transfer system of the present invention allows to optimally support the tube both 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 a possible embodiment thereof. It is to be understood that other embodiments may be envisaged, which share with the one described herein the same inventive core, as defined by the appended claims.

Claims

CLAIMS1. Apparatus for processing tubes and profiles (T), comprising:- working means (12) arranged to perform processing operations, such as cutting or welding, on a tube or profile (T);- holding means (16, 18) configured to hold the tube or profile (T) to be processed at one end thereof opposite to the one facing said working means (12), said holding means (16, 18) defining a feed axis (x), or working axis, of the apparatus; and- one or more transfer systems (20) configured to transfer the tube or profile (T) from a loading position on a side of the apparatus, in which the tube or profile (T) is arranged with its longitudinal axis parallel to, but at a distance from, said feed axis (x), to a working position, in which the tube or profile (T) is arranged with its longitudinal axis coincident with said feed axis (x); wherein each transfer system (20) comprises:- support means (28, 32) configured to support the tube or profile (T) both during transfer of the tube or profile (T) from said loading position to said working position, and during processing, with the tube or profile (T) in said working position;- a mounting structure (30) on which said support means (28, 32) are mounted; and- driving means (36, 38, 40, 42, 44, 46, 48) configured to move the mounting structure (30) with at least two degrees of freedom in a vertical plane perpendicular to said feed axis (x) so as to allow the tube or profile (T) to be moved from said loading position to said working position, characterized in that said support means (28, 32) comprise first and second support means separate from each other, wherein said first support means (28) are configured to support and hold the tube or profile (T) during the transfer of the tube or profile (T) from said loading position to said working position, wherein said second support means (32) are configured to support the tube or profile (T) during processing, with the tube or profile (T) in said working position, wherein said second support means (32) comprise at least one support member having a support surface (34) adapted to at least partially accommodate the tube or profile (T) in a condition where the tube or profile (T) is in contact with at least part of the upper profile of said support surface (34), andwherein said first support means (28) comprises at least one movable support member, which is movable between an operating position, in which it is at least partially above the upper profile of said support surface (34) and is thus capable of supporting the tube or profile (T), and a non-operating position, in which it is at least partially below the upper profile of said support surface (34) so as not to interfere with the tube or profile (T) when this latter rests on said support surface (34).

2. Apparatus according to claim 1 , wherein said at least support member is a roller support member mounted on said mounting structure (30) so that a longitudinal axis (y) thereof is oriented perpendicular to said feed axis (x).

3. Apparatus according to claim 2, wherein the support surface (34) of said roller support member is an annular cavity having, in axial section, a curved profile, in particular with a circumference arc shape.

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

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

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

7. Apparatus according to any one of the preceding claims, wherein said first support means (28) comprise, as movable support members, a pair of swinging arms, which are rotatable about respective axes of rotation (x2, x3) parallel to each other, as well as parallel to the feed axis (x) of the apparatus, have respective support faces (28a), in particular flat support faces, and further comprise each at least one actuator device associated with the pair of arms for controlling their opening by rotation about the respective axes of rotation (x2, x3) between the aforementioned operating position, in which the support faces (28a) of the arms form an angle of less than 180° with each other, preferably an angle between 60° and 120°, even more preferably a right angle, and the aforementioned non-operating position, in which the support faces (28a) of the arms are substantially coplanar or form an angle such that said support faces (28a) are at least partially below the upper profile of the support surface (34) of said at least one support member.

8. Apparatus according to any one of the preceding claims, wherein said first support means (28) comprise holding members, such as grippers, capable of gripping andholding the tube or profile (T).

9. Apparatus according to any one of the preceding claims, wherein said first driving means (36, 38, 40, 42, 44, 46, 48) comprise a base structure (38), a slide (36), which is mounted on the base structure (38) so as to be translatable relative to the latter along a first direction of translation (z), in particular a vertical direction, and an arm (44), which is mounted on the slide (36) so as to be translatable relative to the latter along a second direction of translation (y1) that is horizontal or inclined to the horizontal, in particular by an angle between 0° and 30°, and carries at one end thereof said mounting structure (30), as well as first and second actuating means (48, 42) arranged to control the translational movement of the slide (36) with respect to the base structure (38) along said first direction of translation (z) and the translational movement of the arm (44) with respect to the slide (36) along said second direction of translation (y1), respectively.

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