IT202200022848A1 - CUTTING MACHINE AND RELATED WORKING GROUP - Google Patents

Description

DESCRIPTION

Attached to a patent application for an INDUSTRIAL INVENTION having as its title

CUTTING MACHINE AND RELATED WORKING GROUP.

The present invention relates to a gripping unit and a working unit for a cutting machine for cutting tubular components. The present invention relates to a laser cutting machine.

In the sector of laser cutting machines for tubular components, the presence of three parts of the machine is noted: a gripping group, a centering group and a working group.

The tubular component is gripped by the gripping unit, which is rotating and drags the tubular component in its rotation around a rotation axis. The centering unit is spaced from the gripping unit along the axial direction, parallel to the rotation axis, and includes centering elements for supporting the tubular component. Finally, the work unit includes a laser head for performing the cutting operation on the tubular component. The work unit is spaced along the axial direction from the centering unit, which, therefore, is substantially interposed axially between the gripping unit and the work unit.

These types of machines are very complex machines and require very high precision in the machining. For example, the known machines are affected by a problem related to the physiological bending of the tubular component around its main development axis. Furthermore, in addition to the issue related to bending, the tubular component may also be made in a manner that is not perfectly rectilinear and/or symmetrical. In fact, in the known machines, the tubular component is detected in correspondence with the centering group, allowing it to be located in that axial position. However, given that the work group is configured to perform multiple machining operations, often spaced axially from each other, this means that some machining operations are performed in an area distant from the location of the piece, in which the irregularity of the component or its bending cause the machining to be performed in the wrong area of the component and which can irremediably compromise the quality of the resulting semi-finished product. There are also other problems, mainly related to the known gripping groups. In fact, in known gripping groups, gripping elements are made that, as the gripping force increases, due to the resistance of the component, tend to deform and, due to their deformation, a change in the direction of the gripping force occurs. In particular, the force does not remain completely axial but acquires an axial component exiting the gripping group, which, therefore, reduces the gripping efficiency and, conversely, the safety of the machine.

The purpose of this invention is to provide a cutting machine for cutting tubular components including a gripping group, a working group and a centering group, as well as the groups themselves taken individually, which overcome the drawbacks of the prior art mentioned above.

This aim is fully achieved by the cutting machine for cutting tubular components and by the related gripping group, work group and centering group, which are the objects of the present invention, which is characterised by the contents of the claims reported below.

According to one aspect of the present description, the present invention provides a gripping assembly for a cutting machine for cutting a tubular component.

Please note that preferably, the cutting machine uses a laser cut but the present invention can also be extended to other types of cutting, for example mechanical or pressurized water.

The gripper assembly comprises a gripping mandrel, configured to rotate about a respective axis of rotation. The gripping mandrel is configured to grip the tubular component. The gripping mandrel is configured to rotate the tubular component. The gripping mandrel comprises a body.

The gripper assembly includes a rotary actuator, configured to rotate the gripper spindle.

The gripping assembly comprises a plurality of gripping tools, each including a first end, connected to the gripping mandrel (to the gripping mandrel body), and a second end, free and opposite to the first end along an axial direction parallel to the axis of rotation. The tools of said plurality are movable towards and away from each other (at least) along a radial direction perpendicular to the axis of rotation. It should be noted that, in one embodiment, the mutual movement of the gripping tools may include a radial component and an axial component.

In more detail, each tool is movable between a respective rest position, in which the tool is radially spaced from the rotation axis by a first distance, and a working position (also indicated in the text indistinctly with the term gripping position), in which the tool is gripped on the tubular component and is spaced from the rotation axis by a second distance, smaller than the first.

The gripping assembly comprises a gripping actuator, configured to move said plurality of tools along the radial direction.

According to one aspect of the present disclosure, each tool is configured to exert a gripping force on the tubular component including at least one component along the axial direction, having a gripping direction, entering toward the mandrel.

The gripping direction can also be defined as the direction oriented from the second end to the first end of the gripping tool. According to a further definition of the gripping direction, the latter is the direction oriented from the gripping tool towards the body of the gripping spindle.

Having a gripping tool, whose force helps push the tubular component towards the mandrel, considerably increases the grip of the component and its stability. This translates into greater safety of operations and an increased quality of operations, due to the stability of the piece being machined (for example, elliptical or eccentric movements resulting from poor grip of the piece are avoided). Furthermore, this avoids axial movements of the component in a direction exiting the mandrel.

According to one aspect of the present disclosure, each gripping tool comprises a respective contact element configured to contact the tubular component. Each contact element has a principal development axis which, in the gripping position of the respective gripping tool, is convergent with the rotation axis in the gripping direction.

In one embodiment, the contact element is configured to follow a circular and/or inclined trajectory with respect to the rotation axis, so as to be able to discharge the gripping force also on an axial component. The circular trajectory is such that the direction of rotation determines an approach of the contact element to the gripping spindle. The inclined trajectory, likewise, is such as to determine an approach of the contact element to the gripping spindle.

This specific technical solution is an example of how the radial movement of the gripping tool can be translated into an axial force on the tubular component. This solution is particularly effective in terms of construction simplicity and movement of the gripping tools.

There are, however, other solutions for breaking down the gripping force, for example, according to one aspect of the present description, in the movement between the rest position and the working position, each gripping tool performs a movement having an axial component in the gripping direction. On the other hand, according to this embodiment, in its movement from the working position to the rest position, each gripping tool performs a movement having an axial component in a release direction, opposite to the gripping direction.

When moving along a direction that is not perpendicular to the axis of rotation, each gripping tool will have a force direction that is not perpendicular and, therefore, includes an axial component.

This solution, although requiring more complex handling solutions, has the advantage of breaking down the gripping force more effectively.

In one embodiment, each gripping tool is hinged to the spindle body at a respective first hinge. This allows it to rotate between its respective rest position and its respective gripping position about a respective tangential axis, perpendicular to the rotation axis and to the radial direction.

This embodiment allows to obtain a compound axial and radial movement with a simple rotation, therefore it allows to move the gripping elements in a relatively easy way. In one embodiment, each contact element is connected to a respective actuation rod. The actuation rod is movable (at least) along the axial direction by the effect of the gripping actuator. A movement of each actuation rod determines a corresponding rotation of the respective contact element about the corresponding first hinge.

The actuation rod allows the actuator to be located in a distal area from the contact element, to optimize the space needed to grip the tubular component.

In one embodiment, for each drive rod, the gripper assembly includes a respective slide guide, configured to guide an axial displacement of the drive rod.

The guide allows for a more controlled movement of the rod and avoids bending due to a possible peak load on the operating rod.

Furthermore, preferably, for each actuating rod, the gripping assembly comprises a respective connecting rod, connected to the contact element and the sliding rod, to transform an axial movement of the actuating rod into a rotation of the contact element. The connecting rod allows the axial movement transformation system to be kept more compact.

According to a preferred embodiment, each actuating rod comprises a first end, connected to the respective contact element (i.e. to the respective connecting rod), and a second end, connected to the gripping actuator for receiving the movement.

In one embodiment, each drive rod comprises a bearing, positioned at its first end. The bearing slides within its respective guide to facilitate sliding of the rod along the axial direction.

In one embodiment, the gripping assembly includes an adjustment assembly. The adjustment assembly includes an adjustment actuator. The adjustment assembly is configured to adjust the rest position of each gripping tool.

In other words, the gripping actuator is configured to move the gripping tool by a predetermined stroke, defined by the movement made between the rest position and the working position. Therefore, by moving the rest position, when the gripping tool is operated by the gripping actuator, the working position will also be changed and, therefore, in other words, the radial position that the contact element of each gripping tool will reach.

Therefore, the presence of the adjustment group allows, with a gripping actuator having a pre-established stroke, to be able to manage a very wide dimensional range of tubular components, increasing the flexibility of the gripping group.

In one embodiment, the adjustment group is configured to selectively (i.e., independently, i.e., independently, i.e., individually) adjust the working position of each gripping tool. In other words, the gripping group, via the adjustment group, allows the rest position of each gripping tool to be selectively varied.

Consequently, the distance from the rotation axis of the contact element of each gripping tool can also be different, thus allowing operation also on non-axially symmetrical (tubular) components.

For example, in one embodiment, each actuation rod comprises a coupling element, disposed at its second end. The adjustment actuator comprises a corresponding coupling element, configured to couple with the coupling element of each actuation rod. The adjustment actuator is movable (i.e. reconfigurable) to be able to selectively couple (i.e. to be able to couple the coupling element) with the coupling element of each actuation rod. In this way, the adjustment actuator can selectively move the actuation rod, to vary the rest position of the corresponding gripping tool. In other words, the adjustment actuator is configured to move the gripping tool (i.e. the actuation rod) to vary a mutual position (the rest position) between the gripping tool (i.e. the actuation rod) and the gripping actuator.

In this way, it is therefore possible to provide for a radial phase shift between the gripping elements, or, in the embodiment in which the actuation rods are present, an axial phase shift between the actuation rods.

In one embodiment, the gripping assembly includes a calibration assembly. The calibration assembly includes a calibration sensor configured to detect when each gripping tool has reached a reference position.

The calibration group is configured to send a zero-setting signal to a cutting machine control unit. The zero-setting signal represents the achievement of the reference position by a specific gripping tool. The control unit is configured to associate a coordinate corresponding to the reference position with the respective gripping tool, for example the zero of the axial coordinate.

This system allows, cyclically, to reset the radial coordinate of the gripping tool when it is detected in a radial limit position, avoiding the accumulation of measurement errors that could compromise the correct adjustment of the rest position by the adjustment group. Similarly, in the presence of the actuation rods, the system allows, cyclically, to reset the axial coordinate of the actuation rod when it is detected in an axial limit position, avoiding the accumulation of measurement errors that could compromise the correct adjustment of the rest position by the adjustment group.

In one embodiment, the gripping actuator is a stop actuator. The term "stop actuator" means an actuator in which movement is interrupted by reaching a mechanical stop and not by reaching a threshold power value. The gripping actuator comprises a start position, corresponding to the rest position of said plurality of gripping tools, and a stop position, corresponding to the gripping position of said plurality of gripping tools, so as to define a maximum radial excursion of said gripping tools. It is clear that, if the tubular component has a resistance to deformation such that the maximum power that can be delivered by the gripping actuator is delivered before reaching the pre-established stroke, the gripping tool stops earlier, deforming the component less but still maintaining a very high gripping force. On the other hand, however, this solution allows to avoid an unpleasant disadvantage of the known technique, in which the gripping elements reach the working position upon reaching a certain applied force. In fact, in this case, not knowing perfectly the resistance to deformation of the component, there is the risk of reaching high deformations with the same gripping force and therefore ruining the component or misaligning it with respect to the rotation axis. In the solution described above, the maximum stroke is guaranteed by the stop and, therefore, an unexpected deformation cannot occur.

So, said gripping tool is configured to position the gripping tools in the gripping position with the gripping actuator in the stop position or with the gripping actuator delivering the maximum power that can be delivered.

In one embodiment, the gripping assembly includes a sensing assembly. The sensing assembly is configured to detect the presence of the tubular component in a gripping zone of the mandrel.

The detection group is configured to generate a presence signal, representative of the presence of the tubular component in the gripping area. The detection group is configured to send the presence signal to the cutting machine control unit.

So, the gripper actuator is configured to receive an enable signal from the said control unit, to enable or inhibit its actuation based on the presence signal.

This allows you to avoid taking a grip in the absence of the tubular component in the gripping area.

Preferably, the gripping assembly comprises a sensor, configured to detect the change in a physical parameter, for example to detect a contact. Preferably, the gripping assembly comprises an activating element, configured to vary its configuration in response to the positioning of the tubular component in the gripping area. For example, the activating element could be a mechanical lever, which, in response to the positioning of the tubular component, rotates, coming into contact with the sensor and indirectly conveying information about the presence of the tubular component in the gripping area.

In one embodiment, the mandrel includes an intake manifold. The mandrel includes an intake shaft. The intake shaft is preferably passing through the intake manifold. The intake shaft includes a discharge hole, axially aligned with the intake manifold, for discharging cutting waste into the intake manifold.

This allows for a compact waste extraction solution.

According to one aspect of the present description, the present invention provides a workgroup for a cutting machine (preferably laser) for cutting a tubular component.

The working group is movable along the axial direction (i.e. along a direction parallel to the rotation axis of the gripper group).

The workgroup comprises a cutting device. The cutting device preferably comprises an electromagnetic wave emitter (e.g., a laser emitter). The emitter is configured to emit a cutting wave toward the tubular component. The cutting device is movable in a radial direction, perpendicular to the axial direction, toward and away from the tubular component.

The work group may include a control unit, configured to control a movement of the cutting device. The control unit may, alternatively, be part of the laser cutting machine. The work group includes a sensing group. The sensing group includes at least one sensor, configured to detect a sensing signal. The sensor may be an optical sensor or a laser sensor. In one embodiment, the sensing signal is representative of a distance along a sensing direction of said at least one sensor from the tubular component. In an alternative or additional embodiment, the sensing signal is representative of a position of the tubular component relative to the cutting device.

Advantageously, the detection group is movable together with the cutting device along the axial direction, to perform a detection at the axial coordinate in which the cutting device operates.

The fact that the detection group is integral with the cutting device in its axial movement is very important because it allows the position of the piece to be detected in correspondence with the axial coordinate in which the cutting device is operating, thus allowing correct positioning of the cut. This avoids errors due to the simplification relating to the fact of considering the tubular component perfectly straight and centered.

The control unit is configured to receive the detection signal from the detection group.

The control unit is configured to generate a control signal based on the detection signal. The control unit is configured to send the control signal to the cutting device to control its movement.

According to one embodiment, said at least one sensor defines a first sensor of the sensing assembly, configured to detect a first distance signal, representative of a distance of the first sensor from the tubular component along a first sensing direction. Furthermore, the sensing assembly may comprise a second sensor, configured to detect a second distance signal, representative of a distance of the second sensor from the tubular component along a second sensing direction.

Preferably, the control unit is programmed to derive an actual position of the tubular component based on the first and second distance signals.

This allows to further increase the precision in detecting the position of the tubular component.

In one embodiment, the first and second directions are perpendicular to each other. This allows simple distance sensors to be used to determine, relative to the axis of rotation of the gripper assembly, the distance of a first wall of the tubular component and a second wall of the tubular component perpendicular to the first, thereby identifying the position of the workpiece, in particular for axisymmetric workpieces. In accordance with one aspect of the present disclosure, the sensing assembly comprises a sensing frame. The sensing frame is configured to house (be connected to) said first sensor and said second sensor. Preferably, the sensing frame is configured to be arranged, in use, around the tubular component. When we use the term “around” we mean that the sensing frame surrounds at least two sides of the tubular component, for example, but not limited to, if it were “L”-shaped, “C”-shaped, “U”-shaped, or “O”-shaped, in which case completely surrounding the tubular component. In this regard, the detection frame comprises a first detection side, which faces, in use, a first side of the tubular component and on which the first sensor is positioned.

Furthermore, preferably, the sensing frame comprises a second sensing side, facing, in use, a second side of the tubular component and on which the second sensor is positioned, the first sensing side and the second sensing side being perpendicular to each other. In one embodiment, the sensing frame comprises a third sensing side. The third sensing side faces, in use, a third side of the tubular component.

In one embodiment, the sensing assembly includes a third sensor, configured to detect a third distance signal, representative of a distance along a third sensing direction of the third sensor from the tubular component.

In one embodiment, the third sensing direction is parallel to the second sensing direction.

In one embodiment, the second sensing side is parallel to the third sensing side.

In one embodiment, the third sensor is positioned on the third sensing side.

The presence of the third sensor allows determining the correct position even of tubular components that are not necessarily symmetrical (at least with respect to the direction perpendicular to the first and third detection directions).

According to one embodiment, the sensing frame includes a shell. The shell defines an internal volume. The sensing frame includes a sensing hole, which puts the internal volume of the shell in communication with the external environment. Preferably, said at least one sensor is arranged inside the shell. Furthermore, said at least one sensor faces the sensing hole, in order to be able to detect the distance along the sensing direction.

In one embodiment, the shell comprises a plurality of sensing holes, each for each sensor that is located therein. In particular, each of said first, second and third sensors faces the respective sensing hole, in order to be able to detect the distance along the first, second and third sensing directions, respectively.

The shell comprises a first door (i.e. a housing base, i.e. a containment element), on which the detection hole is obtained. The shell comprises a second door. The first and second doors are movable towards and away from each other along a switching direction. The shell is switchable between a detection configuration, in which the first and second doors are spaced apart from each other by a first distance along the switching direction, and a working configuration, in which the first and second doors are spaced apart from each other by a second distance along the switching direction.

In one embodiment, the first distance is greater than the second distance.

In one embodiment, in the sensing configuration, the sensing hole is misaligned with the second door along the sensing direction. This allows the distance to be detected from the tubular component because the sensing hole is free and the sensor reaches up to the tubular component.

In one embodiment, in the working configuration, the sensing hole is aligned with the second door along the sensing direction. In other words, the sensor faces the second door, which protects it from external dirt, to prevent any processing residues from damaging said at least one sensor.

These features clearly also extend to the detection holes associated with the second and third sensors.

According to one aspect of the present description, the present invention also provides a centering assembly. The centering assembly is arranged, along the rotation axis, between the work assembly and the gripping assembly. The centering assembly is configured to keep the component centered with respect to the rotation axis.

The centering assembly includes a rotating assembly configured to rotate about the rotation axis. The centering assembly includes a rotation actuator configured to rotate the rotating assembly of the centering assembly.

The rotating assembly comprises one or more of the following features: - a circular crown, defining a central opening within which the tubular component can be positioned;

- a plurality of contact doors, angularly spaced (preferably evenly) around the axis of rotation; each of said contact doors being configured to contact a respective wall of the tubular component, which is then inserted between the contact doors;

- for each contact door, a respective return element, configured to exert a return force on the contact door oriented towards the rotation axis.

The contact doors are movable along the radial direction towards and away from each other to vary the passage section defined by the circular crown and adapt to the dimensions of the tubular component.

In this regard, each of these branches includes:

- a respective plate;

- a feedback element.

The contact element comprises a respective contact blade and/or a respective contact roller.

The plate and the reference element are arranged at two opposite ends of the reference door. Therefore, the blade and the roller are arranged at the same end of the reference door. The reference element is connected to the respective reference door and to the circular crown.

In one embodiment, for each stop door, the centering group comprises a respective plug-in actuator. In particular, therefore, there are a plurality of plug-in actuators, spaced angularly around the rotation axis.

Each of said engagement actuators comprises a engagement element, configured to engage (hook, connect) with a plate of a respective contact door, so as to be able to move the respective contact door along the radial direction.

In particular, the engagement element of each engagement actuator is movable between a latched position, in which it has a first radial distance from the rotation axis, and an open position, in which it has a second distance from the rotation axis, greater than the first distance.

The centering group is therefore movable between the following configurations: - a coupling configuration, in which the coupling elements are in the engaged position and the rotating group is rotated until the plates engage with the respective coupling elements;

- an insertion configuration, in which the engagement elements are in the open position and drag the respective contact door, increasing the opening and allowing the tubular component to be inserted; - a feedback configuration, in which the engagement actuators are left idle, allowing each recall element to be able to return the respective contact door to the abutment on the tubular component;

- a cutting configuration, in which each plate is released from each clutch element and all clutch elements are brought to the open position.

According to one aspect of the present description, the present invention provides a (laser) cutting machine comprising the gripping assembly according to any of the characteristics described in the present invention and the working assembly according to any of the characteristics described in the present invention. Furthermore, the cutting machine also comprises a control unit, configured to control the working assembly and one or more actuators of the gripping assembly.

The (laser) cutting machine includes the centering group according to any of the characteristics described in this invention.

According to one aspect of the present description, the present invention provides a method for holding a tubular component during its cutting with a (laser) cutting machine.

The method comprises a rotation step of a gripping mandrel around a rotation axis, to rotate the tubular component, by means of a rotary actuator.

The method comprises a step of preparing a plurality of gripping tools, each including a first end, connected to the gripping spindle, and a second end, free and opposite to the first end along an axial direction parallel to the rotation axis.

The method comprises a step of moving the tools of said plurality towards and away from each other along a radial direction perpendicular to the rotation axis between a respective rest position, in which the tool is radially spaced from the rotation axis by a first distance, and a working position, in which the tool is gripped on the tubular component and is spaced from the rotation axis by a second distance, smaller than the first.

The method includes a step of gripping the tubular component by applying a gripping force to the tubular component.

Advantageously, the gripping force includes at least one component along the axial direction, having a gripping direction, entering towards the spindle.

According to one aspect of the present disclosure, the present invention provides a method for centering a tubular component in a cutting machine.

The method comprises a step of providing a rotating ring on which are mounted a plurality of abutment doors, each including a abutment element (which may include a guide blade and a abutment roller), arranged at a first end of the door, and a plate, arranged at the opposite end to that in which the abutment element is located. The method comprises a step of providing a plurality of engagement actuators, each including a respective engagement element. The method comprises a step of rotating the circular ring with the abutment doors dragged therein.

The method comprises a step of engaging the plate of each stop door onto a corresponding engaging element of a respective engaging actuator.

The method comprises a phase of opening the contact doors, by moving the contact doors along a radial direction perpendicular to the rotation axis and in a direction oriented outward from the rotation axis.

The method comprises a door recall phase, by moving the contact doors along a radial direction perpendicular to the axis and in a direction oriented towards the rotation axis, so as to bring the contact element into contact with the tubular component.

The method involves a step of moving back the engagement elements along the radial direction away from the rotation axis, to allow free rotation of a rotating group including the contact doors and the circular crown.

According to one aspect of the present disclosure, the present invention provides a method for cutting a tubular component with a laser cutting machine.

The method comprises a phase of preparing a working group comprising a laser emitter and a detection group, including at least one sensor.

The method includes a phase of moving the laser emitter along a radial direction, perpendicular to the axial direction, towards and away from the tubular component.

The method comprises a step of emitting a shear wave towards the tubular component via the laser emitter.

The method comprises a step of detecting a detection signal, representative of a distance along a detection direction of said at least one sensor from the tubular component and/or a position of the tubular component relative to the cutting device.

The method provides that, preferably, in the laser emitter movement phase, said detection group moves in conjunction with the laser emitter along the axial direction, to carry out a detection in correspondence with the axial coordinate in which the cutting device operates.

Advantageously, the detection phase of the detection signal is performed before the laser wave emission phase.

The method for cutting also includes a gripping step, according to one or more of the steps included in the method for gripping a tubular component during a cut, and a centering step, according to one or more of the steps included in the method for centering a tubular component during a cut.

This and other features will be further highlighted by the following description of a preferred embodiment, illustrated purely by way of example and not by way of limitation in the attached drawing tables, in which:

- figure 1 schematically illustrates a machine for cutting a tubular component according to the present invention;

- Figures 2A and 2B illustrate a first and second perspective view of a gripping group of the machine of Figure 1;

- Figures 3A and 3B illustrate a detail of a plurality of gripping tools of the gripping group of Figure 2A and a schematic view of a plurality of positions of an example of the kinematic mechanism of said plurality of tools, respectively;

- Figure 4 illustrates a side section of the gripping group of Figure 2A; - Figures 5A and 5B illustrate a side view and a perspective view of a working group of the machine of Figure 1, respectively;

- Figures 6A and 6B illustrate a perspective view of a first configuration and a second configuration of a sensing group of the working group of Figure 5A, respectively;

- Figure 6C illustrates a further embodiment of the working group of Figure 6A;

- Figure 7A illustrates a front view of a centering group of the machine of Figure 1;

- Figure 7B illustrates a detail of a clutch actuator of the centering group of Figure 6A.

With reference to the attached figures, reference 1000 indicates a machine for cutting a tubular component C, preferably using a laser cutter.

Machine 1000 includes a gripping unit 1, configured to grip component C during processing. Machine 1000 includes a centering unit 2, configured to keep component C centered during processing. Machine 1000 includes a work unit 3, configured to perform cutting on component C. Machine 1000 includes a base 1001, resting on the ground to support machine 1000. Machine 1000 includes a gripping guide 1002, positioned above base 1001 and configured to slide gripping unit 1 along an axial direction A. Machine 1000 includes a work guide 1003, configured to slide work unit 3 along an axial direction A. Machine 1000 includes a control unit 4, configured to receive and send control signals, to control the components of the cutting machine during cutting processing.

During machining, component C can be rotated around a rotation axis A1, parallel to the axial direction A.

An exemplary embodiment of the socket group 1 will be described below, without thereby limiting the scope of protection to said example.

The gripper assembly 1 comprises a gripper spindle 10. The gripper spindle 10 is rotatable about the rotation axis A1. The suction spindle 10 comprises a shaft 101, which extends between a first end 101A and a second end 101B. The first end 101A of the shaft 101 faces, in use, directly onto the component C. Preferably, the shaft 101 is a hollow shaft, having an internal volume. In one embodiment, the shaft 101 has a rectangular cross-section. This allows it to transmit a torque that it also receives to other components keyed onto it. In one embodiment, the shaft 101 comprises a discharge hole 101C, which is open onto a suction manifold 12 of the gripper assembly 1, to receive the waste and machining chips resulting from cutting.

In more detail, the intake manifold 12 comprises a first wall 121 and a second wall 122, parallel to each other and perpendicular to the axial direction A. The intake manifold comprises lateral walls (not illustrated in the figure to show the internal components), which define a suction volume. The lateral walls comprise a suction opening 123, on which is mounted, for example, a flexible hose connected to a suction machine. Each of said first and second walls 121, 122 comprise a respective support hole 121A, 122A.

The gripper mandrel 10 includes a first disc 102, which is configured to be seated in the bearing bore 121A of the first wall 121 of the intake manifold 12. The gripper mandrel 10 includes a second disc 103, which is configured to be seated in the bearing bore 122A of the second wall 122 of the intake manifold 12.

We note that said first disc 102 and said second disc 103 are coupled with the respective support holes 121A, 122A so that they can rotate freely with respect to the latter, for example, by means of rolling bearings.

This allows the spindle 10 to rotate freely relative to the intake manifold.

Each of said first disc 102 and second disc 103 comprise: - a respective central hole 102A, 103A, which is crossed by the shaft 101 and which therefore has a section complementary to that of the shaft to define a shape coupling;

- a respective plurality of circumferential holes 102B, 103B (e.g. four circumferential holes), angularly spaced around the central hole. Each hole of said plurality of circumferential holes 102B (of the first disk 102) is aligned along the axial direction A with a corresponding hole of the plurality of circumferential holes 103B (of the second disk 103).

Furthermore, the first disc 102 comprises a drive portion 102T, misaligned with the bearing hole 121A along the axial direction A and configured to receive a driving power and transmit it to the shaft 101. The drive portion 102T could also be defined by a separate disc (to define a third disc 102T). According to an embodiment, the drive portion 102T has a cylindrical drive surface, on which a belt driven by an actuator engages.

In this regard, we note that the gripping group 1 comprises a rotary actuator 11, configured to rotate the spindle 10. For example, the rotary actuator 11 comprises a drive belt, which engages with the drive portion 102T of the first disc 102, so as to rotate the entire spindle 10.

The gripping group 1 comprises a plurality of gripping tools 13, each including a first end 13A, connected to the gripping spindle 10, and a second end 13B, free and opposite to the first end 13A along the axial direction A.

The tools 13 of said plurality being movable towards and away from each other along a radial direction R, perpendicular to the axis of rotation A1.

Each tool 13 is movable between a respective rest position PR, in which the tool 13 is radially spaced from the rotation axis A1 by a first distance D1, D1?, and a working position PL, in which the tool 13 is gripped on the tubular component C and is spaced from the rotation axis A1 by a second distance D2, D2?, less than the first D1, D1?.

Each tool 13 is configured to exert a gripping force FP on the tubular component including at least one component along the axial direction A, having a gripping direction V1, entering towards the mandrel 10.

The gripping assembly 1 comprises a gripping actuator 14, configured to move said plurality of tools 13 along the radial direction. In the specific example illustrated, said gripping actuator is a linear actuator 14. The linear actuator 14 rotates integrally with the gripping spindle 10. The linear actuator comprises a piston 141 and a cylinder 142. In particular, the shaft 101 is connected to the cylinder 142 of the linear actuator, in particular the second end 101B of the shaft 101 is connected to the cylinder 142. The cylinder 142 comprises a first bottom wall 1421 and a second bottom wall 1422. The second end 101B of the shaft 101 is connected to the second bottom wall 1422 of the cylinder 142.

Each of said first bottom wall 1421 and second bottom wall 1422 include a corresponding plurality of circumferential holes 1421A, 1422A. Each hole of said plurality of circumferential holes 1421A (of the first bottom wall 1421) is aligned along the axial direction A with a corresponding hole of the plurality of circumferential holes 1422A (of the second bottom wall 1422).

Furthermore, each circumferential hole of the first bottom wall 1421 is aligned with a corresponding circumferential hole of the second bottom wall 1422, of the first disk 102 and of the second disk 103 to define a passage that, starting from the cylinder, reaches the first end 101A of the shaft 101.

The number of circumferential holes obtained on the first disc 102, on the second disc 103, on the first bottom wall 1421 and on the second bottom wall 1422 defines the number of gripping tools 13 that can be implemented on the gripping group 13 since, for each hole, it is possible to move and control a corresponding gripping tool 13.

The piston 141 of the linear actuator 14 is movable along the axial direction A between a first limit position (also defined in the text as the start position), which corresponds to the rest position PR of the gripping tools 13, and a second limit position (also defined in the text as the stop position), which corresponds to the working position PL of the gripping tools 13. It cannot be clearly excluded that, if the resistance to deformation of the component C exceeds the force of the gripping actuator 14, the second limit position of the piston 141 is not reached even if, to all intents and purposes, the tools 13 are in the working position PL because they grip the component efficiently.

The piston 141 comprises a respective plurality of circumferential holes 1411, in a number equal to those obtained on the first bottom wall 1421 and/or on the second bottom wall 1422 of the cylinder 142.

In particular, each gripping tool 13 is connected to the piston 141 at a respective circumferential hole of said plurality 1411. According to one aspect of the present disclosure, each gripping tool 13 is connected to the piston 141 via an adjustable connection, which allows for adjustment of the position of the tool 13 relative to the piston 141 along the axial direction A. Specifically, according to an exemplary embodiment, each gripping tool 13 is connected to the piston 141 via a coupling that allows for rotation of the tool 13 relative to the piston but instead constrains the tool 13 to move along the axial direction A in a manner constrained by the piston 141.

In the following, a gripping tool 13 will be described, intending in this way to extend these characteristics also to the other gripping tools 13 of said plurality 13.

The gripping tool 13 comprises a contact element 131, configured to contact the tubular component. The contact element 131 has a main development axis L1 which, in the gripping position PR of the respective gripping tool 13, converges in the direction with the rotation axis A1 in the gripping direction V1. According to one embodiment, the contact element 131 is defined by a U-shaped body. In this case, the longitudinal axis L1 is the development axis of the part of the U-shaped body that comes into contact with the component C.

The gripping tool comprises a first hinge 132. The contact element 131 of the gripping tool 13 is connected to the shaft 101 by means of the first hinge 132.

The gripping tool includes a second hinge 133.

The gripping tool comprises a transmission group 134, configured to transfer a movement of the piston 141 to the contact element 131 of the gripping tool. The transmission group 134 is connected to the contact element 131 via the second hinge 133. In particular, the thrust received by the transmission group 134 acts on the second hinge 133, generating a force that determines a rotation of the contact element 131 with respect to the first hinge 132 around a respective tangential axis, perpendicular to the rotation axis A1 and to the radial direction R. This rotation of the contact element 131 allows the contact element 131 itself to be brought radially closer to the rotation axis A1 with a circular trajectory, which, once a certain rotation angle has been exceeded, determines a gripping force FP having the axial component directed in the gripping direction V1.

The transmission group 134 comprises an actuation rod 1341, movable along the axial direction A (at least) as a result of a movement of the piston 141. The movement of each actuation rod 1341 determines a corresponding rotation of the respective contact element 131 around the corresponding first hinge 132. In particular, the transmission group 134 comprises, for each actuation rod, a respective connecting rod 1342, interposed between the second hinge 133 and the actuation rod 1341, to transform the translation of the actuation rod 1341 into a tangential thrust which determines the rotation of the contact element 131.

The transmission group 134 comprises, for each actuating rod 1341, a respective sliding guide 1343 and a respective rolling element 1344, which slides inside the sliding guide 1343. The rolling element 1344 is connected to a first end 1341A of the actuating rod 1341, to allow easier translation of the actuating rod 1341 inside the sliding guide 1343.

The sliding guide 1343 is obtained on the external surface of the shaft 101. The actuating rod 1341 is inserted inside a respective circumferential hole of the first disk 102 and inside a respective circumferential hole of the second disk 103.

The transmission group 134 comprises an adjustment pin 1345. The adjustment pin 1345 is coaxial with the respective actuating rod 1341. More generally, at least a part of the adjustment pin (optionally not coaxial with the other parts of the adjustment pin 1345) is coaxial with at least a part of the actuating rod 1341 (optionally not coaxial with the other parts of the adjustment pin 1341). Preferably, the adjustment pin 1345 is inserted inside a respective circumferential hole of the first bottom wall 1421, inside a respective circumferential hole of the second bottom wall 1422 and inside a respective circumferential hole of the piston 141, inside which it is free to rotate around its axis.

For example, in one embodiment, the adjustment pin 1345 could be external to the linear actuator 14 and misaligned from the latter along an axial direction. In this embodiment, the actuation rod comprises a first portion and a second portion, hinged to each other. To move the actuation rod thus constructed, the adjustment pin comprises a first portion and a second portion, hinged to each other by means of a universal joint. The first portion is directed along the axial direction while the second portion is coaxial with the second portion of the actuation rod to transfer the motion received from the adjustment actuator.

The adjustment pin 1345 and the respective actuating rod 1341 are connected to each other via a screw-nut connection, so that a rotation of the adjustment pin 1345 around its axis causes a translation of the actuating rod 1341 along the axial direction A and, therefore, a rotation of the contact element 131.

Obviously, it is possible to provide the screw on the adjustment pin 1345 and the threaded seat on the operating rod 1341 or vice versa.

This feature allows the mutual position (between piston 141 and actuating rod 1341) to be adjusted along the axial direction A by means of mutual rotation between adjustment pin 1345 and the respective actuating rod 1341, while maintaining the possibility of actuating the tool 13 with a push of the piston 141 directed along the axial direction A. This type of connection allows the rest position PR of each gripping tool 13 to be changed, so that, following the movement carried out by the linear actuator 14, the working position PL is closer to the rotation axis A1 and, therefore, more suitable for components C with smaller diameters. Obviously, the reverse is true to obtain grips on components with larger diameters.

In other words, in the absence of an adjustment of this type, the first distance D1 and the second distance D2 would always be the same. Instead, by varying the rest position PR of the gripping elements, a first adjusted distance D1? and a second adjusted distance D2? are defined, adaptable to the component C. We observe that the difference between the first distance D1 and the second distance D2? can be equal to or different from the difference between the first adjusted distance D1? and the second adjusted distance D2?.

The adjustment pin 1345 (the gripping tool 13 more generally) includes, at one end thereof, a coupling element 1345A, configured to couple with a corresponding actuator, to receive a rotation.

The gripping assembly 1 comprises an adjustment assembly 15. The adjustment assembly comprises an adjustment actuator 151, for example a rotary electric motor. The adjustment assembly 15 comprises an adjustment key 152, configured to mate with a coupling element 1345A of a gripping tool 13. For example, but not limited to, the coupling element 1345A of a gripping tool 13 is a bolt having its own profile and the adjustment key 152 is configured to receive the bolt inside it, so that its rotation causes a rotation of the adjustment pin 1345 (and, more generally, a radial movement of the contact element 131 of the gripping tool 13). Preferably, the coupling element 1345A is a conical female element, i.e. with a diameter decreasing in the inward direction. This allows for greater ease of insertion of a 152 adjustment key and a greater grip, free of play, as the axial insertion of the adjustment key increases.

We note that, according to one embodiment, it is possible for the adjustment key 152 to be a female element, i.e. hollow, preferably with cavities whose diameter increases in the direction of insertion, while the coupling element 1345A is a key (i.e. a bolt, or a male profile without cavities) also preferably provided with a conical external surface, so as to define a diameter of the coupling element 1345A that increases in the direction of insertion.

The adjustment key 152 is movable between a gripping position, in which it engages the coupling element 1345A, and a rest position, in which it is spaced from the coupling element 1345A which can therefore rotate integrally with the gripping spindle 10.

In one embodiment, the adjustment group 15 is configured to selectively adjust the axial position of each gripping tool 13 (i.e., the corresponding drive rod 1341).

To achieve this technical effect, at least three approaches can be used. According to a first approach, the adjustment group 15 comprises a selection actuator, configured to move the adjustment key 152 on a plane perpendicular to the axial direction A, so as to bring the adjustment key 152 into axial alignment with the coupling element 1345A of each gripping tool 13.

In a second approach, the adjustment key 152 is fixed relative to the gripping spindle 10, which rotates to bring each coupling element 1345A into axial alignment with the adjustment key 152, one at a time.

Finally, according to a third embodiment, the adjustment group 15 comprises a plurality of adjustment keys 152, each dedicated to a respective coupling element 1345A. In this embodiment, an electric motor could be provided for each adjustment key 152 or a selective coupling of each adjustment key 152 with a single electric motor.

These characteristics allow for working positions PL of the gripping tools 13 with the relative second distances D2, D2? which are different from each other and which, therefore, determine contact points with the component C which are not equidistant from the rotation axis and, therefore, also suitable for non-axisymmetric bodies.

The gripping assembly 1 includes a sensing assembly component 16. The sensing assembly component 16 includes an activating element 161. For example, the activating element is a sensing plate 161, which is hinged to the first end 101A of the shaft 101, so that when the component C abuts the first end 101A of the shaft 101, the latter exerts a force on the sensing plate 161, which rotates about the hinge that connects it to the shaft 101. The sensing plate 161 includes a contact end 161A, which changes one of its axial coordinates as a result of a rotation of the sensing plate 161. The sensing assembly component 16 includes a contact sensor, configured to detect a movement of the first end 101A. of contact 161A which highlights the fact that component C has reached the stop on shaft 101. Said contact sensor is configured to generate a presence signal, representative of the presence of the tubular component in the gripping area, i.e. in response to the detection of the movement of the contact end 161A. The contact sensor (not shown in the figures) is positioned on the gripping spindle 10, in a position interposed between a gripping tool 13 and the gripping tool which follows it along the circumferential direction.

This contact sensor is configured to send the presence signal to the control unit 4 of the 1000 cutting machine.

Preferably, the grip actuator 14 is configured to receive an enable signal from said control unit 4, to enable or inhibit its actuation based on the presence signal.

In one embodiment, the component sensing assembly 16 comprises at least one further activating element 161? (i.e. an additional sensing plate 161?) with a related sensor, spaced angularly from the activating element by an angle of 180 degrees. This allows for certainty that in any position the workpiece is gripped, at least one activating element is touched and rotated accordingly.

The gripping group 1 comprises a calibration group 17, configured to detect the reaching of a reference position by each gripping tool 13. In particular, and specifically in the example illustrated, the calibration group 17 is configured to detect the reaching of a reference axial position by the coupling element 1345A.

The calibration group 17 is configured to send a zero-setting signal to the control unit 4, to associate a coordinate corresponding to the reference position with the respective gripping tool 13, i.e. the zero coordinate which, after several operations, could be conditioned by various errors.

The centering group 2 is arranged, along the rotation axis A1, between the working group 3 and the gripping group 1.

The centering assembly 2 comprises a rotating assembly 21, configured to rotate about the rotation axis A1. The centering assembly 2 comprises a rotation actuator 23, configured to rotate the rotating assembly 21 of the centering assembly 2.

In particular, the rotating assembly 21 comprises a circular crown 211, defining a central opening AC. In use, the tubular component C passes through the central opening.

The rotating assembly 21 comprises a plurality of contact doors 212. The contact doors 212 are angularly spaced (preferably evenly) around the rotation axis A1. Each of said contact doors 212 is configured to contact a respective wall of the tubular component C, which is therefore inserted between the contact doors 212. The contact doors 212 are movable along the radial direction R between a contact position, in which they are in contact with the component C, and a retracted position, in which they are retracted to allow insertion of the tubular component C.

In this regard, each of said doors 212 comprises a respective plate 2121. Each of said doors 212 comprises a respective abutment element 2122. The plate 2121 and the abutment element 2122 are arranged at two opposite ends of the abutment door 212 along the radial direction.

In one embodiment, each contact element 2122 comprises a respective guide blade 2122A, configured to constitute a guide for the component passing through the central opening AC, and a respective contact roller 2122B, configured to detect the component during machining and to allow its axial sliding with respect to the centering group 2.

For each stop door 212, the rotating assembly 21 comprises a respective return element 213, configured to exert a return force on the stop door 212 oriented towards the rotation axis A1. Preferably, the return element is a cup spring. The return element 213 is connected to the respective stop door 212 (to the return element 2122 and to the plate 2121 which are mutually constrained to move along the radial direction R). The return element 213 is connected to the circular crown 211.

The return member 213 is configured to return the respective return door 212 from the retracted position to the return position.

For each stop door 212, the centering group 2 comprises a respective engagement actuator 22. In particular, therefore, there are a plurality of engagement actuators 22, which are preferably spaced angularly around the rotation axis A1, so that they can be aligned with the respective stop door 212 that they are intended to actuate. In particular, according to a preferred embodiment, the angular spacing between one stop door 212 and the next is equal to the angular spacing between one engagement actuator 22 and the next, so that the engagement actuators 22 are able to simultaneously actuate all the stop doors 212.

Each of said engagement actuators 22 comprises a engagement element 221. The engagement element 221 is configured to engage (engage, connect) with a plate 2121 of a respective stop door 212, so that it can be moved along the radial direction R.

In a preferred embodiment, the engagement element comprises a base wall, 221A connected to a piston rod of the corresponding engagement actuator, two side walls 221B, which extend along the radial direction R starting from the base wall 221A, and two abutment walls 221C, which are perpendicular to the radial direction R and are spaced apart from each other by a passage light, having a value such as to allow the passage of a rod of the plate 2121. Therefore, in this configuration, the engagement element 221 defines a "C"-shaped body.

Therefore, the engagement element 221 of each engagement actuator 22 is movable between a coupling position, in which it has a first radial distance from the rotation axis A1, and an opening position, in which it has a second distance from the rotation axis A1, greater than the first distance. In more detail, in the coupling position, the engagement element 221 is interfering with a circular trajectory defined by the rotation of the plates 2121 around the rotation axis A1 (with the stop doors 212 in the stop position). Precisely by virtue of this interference, the plate 2121 of each stop door 212 is inserted into the corresponding engagement element 221. This insertion is performed trivially by phasing, or radially aligning, the engagement actuator 22 (in its engaged position) and the corresponding plate 2121 (in the contact position of the contact door 212). Instead, in the open position, the engagement element 221 is spaced by a circular trajectory defined by the rotation of the plates 2121 around the rotation axis A1 (with contact doors 212 in the contact position). In this way, during operations, the rotation of the rotating group 21 does not touch the engagement actuators 22.

Once all the plates 2121 have been inserted into their respective engagement elements 221, each engagement element is brought to the open position. This allows the section of the central opening to be increased, to allow the insertion of component C. Once component C has been inserted into the central opening AC, each engagement actuator 22 is released, allowing each recall element 213 to return the stop door 212 to its stop position (in contact with component C). Clearly, the stop position may vary radially based on the diameter of component C. Once the stop elements 2122 have come into contact with component C, the rotating group 21 is rotated, radially misaligning the plates 2121 from the respective engagement elements 221 and thus causing them to disengage.

Finally, the clutch elements 221 are returned to the open position to prevent them from interfering with the doors 212 which rotate during operations on component C.

Workgroup 3 is configured to perform a laser cut on component C. To do this it is movable along the axial direction A, to move along the axial coordinate of component C.

The workgroup comprises a cutting device, configured to precisely perform the laser cut on the component. The cutting device comprises a laser head 31, configured to emit an electromagnetic wave with a variable power that can be set via the control unit 4.

Furthermore, the cutting device (at least the laser head 31) is movable along a vertical direction V, perpendicular to the axial direction A, towards and away from the component C, so that it can position itself at a focus distance that allows it to carry out the cutting accurately and precisely.

Furthermore, the cutting device (at least the laser head 31) is movable along a transverse direction T, perpendicular to the axial direction A and to the vertical direction V, in order to be able to possibly create complex cutting profiles on the tubes as well as to perform transverse cuts to separate the component C into two separate pieces.

It is possible to envisage an embodiment in which the laser head 31 (the cutting device) is locally movable along the axial direction A with respect to the working group 3 as a whole, to perform adjustments of the axial position without requiring the movement of the entire working group 3.

Working group 3 includes a survey group 32.

In the illustrated exemplary embodiment, the working assembly 3 includes a first sensor 321, configured to detect a first detection signal representative of a distance along a first detection direction DR1 of said first sensor 321 from the tubular component C. The working assembly 3 includes a second sensor 322, configured to detect a second detection signal representative of a distance along a second detection direction DR2 of said second sensor 322 from the tubular component C. The working assembly 3 includes a third sensor 323, configured to detect a third detection signal representative of a distance along a third detection direction DR3 of said third sensor 323 from the tubular component C.

However, we have seen how a solution is possible with a single sensor (for example a camera) that is able to detect a detection signal that is already representative of a position of the tubular component C with respect to the cutting device 31.

The first sensor 321, the second sensor 322 and/or the third sensor 323 are distance sensors, for example photocells, optical sensors and/or laser sensors. Advantageously, said detection group 32 is movable in conjunction with the cutting device (with the laser head 31) along the axial direction A, to carry out a detection in correspondence with the axial coordinate in which the laser head 31 operates.

In particular, according to a particularly advantageous aspect, the detection group 32 is configured to detect the detection signals before the processing is performed and not simultaneously.

The detection group 32 comprises a shell 324, configured to house the first, second and third sensors 321, 322, 323. The shell 324 comprises a housing base 324A (first door), in which the first, second and third sensors 321, 322, 323 are arranged. The shell 324 comprises a covering element 324B (second door), arranged, along the axial direction A, in overlap with the housing base 324A, so as to cover the sensors that are arranged therein.

The housing base 324A includes a first sensing hole 3241, aligned along the first sensing direction DR1 with the first sensor 321. The housing base 324A includes a second sensing hole 3242, aligned along the second sensing direction DR2 with the second sensor 322. The housing base 324A includes a third sensing hole 3243, aligned along the third sensing direction DR3 with the third sensor 323.

Preferably, the first detection direction DR1 is parallel to the vertical direction V, in order to be able to detect a vertical distance of the component C from the laser head 31. Preferably, the second detection direction DR2 and the third detection direction DR3 are coincident and parallel to the transverse direction T, in order to be able to detect a distance on the two transverse sides of the component C from the second and third sensors 322, 323, thus being able to perfectly locate the component C with respect to the rotation axis A1.

Therefore, the control unit 4 is configured to receive the first, second and/or third detection signal from the detection group 32. The control unit 4 is configured to generate a command signal as a function of the first, second and/or third detection signal and to send the command signal to the laser head 31 to command its movement with respect to the component C. In fact, the control unit 4, knowing the transverse distances of the component C from the second and third sensors 322, 323, is able to derive a transverse position of the component C.

In one embodiment, the shell 324 is movable between a sensing configuration CFR, wherein the housing base 324A and the cover element 324B are spaced apart from each other by a first distance along a switching direction, preferably parallel to the axial direction A, and a working configuration CL, wherein the housing base 324A and the cover element 324B are spaced apart from each other by a second distance along the switching direction.

The first distance is greater than the second distance. In the CFR sensing configuration, the first, second and/or third sensing hole 3241, 3242 are misaligned with the cover element 324B along the first sensing direction DR1, the second sensing direction DR2 and the third sensing direction DR3, respectively. In this way, each of said first, second and third sensors 321, 322, 323 are able to detect the distance from the component C. In the CFL working configuration, the first, second and/or third sensing hole 3241, 3242 are aligned with the cover element 324B along the first sensing direction DR1, the second sensing direction DR2 and the third sensing direction DR3, respectively, to prevent any processing residues from damaging the first, second or third sensors 321, 322, 323.

The housing base 324A, in one embodiment, is made with a semicircular shape, including a facing surface SAFF, which faces the component and on which the first, second and/or third detection holes 3241, 3242, 3243 are obtained. In this embodiment, the cover element 324B has the shape of a semicircular plate, having the same radius of curvature as the housing base 324A. The semicircular plate includes a respective first, second and third opening 3241?, 3242?, 3243?. The semicircular plate 324B is movable with respect to the housing base 324A by rotation around a spaced axis of the respective radius of curvature, so as to always remain adherent to the facing surface SAFF.

In this embodiment, in the CFR sensing configuration, the first, second and/or third sensing holes 3241, 3242, 4243 are radially aligned with the first, second and third ports 3241?, 3242?, 3243? of the semicircular plate 324B, which allows access to the component for hole alignments. Instead, in the CFL working configuration, the first, second and/or third sensing holes 3241, 3242, 4243 are radially misaligned with the first, second and third ports 3241?, 3242?, 3243? of the semicircular plate 324B, so that dirt cannot penetrate the internal volume of the housing base 324A. In this embodiment, switching from the CFR detection configuration to the CFL working configuration is performed by a slight rotation (corresponding to an arc having an extension greater than the circumferential extension of the detection holes and the lights) in a first direction, and vice versa in a second direction opposite to the first to switch from the CFL working configuration to the CFR detection configuration.

the cover element 324B along the first detection direction DR1, the second detection direction DR2 and the third detection direction DR3, respectively. In this way, each of said first, second and third sensors 321, 322, 323 are able to detect the distance from the component C. In the working configuration CFL, the first, second and/or third detection hole 3241, 3242 are aligned with the cover element 324B along the first detection direction DR1, the second detection direction DR2 and the third detection direction DR3, respectively, to prevent any processing residues from damaging the first, second or third sensors 321, 322, 323.

The sensing assembly 32 includes a switching actuator 325, configured to switch the shell between the CFR sensing configuration and the CFL working configuration.

Therefore, the working group plans to implement a working method that includes:

- bring shell 324 into CFR detection configuration;

- perform a distance measurement of each sensor 321, 322, 323 from the respective side of component C;

- derive, on the basis of the measurement performed, a vertical position of the laser head and/or a transverse position of component C;

- generate command signals based on the derived vertical position and the derived transverse position of the component;

- bring the shell into CFL working configuration;

- send control signals to laser head 31 to instruct it to perform the cutting (machining) on component C.

Therefore, cutting and detection are preferably performed at two successive moments in time.

Claims (14)

1. Workgroup (3) for a laser cutting machine (1000) for cutting a tubular component (C) comprising: - a cutting device (31), comprising a laser emitter, configured to emit a cutting wave towards the tubular component (C) and movable along an axial direction (A) to move along the tubular component (C); - a control unit (4), configured to control a movement of the cutting device (31), characterized in that the working group (3) comprises a detection group (32), including at least one sensor (321, 322, 323), configured to detect a detection signal, representative of: - a distance along a detection direction (DR1, DR2, DR3) of said at least one sensor (321, 322, 323) from the tubular component (C) and/or - a position of the tubular component (C) relative to the cutting device (31), and in which the detection group (32) is movable in conjunction with the cutting device (31) along the axial direction (A), to carry out a detection in correspondence with the axial coordinate in which the cutting device (31) operates. 2. Working group (3) according to claim 1, wherein the control unit (4) is configured to: - receive the detection signal from the detection group (32); - generate a control signal based on the detection signal; - send the control signal to the cutting device (31) to control its movement. 3. Workgroup (3) according to claim 2, wherein said at least one sensor defines a first sensor (321) of the detection group (32), configured to detect a first distance signal, representative of a distance of the first sensor (321) from the tubular component (C) along a first detection direction (DR1), and wherein the detection group (32) comprises a second sensor (322), configured to detect a second distance signal, representative of a distance of the second sensor (322) from the tubular component (C) along a second detection direction (DR2). 4. Working group (3) according to claim 3, wherein the control unit (4) is programmed to derive an actual position of the tubular component (C) based on the first and second distance signals. 5. Working group (3) according to claim 3 or 4, wherein the first and second detection directions (DR1, DR2) are perpendicular to each other. 6. Workgroup (3) according to claim 5, wherein the detection group (3) comprises a detection frame (324), configured to be arranged, in use, around the tubular component (C) and including: - a first detection side, facing, in use, a first side of the tubular component (C) and on which the first sensor (321) is positioned; - a second detection side, facing, in use, a second side of the tubular component (C) and on which the second sensor (322) is positioned, the first detection side and the second detection side being perpendicular to each other. 7. A working assembly (3) according to claim 6, wherein the sensing frame (324) comprises a third sensing side, facing, in use, a third side of the tubular component (C), and wherein the sensing assembly (32) comprises a third sensor (323), configured to detect a third distance signal, representative of a distance along a third sensing direction (DR3) of the third sensor (323) from the tubular component (C), and wherein: - the third direction of detection (DR3) is parallel to the second direction of detection (DR2) and, - the second sensing side is parallel to the third sensing side and, - the third sensor (323) is positioned on the third sensing side. 8. Working group (3) according to any of the preceding claims, wherein the detection group (32) comprises a detection frame, including a shell (324) and a detection hole (3241, 3242, 3243), wherein said at least one sensor (321, 322, 323) is arranged inside the shell (324) and facing the detection hole (3241, 3242, 3243), in order to be able to detect the distance along the detection direction (DR1, DR2, DR3). 9. Working group (3) according to claim 8, wherein the shell (324) comprises a first door (324A), on which the detection hole (3241, 3242, 3243) is made, and a second door (324B), movable towards and away from each other along a switching direction, wherein the shell (324) is switchable between a detection configuration (CFR), wherein the first door (324A) and the second door (324B) are spaced apart from each other by a first distance along the switching direction, and a working configuration (CFL), wherein the first door (324A) and the second door (324B) are spaced apart from each other by a second distance along the switching direction, and wherein: - the first distance is greater than the second distance and, - in the detection configuration (CFR), the detection hole (3241, 3242, 3243) is misaligned with the second door (324B) along the detection direction (DR1, DR2, DR3) and, - in the working configuration (CFL), the detection hole (3421, 3242, 3243) is aligned with the second door (324B) along the detection direction (DR1, DR2, DR3), to prevent any processing residues from damaging said at least one sensor (321, 322, 323). 10. Machine according to claim 9, wherein the first door (324A) and the second door (324B) are configured to translate relative to each other along the switching direction. 11. Laser cutting machine (1000) for cutting a tubular component (C) comprising: - a gripping group (1), configured to grip and rotate the tubular component (C); - a working group (3) according to any of the preceding claims. 12. Machine (1000) according to claim 11, wherein the gripping group (1) comprises: - a gripping mandrel (10), configured to rotate around a respective rotation axis (A1) and to rotate the tubular component (C); - a rotary actuator (11), configured to rotate the gripping spindle (10); - a plurality of gripping tools (13), each including a first end, connected to the gripping spindle, and a second end, free and opposite to the first end along an axial direction (A) parallel to the rotation axis (A1), the gripping tools (13) of said plurality being movable towards and away from each other along a radial direction perpendicular to the rotation axis between a respective rest position (PR), in which the gripping tool (13) is radially spaced from the rotation axis by a first distance (D1, D1?), and a working position (PL), in which the gripping tool (13) is gripping the tubular component (C) and is spaced from the rotation axis (A1) by a second distance (D2, D2?), less than the first distance (D1, D1?), - a gripping actuator (14), configured to move said plurality of tools (13) between the rest position (PR) and the working position (PL); characterised in that each gripping tool (13) is configured to exert a gripping force (FP) on the tubular component including at least one component along the axial direction (A), having a gripping direction (V1), entering towards the gripping spindle (10). 13. Method of cutting a tubular component (C) with a laser cutting machine (1000), the method comprising the following steps: - preparation of a working group (3) comprising a cutting device (31) and a detection group (32), including at least one sensor (321, 322, 323); - movement of the cutting device (31) along a radial direction (R), perpendicular to the axial direction (A), towards and away from the tubular component (C); - emission of a shear wave towards the tubular component (C) via the cutting device (31); - via the detection group (32), detection of a detection signal, representative of: - a distance along a detection direction (DR1, DR2, DR3) of said at least one sensor (321, 322, 323) from the tubular component (c) and/or - a position of the tubular component (C) with respect to the cutting device (31), and in which, in the movement phase of the cutting device (31), said detection group (32) moves in solidarity with the cutting device (31) along the axial direction (A), to carry out a detection in correspondence with the axial coordinate in which the cutting device (31) operates. 14. The method of claim 13, wherein the step of detecting the detection signal is performed prior to the step of emitting the shear wave.