METHOD OF LASER PROCESSING OF A METALLIC MATERIAL WITH OPTICAL AXIS POSITION CONTROL OF THE LASER RELATIVE TO AN ASSIST GAS FLOW, AND A MACHINE AND COMPUTER PROGRAM FOR THE IMPLEMENTATION OF SAID METHOD

Abstract

A method of laser processing of a metallic material is described, by means of a focused laser beam having a predetermined transverse power distribution on at least one working plane of the metallic material, comprising the steps of: providing a laser beam emitting source; leading the laser beam along a beam transport optical path to a working head arranged in proximity to the material; collimating the laser beam along an optical axis of propagation incident on the material; focusing the collimated laser beam in an area of a working plane of the material; and conducting the focused laser beam along a working path on the metallic material comprising a succession of working areas, wherein the laser beam is shaped: by reflecting the collimated beam by means of a deformable, controlled surface reflecting element having a plurality of independently movable reflection areas, and by controlling the arrangement of the reflection areas to establish a predetermined transverse power distribution of the beam on at least one working plane of the metallic material as a function of the area of the current working plane and/or of the current direction of the working path on the metallic material.

Claims

1. A method of laser processing of a metallic material, in particular for laser cutting, drilling or welding of said material, by means of a focused laser beam having a predetermined transverse power distribution on at least one working plane of the metallic material, comprising the steps of: providing a laser beam emitting source; leading the laser beam emitted by said emitting source along a beam transport optical path to a working head arranged in proximity to said metallic material; collimating the laser beam along an optical axis of propagation incident on the metallic material; focusing said collimated laser beam in an area of a working plane of said metallic material; and conducting said focused laser beam along a working path on the metallic material comprising a succession of working areas, wherein the method comprises shaping the laser beam, wherein shaping the laser beam comprises: reflecting said collimated beam by means of a deformable controlled surface reflecting element having a reflecting surface with a continuous curvature including a plurality of independently movable reflection areas, and controlling the arrangement of said reflection areas to establish a predetermined transverse power distribution of the beam on at least one working plane of the metallic material as a function of the area of the current working plane and/or the current direction of the working path on the metallic material.

2. The method according to claim 1, comprising the steps of: delivering a flow of assist gas towards said area of the working plane of the metallic material along an axis of the assist gas flow, and controlling the arrangement of said reflection areas to establish said predetermined transverse power distribution of the beam in an area of the working plane on the metallic material comprised in a predetermined neighborhood around the axis of the assist gas flow and within a delivering area of said flow.

3. The method according to claim 1, wherein controlling the arrangement of said reflection areas of the controlled surface reflecting element comprises controlling a combination of moves of said areas with respect to a reflecting reference flat surface.

4. The method according to claim 3, wherein controlling a combination of moves of said reflection areas of the controlled surface reflecting element comprises controlling the translation movement of said areas along the optical axis of the reflecting element and/or the rotation of said areas to obtain an inclination with respect to the optical axis of the reflecting element.

5. The method according to claim 2, comprising the relative translation of the axis of the assist gas flow along a predetermined working path on the metallic material, the detection of the current position and/or of the direction of the current translation of the axis of the assist gas flow, and the automatic adjustment of the position of the optical axis of propagation of the laser beam as a function of the detected current position and/or of the detected current translation direction of the axis of the assist gas flow.

6. The method according to claim 2, comprising the relative translation of the axis of the assist gas flow along a predetermined working path on the metallic material, the detection of the current position and/or the detection of the current direction of translation of the axis of the assist gas flow, and the automatic control of the transverse power distribution of the laser beam as a function of the detected current position and/or of the detected current direction of translation of the axis of the assist gas flow.

7. The method according to claim 5, wherein the automatic adjustment of the position of the optical axis of propagation of the laser beam as a function of the detected current position and/or of the detected current direction of translation of the axis of the assist gas flow is performed by reference to a predetermined adjustment pattern or program.

8. The method according to claim 6, wherein the automatic control of the transverse power distribution of the laser beam as a function of the detected current position and/or of the detected current direction of translation of the axis of the assist gas flow is performed by reference to a predetermined adjustment pattern or program.

9. The method according to claim 5, wherein the position of the optical axis of propagation of the laser beam is adjusted so as to be alternately in a front area and in a rear area with respect to the current position of the axis of the assist gas flow along the working path during a cutting operation of the metallic material.

10. The method according to claim 5, wherein the position of the optical axis of propagation of the laser beam is adjusted so as to follow a circular path around the current position of the axis of the assist gas flow during a drilling operation of the metallic material.

11. The method according to claim 1, comprising providing a deformable controlled surface reflecting element having a reflecting surface with a continuous curvature including a plurality of independently movable reflection areas by means of a corresponding plurality of movement modules which include a central area and a plurality of ranks of circular crown sectors concentric to said central area.

12. The method according to claim 11, wherein said ranks of concentric circular crown sectors are in number of 6, the circular crown sectors are in number of 8 for each rank, and the height of the circular crown sectors is increasing from the first to the third rank and from the fourth to the sixth rank in the radial direction towards the outside of the reflecting element, the height of the circular crown sectors of the fourth rank being intermediate between the height of the circular crown sectors of the first and second rank.

13. A machine for laser processing of a metallic material, in particular for laser cutting, drilling or welding of said material, by means of a focused laser beam having a predetermined transverse power distribution on at least one working plane of the metallic material, comprising: a laser beam emitting source; means for leading the laser beam emitted by said emitting source along a beam transport optical path to a working head arranged in proximity of said metallic material; optical means for collimating the laser beam along an optical axis of propagation incident on the metallic material; optical means for focusing said collimated laser beam in an area of a working plane of said metallic material, wherein at least said focusing optical means of said collimated laser beam are carried by said working head at a controlled distance from said metallic material; and means for adjusting the distance between said working head and said metallic material, adapted to conduct said focused laser beam along a working path on the metallic material comprising a succession of working areas, optical means for shaping the laser beam including a deformable controlled surface reflecting element having a reflecting surface with a continuous curvature including a plurality of independently movable reflection areas, adapted to reflect said collimated laser beam, the arrangement of said reflection areas being adapted to establish a predetermined transverse power distribution of the beam on at least one working plane of the metallic material; and electronic processing and control means arranged to implement a shaping of said laser beam in accordance with the method of laser processing according to claim 1.

14. A computer program comprising one or more code modules for performing a method of shaping a laser beam in a machine for laser processing of a metallic material, in accordance with the method of laser processing according to claim 1, when the program is executed by electronic processing and control means of said machine.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Further features and advantages of the invention will be described in greater detail in the following detailed description of one embodiment thereof, given by way of non-limiting example, with reference to the accompanying drawings wherein:

[0049] FIGS. 1 and 2 are examples of machines for laser processing according to the prior art;

[0050] FIG. 3 shows an example of the structure of a working head of a laser machine according to the prior art;

[0051] FIGS. 4 and 5 show a schematic representation of the shape of a laser beam for applications of industrial processing of metallic materials according to the prior art;

[0052] FIG. 6 is a schematic diagram of an optical path of a laser beam in a working head adapted to perform the method of the invention;

[0053] FIG. 7 is a schematic representation of a controlled surface reflecting element for the shaping of the optical beam for the implementation of the method of the invention;

[0054] FIG. 8 is a block diagram of control electronics of a laser processing machine, adapted to perform a processing method according to the invention; and

[0055] FIG. 9 is a schematic representation of a working example according to the method of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0056] FIGS. 1 through 5 have been previously described with reference to the prior art and their contents are hereby referred to as being common to the manufacture of a processing machine controlled for carrying out a working process according to the teachings of the present invention.

[0057] An optical path of a laser beam in the working head of a machine for the laser processing of metallic materials according to the invention is diagrammed in FIG. 6.

[0058] The optical system of FIG. 6 comprises an input device 100 of a laser beam B, such as e.g. the end of a fiber optic cable or an optical pickup system of a beam propagated by an emitting source along an optical path in free space, from which the laser beam B emerges with a predetermined divergence.

[0059] Downstream of the input device 100, an optical collimation system 120 is arranged, for example a collimation lens (typically a collimation lens for a working head of a laser cutting machine has a focal length from 50 mm to 150 mm), downstream of which the collimated laser beam is conducted to an optical focusing system 140, e.g. a focusing lens (typically a focusing lens for a working head of a laser cutting machine has a focal length from 100 mm to 250 mm), arranged to focus the beam on a working plane Π through a screen or protective glass 160.

[0060] In the optical path between the collimation optical system 120 and the optical focusing system 140, optical beam shaping means 180 are interposed.

[0061] In particular, with reference to the schematization of the optical path of a laser beam shown in FIG. 6, the present invention relates to making optical means 180 for shaping the laser beam and the control of said means for achieving a transverse power distribution of the laser beam in a controlled manner on a predetermined working plane of the material. In the figure, the optical means 180 for shaping the laser beam are shown in an illustrative embodiment wherein they are arranged with their own axis of symmetry at 45° relative to the propagation direction of the beam.

[0062] To this end, the optical means 180 for shaping the laser beam are made as a deformable reflecting element 200 with a controlled surface, comprising a plurality of reflection areas independently movable, as diagrammed in FIG. 7, which, in a rest state, define a reflective surface lying on a reference reflection plane. Said deformable, controlled surface reflecting element 200 provides a continuous foil mirror, the reflective surface of which is modifiable three-dimensionally with respect to the reference flat reflective surface adopted in the rest state. Said deformable, controlled surface reflecting element 200 has a reflective surface with continuous curvature including a plurality of reflection areas with which there is associated posteriorly a corresponding plurality of movement modules shown in the figure with 200a, 200b, . . . and is appropriately treated for the use with high optical power by virtue of the joint use of a highly reflective coating (at least 99%) at the wavelength of the laser beam, and a mounting on a contact holder, cooled with water by direct channeling. The movement modules are integral to the continuous curvature reflective surface and are independently movable. The reflection areas of the reflective surface with continuous curvature have no edges between them, i.e., the overall reflective surface has continuous local derivatives in all directions. The movement of said plurality of movement modules 200a, 200b includes translation movements of the corresponding reflection areas, such as forward or backward movements, relative to the reference flat reflective surface adopted in the rest state or rotational movements of the corresponding reflection areas around an axis parallel to the reference flat reflective surface adopted in the rest state, or even a combination of the same. The deformations of the reflecting surface, i.e. the movements of the movement modules 200a, 200b, are preferably actuated by known piezoelectric techniques, which make it possible to control the movement of the movement modules and the consequent position of the reflection areas, i.e. their modification of position resulting from a combination of movement by translation and/or rotation of each module at a predetermined number of degrees of freedom independently of the others, typically on travels on the order of +/−40 μm, by means of which it is possible to obtain approximations of continuous curvature surfaces defined by combinations of Zernike polynomials, through which it is possible (at least in theory and with sufficient approximation in practice for the desired purposes) to apply an adjustment of the position of the optical propagation axis of the laser beam or more generally a control of the transverse power distribution of the laser beam, according to the objects of the desired processing applications.

[0063] FIG. 7 shows a preferred embodiment of the reflector element 200 with an elliptical profile and the related rear movement modules, adopted for an angle of incidence of the collimated laser beam of 45°, as shown in the diagram of FIG. 6. Such embodiment is to be understood as purely illustrative and non-limiting to the implementation of the invention. In a different preferred embodiment, wherein the incidence of the collimated laser beam is perpendicular or almost perpendicular to the surface of the element 200 in the rest state, the profile of the reflective element 200 is a circular profile.

[0064] In the embodiment of the reflective element with an elliptical profile, the same has a major axis of 38 mm and a minor axis of 27 mm, corresponding to the maximum transverse aperture size of the laser beam incident on the mirror obtainable by the collimation optical system 120.

[0065] Specifically, in a preferred embodiment, said deformable, controlled surface reflecting element 200 includes a plurality of reflection areas independently movable by means of a corresponding plurality of movement modules which comprise a central area and a plurality of ranks of circular crown sectors concentric to said central area. In the currently preferred embodiment, the ranks of concentric circular crown sectors are 6 in number, the circular crown sectors are 8 in number for each rank, and the height of the circular crown sectors increases from the first to the third rank and from the fourth to the sixth rank in the radial direction to the outside of the reflective element. The height of the circular crown sectors of the fourth rank is intermediate between the height of the circular crown sectors of the first and second rank. Preferably, in order to simplify the control structure of the reflecting element 200 as designed, the plurality of circular sectors forming the peripheral circular crown may be fixed, and only the ranks of the inner circular crown sectors are movable in such a way that they may employ a total number of actuators limited to 41.

[0066] In general, the numbers of ranks of circular sectors, the number of circular crown sectors and the height of the circular crown sectors are determined according to the reflecting surface geometries necessary for obtaining predetermined desirable transverse power distributions of the laser beam, through simulation procedures of the trends of the transverse power distributions of a laser beam incident on the reflective element for a selected number of reflection areas. In fact, the controlled deformability of the reflection surface of the element 200 induces controlled variations of the intensity of the laser beam on the focal plane by acting on the phase of the laser beam. In the currently preferred embodiment, the deformation of the surface of the reflective element 200 is controlled in such a way as to determine a reflective surface ascribable to a combination of Zernike polynomials. Thus, the distribution of the intensity of the laser beam on the focal plane according to the phase variations controlled by the movement of the reflection areas of the reflective element 200 may be advantageously simulated using mathematical calculation methods.

[0067] The geometry of the subdivision of the surface of the reflecting element 200 illustrated in FIG. 7—corresponding to the geometry of the movement modules of the reflection areas—has been determined by the inventors through a simulation procedure to obtain different forms of transverse power distribution with a great freedom in beam shaping, even not related to the retention of the rotational symmetry thereof. Otherwise, for applications strictly related to the Gaussian power distribution, wherein a change in the shape of the power distribution is not required, but only the displacement thereof with respect to the optical propagation axis, it is possible to use simpler geometries, for example equally spaced ranks, i.e. wherein the height of the circular crown sectors is constant among all the ranks of the sectors. For applications wherein a rotational symmetry of the beam power distribution is to be retained, it is possible to provide for a plurality of reflection areas and respective movement modules in the form of radially independent circular crowns.

[0068] FIG. 8 shows a circuit diagram of an electronic control system of a machine for the laser processing of metallic materials for the implementation of the method of the invention.

[0069] The system comprises electronic processing and control means shown in the figure collectively at ECU, which may be integrated into a single processing unit on board a machine or implemented in a distributed form, thus comprising processing modules arranged in different parts of the machine, including, for example, the working head.

[0070] Memory means M associated with the electronic processing and control means ECU store a predetermined processing pattern or program, for example comprising a predetermined working path in the form of movement instructions for the working head and/or for the material being processed, and physical processing parameters indicating the power distribution of the optical beam, the power intensity of the beam, and laser beam activation times as a function of the working path.

[0071] The electronic processing and control means ECU are arranged for accessing the memory means M to acquire a working path and to control the application of the processing laser beam along said path. The control of the application of the laser beam along the predetermined working path includes the control of the delivery of an assist gas flow and the control of the radiation of a predetermined power distribution of the laser beam toward a predetermined working area by reference to the predetermined processing pattern or program, i.e., according to the working path information and working parameters acquired from the memory means.

[0072] The sensor means SENS are arranged on board the machine to detect in real time the mutual position between the working head and the material being processed as well as the change over time of such position.

[0073] The electronic processing and control means ECU are arranged to receive from the sensor means SENS signals indicative of the mutual position between the working head and the material being processed over time, i.e. the change of the area of the current working plane and/or of the current direction of the working path over time.

[0074] The electronic processing and control means ECU comprise a first control module CM1 for controlling the mechanical parameters of the processing, arranged to emit first command signals CMD.sub.1 to a known assembly of actuator means, comprising actuator means for moving the working head along the degrees of freedom allowed to it by the specific embodiment of the machine and actuator means for moving the material being processed with respect to the position of the working head, adapted to cooperate with the actuator means for moving the working head to present a programmed working path on the material being processed at the nozzle of the working head. These actuator means are not described in detail because they are known in the art.

[0075] The electronic processing and control means ECU comprise a second control module CM2 for controlling the physical parameters of the processing, arranged to emit second command signals CMD.sub.2 to assist gas flow delivery means and control means for generating and transmitting the laser beam.

[0076] The electronic processing and control means ECU comprise a third control module CM3 for controlling the optical processing parameters, arranged to emit third command signals CMD.sub.3 to the deformable, controlled surface reflecting element 200 of the optical beam shaping means for the implementation of the movement modules of the independently movable reflection areas of said element, i.e. to control their mutual spatial displacement (translation along the optical axis of the reflecting element or inclination relative to it). The command signals CMD.sub.3 are processed by means of a computer program comprising one or more code modules having instructions of a regulation model or program for the implementation of the method of the invention according to the predetermined shaping of the laser beam to be obtained, i.e. to establish a predetermined transverse power distribution of the laser beam, and consequently a predetermined position of the optical propagation axis of the laser beam, as a function of the instantaneous processing conditions along an optical propagation axis incident on the material in an area of at least one working plane of the metallic material, the working plane of the material being the surface plane of the material or a plane which varies in depth in the thickness of the material, e.g. for cutting or drilling of thick materials, i.e. typically with thicknesses greater than 1.5 times the Rayleigh length of the focused beam (in the typical case, thicknesses greater than 4 mm and up to 30 mm). The aforementioned command signals CMD.sub.3 are also processed by the computer program to establish the predetermined transverse power distribution of the laser beam in a predetermined neighborhood of the axis of the assist gas flow and within a delivering area of said flow according to the instantaneous working conditions, i.e., the area of the current working plane and/or the current direction of the working path on the metallic material.

[0077] The electronic processing and control means ECU are therefore arranged to detect the current position and/or the current translation direction of the axis of the assist gas flow to control the relative translation of the axis of the assist gas flow along a predetermined working path on the metallic material and to automatically adjust the position of the optical propagation axis of the laser beam or the transverse power distribution of the laser beam according to the current position and/or the detected current direction of translation of the axis of the assist gas flow.

[0078] The position of the optical propagation axis of the laser beam is governed by controlling the movement modules of the reflection areas so as to carry out predetermined general inclination movements of the reflecting element as a whole relative to the respective rest state which determine the spatial translation of the spot of the laser beam on the material being processed.

[0079] According to one embodiment, the position of the optical propagation axis of the laser beam is adjusted so as to be selectively or alternately in a front area and in a rear area with respect to the current position of the axis of the assist gas flow along the working path during a cutting operation of the metallic material. This is preferably done in the pursuit of a cutting path, for example as a function of the speed of execution of the cutting operation and the thickness of the material to be cut.

[0080] In the case of a “static” modification, as a result of an imbalance of the position of the optical axis of the laser beam ahead of the axis of symmetry of the assist gas flow in the direction of translation of the aforementioned gas flow (i.e., of the area of incidence of the axis of symmetry of the gas flow on the surface of the material being processed in the case of a cutting process) a better performance in terms of process speed may be obtained. Such imbalance generates a molten groove area hit by the assist gas flow, which is greater than the symmetrical case of coincidence of the axes. In other words, the incidence of the laser beam on the material ahead the gas flow allows a lower pressure gas delivery at the same speed compared with the symmetrical case of coincidence of the axes, ensuring a lower gas consumption proportional to the lower pressure.

[0081] In the case of “dynamic” modification or “apparent beam” regime, as a result of an oscillation movement of the optical axis back and forth relative to the direction of propagation of the axis of the assist gas flow, for example an apparent beam with an elongated quasi-elliptical shape is determined, which allows for better illumination of the molten groove, i.e., an illumination that lasts longer on the groove, which in turn allows greater absorption of radiation by the material in the direction of propagation. This technique allows an electrical power savings, because it increases the yield per watt of power of the laser beam, as well as a gas savings, because it keeps the material in a less viscous condition compared with the prior art, whereby it is possible to push the molten material out of the groove with less gas pressure.

[0082] In another embodiment, the position of the optical axis of propagation of the laser beam is adjusted so as to follow a circular path around the current position of the axis of the assist gas flow during a drilling operation of the metallic material. This allows an “apparent beam” with wide diameter circular symmetry to be generated, even if starting with a Gaussian beam of a smaller diameter, with two advantages. The first advantage is that the drilling diameter is increased at the end of the process, and thus allows, in the delicate phase at the beginning of the cutting movement, a better coupling between the laser beam and the advancing front within the thickness of the material being processed, as well as a greater gas flow, which allows a more efficient expulsion of the molten material at the start. The second advantage is that during the drilling process, the circular movement imparts a preferential direction of emission on the molten material, which must necessarily exit from the surface of the material processing area from the side wherein the drilling occurs, facilitating the progressive denudation efficiency of ever deeper layers of material, and, ultimately, a faster breakdown of the overall thickness.

[0083] FIG. 9 shows an example of processing according to the method of the present invention.

[0084] In the figure, a programmed working path is indicated at T. The working path includes a cutting profile comprising, by way of example, a series of curved sections T1, T2 or straight sections T3, forming a closed or open broken line, and a series of recesses, e.g. recesses with a semi-circular profile R1, R2. The working path T also includes a circular drilling profile, indicated at H, at a predetermined distance from the cutting profile.

[0085] At some illustrative positions of the working head along the aforementioned path (the working head is diagrammed only in association with an initial working position, in order to not overly complicate the graphic representation), the delivering areas of the assist gas flow on the material being processed are indicated at G1, . . . , Gn, and the spots of incidence of the laser beam on the material being processed circumscribed around the positions of the optical axis of the laser beam are indicated at S1, . . . , Sn. It should be noted that, typically, for cutting and/or drilling operations on carbon steel with thicknesses from 4 mm to 30 mm, stainless steel with thicknesses from 4 mm to 25 mm, aluminum alloys with thicknesses from 4 mm to 15 mm, copper and brass with thicknesses from 4 mm to 12 mm, the typical size of the delivering area of the assist gas flow ranges from 1.8 mm to 3 mm, and the spot of incidence of the laser beam ranges from 0.05 mm to 0.25 mm

[0086] For some working positions or areas along the working path, there are represented, by way of example, the corresponding delivering area of the assist gas flow on the material being processed (circular, in the most common embodiment of a circular nozzle) and one or more spots of incidence of the laser beam (which are also represented by way of illustration by a circular shape, in the common case of transverse power distribution of a Gaussian shape).

[0087] G1 indicates a first delivering zone of the assist gas flow in a laser beam advancing section along a first segment T1 of a cutting line following a predetermined path T. In this working area, the position of the optical axis of propagation (of the power distribution) of the laser beam is adjusted so that the spot S1 of incidence of the beam on the working plane lies in a zone ahead of the current position of the axis of the assist gas flow, which corresponds to the barycenter of the G1 zone.

[0088] G2 indicates a second delivering zone of the assist gas flow in an advancing section of the laser beam in deceleration along the segment T1 of the cutting line of the path T. In this working area, the position of the optical propagation axis (of the power distribution) of the laser beam is adjusted so that the spot S2 of incidence of the beam on the working plane is substantially coincident with the current position of the axis of the assist gas flow, corresponding to the barycenter of the G2 zone.

[0089] G3 indicates a third delivering area of the assist gas flow at the semi-circular recess R1 of the path T. In this working area, the position of the optical propagation axis (of the power distribution) of the laser beam is adjusted in a way such that the spot of incidence of the beam on the working plane travels the desired cutting path within the delivering area of the assist gas flow without the movement of the aforementioned zone, as indicated by the subsequent positions S3, S4, S5 and S6, radially equidistant from the current position of the axis of the assist gas flow, which corresponds to the barycenter of the G3 zone, but angularly offset from a rearward position to a forward position relative to the current direction of the working path on the metallic material.

[0090] G4 indicates a fourth delivering area of the assist gas flow at a variation of direction between the section T2 and the section T3 of the cutting profile, wherein the variation of direction has a small radius of curvature. In this working area, the position of the optical axis of propagation (of the power distribution) of the laser beam is adjusted so that the spot of incidence of the beam on the working plane travels the desired cutting path within the delivering area of the assist gas flow, without movement of the aforementioned zone, as indicated by the subsequent positions S7, S8, and S9, having a radial distance and an angular position different from the current position of the axis of the assist gas flow, which corresponds to the barycenter of the G4 zone, i.e. respectively rearward, coincident and forward positions relative to the current direction of the working path on the metallic material.

[0091] Finally, G5 indicates a fifth delivering area of the assist gas flow at the circular drilling profile H which can be reached at a predetermined distance from the path T of the cutting profile, by interrupting the laser beam emission for a predetermined time. In this working area, the position of the optical propagation axis (of the power distribution) of the laser beam is adjusted so that the spot of incidence of the beam on the working plane travels a circular path within the delivering area of the assist gas flow, possibly coaxial to the axis of the assist gas flow, which corresponds to the barycenter of the G5 zone, without movement of the aforementioned zone, which is indicated by the subsequent positions S10, S11, S12 and S13.

[0092] Naturally, without altering the principle of the invention, the embodiments and the details of implementation may vary widely with respect to that which is described and illustrated purely by way of non-limiting example, without thereby departing from the scope of protection of the invention defined by the appended claims.