MXPA97008001A - Servo sist - Google Patents

Abstract

The present invention relates to a method for directing a fluid on a moving substrate, said method comprising the steps of: providing a nozzle on a movable support, supplying a fluid to said nozzle at a pressure which provides a flow rate of fluid selected from said nozzle; rotationally moving said support with a servo actuator to move said nozzle along a selected direction path; said servo actuator has a rotational servo motor shaft and includes a conduit which allows a movement of said fluid through an interior of a servo drive motor, and provide storage means for absorbing energy produced by the movement of said support, said storage means have a torsional force axis which is arranged essentially collinear with said axis of rotation of servo motor, said storage means absorb the energy with elá deformations torsional strength of a torsion tube section

Description

SERVO SYSTEM Field of the Invention The present invention relates to a system for delivering a fluid onto a moving substrate. More particularly, the present invention relates to an apparatus and method for cutting a fabric, such as a fabric which is constructed and arranged to produce an interconnected series of articles.

Background of the Invention Conventional devices have been employed to direct fluids, such as treatment fluids or processing fluids onto a substrate. For example, conventional cutting devices, such as high pressure water cutters, have been employed to cut the lateral contours of the components used in absorbent articles such as disposable diapers, women's care products, products for incontinent and similar. Such components include, for example, absorbent pads, side-by-side skin layers, backsheet layers, and the like. Typically, the mechanisms used to direct the fluid along the desired contours or patterns have been regulated by devices such as cam boxes, open cams, matrix cutters and other types of mechanical and electromechanical pattern tracking systems. Such devices can produce fixed and repetitive patterns, but the patterns are not easily modified. To change the cutting pattern in a cam system, for example, it is usually necessary to remove and replace a part of the complete cam box of the system. To change the cutting pattern in a die cutter system, it has been necessary to remove and replace the die set if the same repeat length is used or to remove and replace the full die cutter if a different repeat length is desired . In addition, conventional devices, such as those described above, have had difficulty accommodating high-speed manufacturing processes which incorporate rapid accelerations and rapid changes of direction. During such high-speed operations, rapid accelerations can produce excessively high stresses and excessively high wear. As a result of this, the manufacturing line is not easily adaptable to produce variations in the desired product, and the manufacturing line may require excessively high maintenance. The tensions and wear on the cutting systems can, over time, produce excessive variability in the formation of the desired patterns or contours.

Due to the disadvantages of conventional systems, such as those described above, there has been a need for steering devices that can adapt quickly to produce several different patterns or contours. In addition, there has been a need for systems that have a more consistent operation, are more reliable, produce less variability and are less susceptible to mechanical wear.

Brief Description of the Invention The present invention can provide an apparatus for directing a fluid in a selected pattern on a moving substrate. The apparatus includes a nozzle connected to a movable support, and supply means for providing the fluid to the nozzle at a pressure which provides a fluid flow rate selected from the nozzle. Storage means include an axis of torsional force thereof, and are configured to absorb the torsional energy produced by the movement of the support. A servo actuator rotates the holder to move the nozzle along a selected direction path, and the servo actuator has a servo axis of rotation which is arranged essentially collinear with the torsion axis of the storage means.

The present invention can also provide an apparatus for cutting a movable substrate. The apparatus includes a cutting nozzle connected to a movable support, and to supply means which provide a cutting fluid to the cutting nozzle at a pressure which provides a fluid flow rate from the cutting nozzle which is sufficient to cut the substrate in a selected cutting pattern. The delivery means include a section of torsional force duct which has a longitudinal axis thereof and is configured to absorb the torsional energy produced by the support in motion. A servo actuator rotates the holder to move the cutting nozzle along a selected cutting path, and the servo actuator has a servo axis of rotation which is essentially colinearly arranged from a section of a tube tube of torsional force.

In particular aspects of the invention, a designation means can identify a plurality of selected paths along the substrate, and the article sections can define a plurality of article segments which are interconnected along a machine direction of the system. Means of transport move the substrate at a predetermined speed along the direction of the machine during cutting of the substrate, and a servo drive moves the cutting nozzle along the selected cutting path. In other aspects of the invention, a regulating means can control the servo drive by employing a set of electronically stored and selected data. The data set is configured to move the servo drive in a selected sequence, and the sequence has a predetermined correspondence with the movement of the substrate to thereby direct the cutting nozzle along the selected cutting path and provide the cutting pattern selected on the substrate.

In a process aspect of the invention, a method for directing a fluid on a moving substrate can include the steps of providing a nozzle on a moving support, and supplying a fluid to the nozzle at a pressure which provides a flow rate of fluid selected from the nozzle. The support is rotated with a servo actuator to move the nozzle along a selected direction path, and the servo actuator has a servo axis of rotation. The energy produced by the support movement is absorbed by storage means which include a section of torsional force having an axis of torsional force thereof. The axis of torsional force is arranged substantially collinear with the servo axis of rotation.

Another process aspect of the invention, can provide a method for cutting a moving substrate, which includes the steps of providing a cutting nozzle connected to a movable support, and supplying a cutting fluid to the cutting nozzle through a section. of torsional force conduit. The cutting fluid is supplied at a pressure which provides a selected fluid flow rate from the cutting nozzle, and the fluid flow rate is sufficient to cut the substrate in a selected cutting pattern. The torsional force duct section has an axis of torsional force thereof and is configured to absorb the torsional energy produced by the moving support. The support is rotated with a servo actuator to move the cutting nozzle along a selected cutting path, and the servo actuator has a servo axis of rotation which is arranged essentially collinear with the axis of force of the section of conduit of force torcional.

In additional process aspects, a plurality of selected article lengths are identified along the substrate, and the substrate is conveyed to move the article lengths along a machine direction at a predetermined speed during the fluid direction on the substrate. In other aspects, the movement of the nozzle is servo driven along the selected path, and the servo drive is regulated according to a set of electronically stored data. The data set is configured to control the servo actuating step in a selected sequence which has a predetermined correspondence with the transport of the substrate to thereby direct the nozzle along the selected delivery path and provide the selected pattern on the substrate The various aspects of the present invention can advantageously provide an easier modification of the selected pattern such as a selected cutting pattern., and can provide a more flexible manufacturing process. Modifications to selected patterns can be made less expensive, and the manufacturing line can experience reduced maintenance and storage costs. In addition, there may be reduced mechanical wear of the components of the fluid steering system, and the system may provide less variability in the selected patterns. The patterns can be more consistent during the life of the system, and continuous tuning adjustments can be made in the pattern without requiring the purchase and acquisition of expensive components such as new cam boxes, cams or new die cutter sets.

Brief Description of the Drawings The present invention will be more fully understood and the additional advantages will become apparent when reference is made to the following detailed description of the invention and the drawings, in which: Figure 1 representatively shows a schematic of a manufacturing line which incorporates the apparatus and method of the present invention; Figure 2 representatively shows a side view of the cutting system of the invention; Figure 3 representatively shows a top view of a cutting system configured to generate a pair of identical image cutter patterns; Figure 4 representatively shows an end view of the cutting system of the invention to produce a plurality of cutting patterns, together with a schematic diagram of a regulation and control system; Figure 5 shows a schematic of a representative marker pulse produced by an encoder; Figure 5A representatively shows a schematic of a series of phase pulses produced by an encoder; Figure 6 representatively shows a repeat segment of a cut pattern, together with a schematic of a method for generating a data set; Figure 7 representatively shows a schematic diagram of the operation of a dual axis card that can be included in the regulation system employed with the present invention; Figure 8 representatively shows a side view of another cutter system of the invention; Figure 9 representatively shows an end view of another device which employs a complementary pair of the cutting systems of the invention to produce a plurality of cutting patterns.

Detailed description of the invention With reference to Figures 1 and 2, an apparatus for directing a selected fluid on a moving substrate 22 includes a nozzle, such as a cutting nozzle 24, connected to a moving support 26, such as a nozzle body which provides a supporting conduit having a conduit arm section 62 and a conduit nozzle support section 64. A supply means, such as a system employing a fluid reservoir 28 provides a selected fluid to the nozzle 24 through the conduit support at a pressure which provides a fluid flow rate selected from the nozzle. A servo actuator 44 has a rotating servo shaft 52, and is constructed to rotationally translate the holder 26 to move the nozzle 24 along a selected direction path, such as a cutting path 46 (FIG. 3). Storage means are operably connected to absorb the energy produced by a movement of the support 26. The storage means may, for example, include a section of torsional force, such as a section of torsional force duct 60, which in the The arrangement shown is configured as a torsional force tube capable of handling the torsional movements. The storage means has a shaft of torsional force, such as a longitudinal torsional force axis 67, and are configured to absorb and retain the energy, particularly the torsional energy produced by the movement of the support conduit. The torsional force axis 67 of the storage means is arranged and aligned essentially collinearly with the rotational servo shaft 52.

The fluid directed on the substrate can be viscous or essentially non-viscous, and the fluid can be deposited on a surface of the substrate or can be directed on and through the substrate. For example, the fluid may be a liquid, such as an adhesive, a surfactant, a surface treatment or the like, which is distributed in a desired pattern on the front surface of the substrate. Alternatively, the fluid may be a process stream which provides a manufacturing operation, such as cutting, slitting, perforating, stitching or the like. Thus, the fluid stream can be diffused to cover a selected distributed area or be concentrated to essentially cover a point or line.

In a particular aspect of the invention, for example, an apparatus 20 for cutting a moving substrate 22 may include a cutting nozzle 24 connected to a moving support, such as a nozzle body which provides a support conduit having a section of conduit arm 62 and a conduit nozzle support section 64. Supply means, such as a system employing a fluid reservoir 28, provide a cutter fluid 30, such as water, to the cutter nozzle 24 through the conduit of support a pressure which provides a fluid flow rate selected from the cutting nozzle. The fluid flow rate is sufficient to cut the substrate 22 in a selected cutting pattern 32 (Figure 3). The supply means includes a section of torsional force conduit 60 which has a torsional axis, such as the longitudinal torsional force axis 67 and are configured to absorb the torsional force energy produced by the movement of the support conduit. A servo actuator 44 rotates and rotates the support conduit rotatably to move the cutting nozzle 24 along a selected cutting path 46 (Figure 3). The servo actuator 44 has a rotational servo shaft 52 which is arranged essentially collinear with the torsional force axis 67 of the torsional force conduit section 60.

In other aspects of the invention, a designation means, such as a mechanism having a line axis encoder 72, can be used to identify a plurality of selected segments, such as the article sections 36, along the substrate 22 and conveying means, such as a conventional conveyor system 42, can move the substrate 22 at a predetermined speed along a machine direction 40 during the direction of the fluid on the substrate. In still other aspects, a servo actuator 44 moves the nozzle 24 along a selected delivery path, such as the cutting path 46 and a regulating means 48, such as a mechanism including a suitable microprocessor, controls the servo actuator 44. by employing a set of electronically stored and selected data 50. The data set is configured to move the servo actuator 44 in a selected sequence, and the sequence has a predetermined correspondence with the movement of the substrate 22 to thereby direct the nozzle 24 along the selected delivery path and provide the selected pattern, such as cutting pattern 32, on the substrate.

The appropriate data entry device 87, such as an IBM compatible personal computer (PC) can be employed to enable a. operator providing the method and apparatus of the invention with any required operating parameters. An example of a suitable computer is a Toshiba T3200SX personal computer. In addition, a display surveillance system 89, such as a NEMATRON display unit, can be used to display operation data and system status. An example of a suitable display monitor is a cathodo ray tube NEMATRON IWS 1523 (CRT) which is available from NEMATRON, a subsidiary of Interface Systems, Inc., a business having offices in Ann Arbor, Michigan.

For the purposes of the present invention, the terms "data", "data" and "signal" should be interpreted in a general sense and intended to designate various types of characterizing information produced during the operation of the invention. Such types of information may include, but are not limited to, information in the form of pulses or signals that may be mechanical, magnetic, electrical, electromagnetic or combinations thereof. At a particular location throughout the apparatus or method, the direction of the machine is generally in a longitudinal direction along which a particular fabric (or composite fabric) of material is moving through the system. In addition, a transverse direction generally extends along the plane of the fabric of the material and is perpendicular to the direction of the particular machine established by the system at the location being observed.

The following detailed description will be made in context of a substrate 22 which is employed to construct a plurality of interconnected absorbent articles, such as disposable diapers, incontinence garments, sanitary napkins, training pants and the like. It should be readily apparent, however, that the methods and apparatus of the invention can also be employed with other types of substrates and other types of articles, such as caps, gowns, cloths, covers and the like.

The substrate 22 may be of a single layer or may include a plurality of layers. For example, the substrate 22 may be composed of one or more layers of tissue wrap, such as cellulosic tissue, placed around an absorbent core. As another example, the substrate 22 may be a laminate composed of the backing sheet layer and the top sheet layer of a selected article. The substrate 22 may further include a continuous or intermittent layer of absorbent material, such as the wood pulp fluff, which is sandwiched between the backsheet and top sheet layers to provide an absorbent core. It should be readily apparent that the invention can also be employed to form desired cut patterns on other movement substrates having different configurations.

In the modality shown representatively in the Figure 1, the substrate 22 comprises a composite fabric which in turn defines a plurality of interconnected and representative of article segments 38 employed to produce articles, such as diapers in particular. A plurality of additional components, such as the absorbent pads, the fastening tapes, and the elastic members may be incorporated within the substrate 22 to produce the interconnected plurality of diaper articles. The absorbent pads may be regularly spaced along the machine direction 40 of the substrate 22, and the adjacent and individual pads may be separated from one another by a discrete distance. During the manufacturing process, the interconnected article segments 38 are cut or otherwise spaced apart to form the individual articles.

The various layers and components that form the segments of the article 38 of the substrate 22 can be secured together by any of a number of suitable conventional techniques, such as adhesive bonding, thermal bonding, sonic bonding, or the like, as well as combinations of the same. Typically, extruded lines, beads or swirls of hot melt adhesives can be used to secure the various components together. Suitable adhesives may include hot melt adhesives, pressure sensitive adhesives or the like. If desired, the adhesives can be applied by conventional spraying techniques or swirling filament techniques. During the construction of the selected articles it may be desirable to form one or more cutting patterns 32 (Figure 3) along the machine direction 40 of the substrate 22. For example, the cutter 20 can employ the selected and cut out edge portions of the substrate corresponding to the leg openings of the diaper articles individual The present invention may be configured to provide a single cutting pattern 32 or a plurality of cutting patterns. In the configuration shown representatively in Figures 3 and 4, for example, a complementary pair of mechanisms of the invention are configured to produce a first cutting pattern 32 along a lateral edge in the transverse direction of the substrate 22 and a second cutting pattern 33 along a second region of opposite lateral edge of the substrate. More particularly, the illustrated embodiment is arranged to provide a second cutting pattern 33 which is essentially an identical and complementary image of the first cutting pattern 32. Thus, the arrangement shown of the invention includes a second driving system for moving a second one. cutting nozzle along a second cutting path 47. The second cutting path traversed by the second cutting nozzle is essentially an identical image of the first cutting path 46.

The present description will be made in the context of a single powered servo water cutter device, and the description of the interacting components will be made in the context of a single controlled control system for regulating the cutter apparatus and method. It should be readily understood, however, that an alternating cutting system can employ a multiplicity of two or more servo actuators 44 which operably drive and control the additional individual nozzles 24. Therefore, each of the additional servo actuators, and Associated electronic and mechanical components will be made similar to the configuration of the components described with respect to a single servo driven device.

In the various arrangements of the invention, the cutting nozzle 24 may comprise a low mass orifice mount assembly ("jewel") which is held in one position by a low mass retaining force. The jewel and the nut can be of various sizes. For example, a jewel and a nut having a length of about 5/8 inch can have a weight of about 16 gm; a jewel and a nut having a length of about one inch can have a weight of about 23 gm; and a jewel and a nut having a length of about 3 inches with a diameter of 3/4 of an inch can have a weight of about 200 grams. To improve the acceleration capabilities of the cutting system, the weight of the cutting nozzle is desirably as low as possible. A suitable cutting nozzle 24 is an orifice frame assembly retained by a low mass nozzle nut, available from FLOW International, a company having offices located in Kent, Washington.

Typically, the cutting nozzle 24 is comprised of a wear-resistant and durable material which is not easily eroded by the selected cutter fluid. For example, the cutting nozzle may include a jewel composed of sapphire or diamond and have a fluid conduit and a hole formed therethrough to produce the desired cutter system.

In the representative example of the embodiment illustrated, the delivery means employed by the present invention may include a reservoir system 28 which is constructed to provide a suitable gas or liquid, such as water, or the like, at a pressure and rate of cutting flow desired. Conventional systems for providing high pressure water in a water-cutter system are well known in the art. For example, a suitable system may be a 9X intensifier pump system available from FLOW International.

The reservoir system 28 provides the cutter fluid in a suitable delivery system, such as a system having a conduit 58. For example, in the configuration of the invention shown representatively in Figure 2, the delivery system includes a tube section of torsional force 60 and an expandable arm section 62, and a nozzle body support section 64. In the arrangement shown, the arm section 62 and the support section 64 are arranged to cooperatively provide a nozzle body, the which in turn, provides the nozzle holder 26 which carries the nozzle 24. As illustrated, the torsional force tube section 60 and the nozzle holder section 64 can extend essentially vertically and can be arranged in a generally perpendicular to the plane generally defined by the substrate 22. The arm section 62 is generally aligned to the plane of the substrate. It should be appreciated that other alternate operable geometries and alignments may also be employed without departing from the invention.

It should be readily appreciated that the fluid delivery conduit system 58 is constructed of a material which is capable of withstanding the stresses and stresses imposed by the high pressure water moving therethrough, and by the mechanical operations of the cutting system. . For example, the various components of the fluid delivery conduit may be composed of a 316 stainless steel material.

The conduit arm section 62 extends generally radially outwardly of the longitudinal axis 67 of the torsional force tube section 60 and has a laterally extending length which is sufficient to produce the desired cutting pattern. on the substrate 22. In the illustrated arrangement, for example, the duct arm section 62 is bent through an arc of approximately 90 degrees and further extended to merge into the nozzle support section 64. Therefore, the The conduit arm section 62 and the nozzle support section 64 cooperate adequately to locate the nozzle 24 at a desired radial position distance 25, which spans the nozzle laterally outward of the longitudinal center line axis 67 of the pipe section. of force torcional. In the illustrated embodiment, for example, the radial distance of the nozzle 25 can be about 17.8 centimeters. In particular aspects of the invention, the distance of the nozzle 25 may not be more than about 61 centimeters or more. Alternatively, the distance to the nozzle 25 may not be more than about 36 centimeters and optionally may not be more than about 25.4 centimeters to provide improved performance. A larger nozzle distance 25 can also be used provided that the resulting inertial load does not exceed the power capabilities of the servo acting system.

In other aspects of the invention, the radial distance of nozzle 25 is at least about 7.6 centimeters. Alternatively, the radial nozzle distance is at least about 12.7 centimeters, and optionally, is at least about 15.2 centimeters to provide improved performance. If the radial distance of the nozzle is very small, the displacement distance of the nozzle 24 may be insufficient to generate the desired pattern 32.

The transport means for the cutting system of the invention can be any suitable device which operably transports the substrate 22 beyond the location of the cutting nozzle at a desired speed. For example, the transport mechanism may comprise a system of bands, cushions or fluid jets, electromagnetic energy support fields, conveyor rollers or the like. The illustrated configuration, for example, employs a system of conveyor rollers 42.

The conveyor rollers can be operably driven by a line shaft 70, which in turn can be driven by a suitable power system, such as a drive motor 71. In particular aspects of the invention, the drive force of the drive shaft line 70 may be coupled to transport rollers 42 by a mechanical or electrical drive system, such as a system having a motor and / or belts, pulleys, chains or any other suitable mechanism. A phase change device 78 (PSD) is constructed and arranged to operably adjust the movement of a gear coder 92. The phase change device 78 can advance or delay the movement of the cutter nozzle 24 by advancing or delaying the gear encoder 92, which in turn, advances or delays the execution and implementation of the data set 50, and thus provides a desired match and phase between each designated item segment 38 and the selected regions or parts of the pattern of cut 32. In particular, the phase change device can operably match each article segment with a repeating segment occurring periodically 35 (Figure 6) of the cut pattern.

A suitable phase change device is a SPECON device manufactured by Fairchild Industrial Product Company, a business having offices located in Winston-Salem, North Carolina. A particular SPECON device suitable for the present invention is a SPECON 4PSD-100 model.

In the embodiment shown, the phase change device 78 includes a first input shaft 80, a correction input shaft 82 and an output shaft 84. The first input shaft 80 is operably connected to the line axis 70 by a suitable coupling mechanism 79. The various coupling mechanisms employed with the present invention may comprise a gear mechanism, a gear and chain mechanism, a belt and pulley mechanism, an electronic gear system, a hydraulic coupling mechanism, a coupling system or mechanical fluid, an electromechanical gear system, or the like.

The output shaft 84 (OS) is related to the input shaft 80 (IS) and the correction axis 82 (CS) so that the revolutions of the output shaft 84 equal the revolutions of the input shaft 80, more or less, the revolutions of correction axis times a scale factor. This relationship can be expressed by the formula: OS revs = (IS revs) ± (CS * scale) Therefore, returning to the correction axis in one direction or the other causes the rotation of the output shaft to advance or retard in relation to the rotation of the input shaft 80.

The correction axis 82 can be operably driven by a correction motor 86, and in a SPECON device, the correction motor is provided by Reliance Electric Company, a business having offices located in Cleveland, Ohio. The correction motor 86 flips the correction axis 82 in the appropriate direction as controlled by a computer 88 within an automatic match control (ARC) system. The computer can, for example, understand a microprocessor based on VME. In a suitable configuration, the VME unit comprises a PME 6823 CPU which is available from Radstone Technology Corporation, a business having offices in Montvale, New Jersey.

The transport means are constructed to move the substrate 22 at a speed of at least about 0.51 meters / second. Alternatively, the substrate can be moved at a substrate speed of at least about 1.52 meters / second, and optionally at a substrate speed of at least about 4.1 meters / second. In particular aspects of the invention, the transport means are configured to move the substrate at a speed of no more than about 10.2 meters / second.

Optionally, the substrate speed may not be more than about 8.9 meters / second, optionally it may not be more than about 7.6 meters / second. The higher and lower substrate speeds can also be provided, as desired by the use of conventional transport systems that are known in the art.

The designation means for identifying the plurality of selected article lengths 36 and interconnected article segments 38 along the machine direction 40 may, for example, comprise a line axis encoder 72. The axis encoder 72 provides position and reference data in relation to the location of each section of article along the substrate and along the direction of the machine 40 of the apparatus. The position data may include the marker pulses 74 which operably correspond to the position and presence of an individual article segment 38 of the substrate 22. In the illustrated arrangement of the invention, the marker data is in the form of signaling signals. electrical impulse as representatively shown in Figure 5. In other arrangements, the shape of the marker pulse may be different, and / or the duration of the marker pulse may be longer or shorter, depending on the marking of the particular encoding device. The electrical signals are directed through the appropriate electrical conductors SIO to a processing unit, such as a computer 88. In the configuration shown representatively, the marker pulse 74 occurs once per article 36 section, and is desirably configured to indicate a machine period or distance corresponding to a single article segment 38. The marker pulse is typically employed to obtain the phase relationships between the various electrical signals of the various component elements of the apparatus and method.

The line axis encoder 72 may further include a measurement system for generating phase pulses that occur essentially in a regular manner 76 as representatively shown in Figure 5A. The line axis encoder in the shown configuration of the invention generates approximately 2,000 phase pulses per encoder revolution. The line axis 70 can be configured to rotate a predetermined number of times per article section 36. For example, the line axis 70 can be configured to flip once per section of article 36. Thus, the axis encoder 70 The line can produce 2,000 phase pulses for each section of article 36 and each segment of article 38. Alternatively, the line axis 70 can be configured to turn twice per section of article 36, and the line axis coder can be engaged to the line axis to flip once every two revolutions of the line axis. The line axis encoder will again produce 2,000 phase pulses for each section of article 36 and each segment of article 38.

In the various configurations, a predetermined number of phase pulses per increment of distance traveled along the machine direction occurs for each point on the substrate 22. As a result of this, the phase pulses can be employed as a "rule" for measuring the phase and position relationships between the various electrical signals generated by the invention, and can be used to develop the desired measurements of the distances traveled by the substrate 22 through the apparatus. In the configuration shown, the phase pulses 76 are provided in the form of electrical signals, which are suitably directed to the computer 88 through the appropriate electrical conductors SIO. An example of a line shaft coding unit suitable for use with the present invention is a model unit 63-P-MEF-2000-TO-00GH90863 available from Dynapar Company, a business having offices in Gurney, Illinois.

The configuration shown includes a cutter reference flag 90 which is connected to flip with the output shaft 84 of the phase change device 78. The output shaft 84 may be configured to flip once for each section of article 36 and a Item segment 38. Accordingly, when the flag sensor 91 detects each step of the reference flag 90, a signal may be sent to the computer 88 through the conductor S12. The flag sensor provides the computer 88 with position information which can be used by the computer to generate the appropriate phase. In particular, the computer 88 can compare the times (number of phase pulses) between the flag signal 90 and the marker pulse information provided by the line axis encoder 72. The computer is programmed with a desired time relationship and predetermined. If the time relationship changes, the computer 88 directs the correction motor 86 to flip in a direction which advances or delays the turning of the output shaft 84, and thereby re-establishes the desired time and phase relationship.

The output shaft 84 is connected through a suitable coupler 94 to flip a gear encoder 90, and the illustrated array of gear encoder can be configured to turn once per revolution of the output shaft 84. As a result of this , the phase change device 78 adjusts the turnover rate of the gear encoder 92 and thus adjusts the rate of stagger through the data set 50 stored in the regulating means 48. As a result of this, the signal of the gear encoder 92 can be used to operably phase the operation of the cutter apparatus 20 relative to the current movement of each article segment 38.

A suitable gear coder 92 can be a gear coder model No. H25D-SS-2500-ABZC-8830-LEDSM1 available from BEI Motion, a business with offices located in Golita, California. As previously described, the gear encoder may be configured to provide a marker pulse of a selected duration to identify each article section 36 and an article segment 38, and a series of phase pulses to measure the position of each article 38. in relation to the cutting apparatus. In the illustrated arrangement of the invention, for example, the gear encoder 92 can be constructed to provide two phase pulse channels, for each section of article 36 and each segment of article 38. Each channel has 2,500 phase pulses, and the Phase pulses in one channel are offset from the pulses in the other channel by a phase angle of about 90 degrees.

In the arrangement shown representatively in Figure 2, the servo motor 43 and the nozzle 24 are designed to be placed in locations which are relatively adjacent to the opposite surfaces of the substrate 22. The servo actuator 44 may include a servo drive mechanism, such as a servo motor 43, a servo output shaft 45 and a servo arm 54. The servo motor is constructed and arranged to provide the torsional force and accelerations required to move the cutting nozzle 24 along its cutting path 46 in the sequential motions routine necessary to generate the desired cut pattern 32. Therefore, peak force requirements and power requirements based on current and voltage RMS (square root) will depend on the desired movement speed of the substrate 22 a along the direction of the machine, the desired contour of the cutter pattern 32 and the inertia of the combination of c components employed to bring the cutting nozzle 24 and move the nozzle along its selected cutting path 46. • In the embodiment shown, for example, the servo motor 43 is configured to provide a maximum RMS torque of about 250 inches. pounds at an RMS current of about 31 amps, and can provide a peak torque of about 758 pounds-inches at a RMS current of 96 amps. As a result of this, the servo motor can generate the repeated segments of the cut pattern 32 at a cycle rate of up to about 1,000 cycles per minute or more. An example of a suitable servo motor is the Reliance S-6300-S-JOOAB engine, which is available from Reliance Electric Company.

The various configurations of the invention can employ a power amplifier 102 (Figure 4) to drive the servo motor 43. The array shown, for example, includes an amplifier 102 which supplies current, such as a three-phase current, to the motor 43 in response to a reference signal received from the regulating means 48. The reference signal in the configuration shown is an analogous signal, but may be a digital signal. The amplifier can be operated in a torsional force mode, in which the amplifier interprets the signal as an order for a desired torsional force. The current output of the amplifier is desirably limited so as not to exceed the current rate of the motor 43. A suitable amplifier is an HR2000 amplifier which is available from Reliance Electric Company.

Servo motor 43 shown representatively includes an output shaft 45. In the various configurations of the invention, the output shaft may comprise a shaft extension to provide the desired clearance around the motor and allow a desired hold of the other mechanical components such as the mechanical stops', the servo arm 54, a nozzle body band clamp 68, and any desired proximity switch flag references. The shaft extension can, for example, be made of a high strength steel, such as 17-4PH H1075, which can withstand the cyclic loads applied without a fatigue failure. The extension can be secured to the servo motor shaft by any suitable mechanism, such as a split clamp which tightens around the servo motor shaft to prevent slippage.

The output shaft 45 may optionally include a pair of stop lobes to mechanically control and limit the arc of rotation of the output shaft of the motor. The stop lobes may be configured to make contact with selected fixed mechanical stops in the event that the motor shaft must oscillate outside its desired arc length range of rotation.

The servo arm 54 is secured and secured to the output shaft of the motor 45 with any suitable clamping mechanisms, such as a gripping device. The servo arm 54 operably transmits the torsional force and rotation of the servo motor 43 to the cutter nozzle 24 to move the nozzle back and forth in the desired displacement routine along the length of the arc of the nozzle cutting path. 46 (Figure 3).

It is known that an inertia ratio of motor to load of 1: 1 is desired for high performance applications that require high acceleration and high torsional force. It has been difficult, however, to provide a servo arm 54 and a nozzle body having a relatively low rotational mass moment of inertia necessary to generate the desired 1: 1 inertia ratio. In particular aspects of the invention, the rotational inertia of the general load driven by the servo motor can be constructed to not be more than about 1.6 pounds-inches-seconds2. Alternatively, the rotational inertia of the general load may not be more than about 0.4 pounds-inches-seconds2, and optionally may not be more than about 0.1 pounds-inches-seconds2. In other aspects of the invention, the rotational inertia of the general load may be as low as about 0.02 pounds-inches-seconds2. Alternatively, the rotational inertia of the general load can be as low as 0.01 pound-inches-seconds2, and optionally it can be as low as 0.005 pound-inches-seconds2 to help provide the desired rates of acceleration.

The low load inertia configuration of the servo system of the present invention can advantageously provide a rotational acceleration that is as low as zero radians / seconds2. In addition, the present invention can be configured to provide a rotational acceleration of at least about 200 radians / seconds2. Alternatively, the rotational acceleration provided may be at least about 1,000 radians / seconds2, and optionally, may be at least about 5,000 radians / seconds2 to allow cutting of more rapidly changing cut patterns on a substrate. moving quickly. In additional aspects, the invention can be configured to provide a rotational acceleration of up to about 11,000 radians / seconds2, and optionally can provide a rotational acceleration of up to about 96,000 radians / seconds2 to allow cutting of desired patterns.

The cutting system of the present invention can also be advantageously configured to locate the servo cutter 44 in a location which is generally on one side of the outboard side side edges 23 of the substrate 22. The arrangement can be provided by employing the section of duct arm 62 and the low mass servo arm 54.

A suitable servo arm 54 may include a core of expanded polystyrene foam covered with a graphite fiber sheet composite. An example of a servo arm of this type is a servo arm model number 733 available from Courtaulds Aerospace, a company having offices located in Bennington, Vermont.

An extended remote end of the servo arm 54 includes a servo arm seating section 66 which is configured to contain and carry the conduit support section 64 of the nozzle body. A second end portion of the servo arm, which is opposite to the seat section of the servo arm 66, may include a proximity switch flag 55, such as a flag composed of a ferrous or non-ferrous material. A servo arm flag sensor 57, such as a magnetic induction sensor, is suitably constructed and arranged to detect the presence of the servo arm flag 55 and to generate an appropriate output signal through the electrical conductor S20. The other operational components, such as a dual axis card within the regulating means 48, can then use the signal data of S20 as a known point of reference. For example, the servo arm flag 55 and the servo arm sensor 57 can be used to detect and establish a predetermined "home" position for the servo arm. The home position can provide a point of reference of initial establishment in relation to which the subsequent movements of the servo arm can be measured. The home proximity sensor 57 can also provide a position reference used to correct the position of the motor in the case of electrical noise interference with the integrity of the position signal data of the gear encoder 92 and the motor encoder 98. The additional proximity limit switch sensors can also be used to monitor the arc of rotation of the servo arm 54. If the flag of the servo arm 55 passes through one of the proximity limit switches, the power supply to the servo motor 43 can be turned off to stop the rotation of the servo motor.

A torsional force tube clamp 61 is connected to the output shaft of the motor 45 with a lower securing mechanism, such as a lower clamp 63, and is connected to the conduit force tube section 60 with a mechanism upper securing, such as an upper clamp 65. The embodiment shown also includes an intermediate clamp 53 which is attached to the high pressure joint 59. The clamping clamp 61 helps direct the rotational twisting motion from the output shaft servo 45 to the torsional force tube section 60. Intermediate clamp 53 operably holds the high pressure elbow seal 59 in position, which in turn is connected to the conduit arm section 62 of the nozzle body. In the configuration shown representatively, the conduit arm 62 forms an arcuate elbow and is composed of a material capable of withstanding the pressure of the cutting fluid with water. The conduit arm 62 may, for example, be comprised of a tube made of 316 stainless steel having a suitable size, such as an outer diameter of about 1/4 - 3/8 of an inch. The conduit arm section 62 and the conduit nozzle support section 64 can provide a high pressure water reservoir for the cutter nozzle 24. The terminal end of the nozzle holder section 64 can be threaded for fastening the cutting nozzle 24. The end of the conduit support section 64 is held in place at the terminal end of the servo arm 54 in the servo arm seating section 66 which, for example, includes a properly shaped and sized notch. . The band clamp 68 surrounds the servo arm 54 and the end of the conduit support section 64 to essentially prevent any movement therebetween.

As the substrate 22 moves past the position of the cutting nozzle 24, the apparatus and method of the invention can further employ a dead plate 39 to hold the substrate in motion 22. In addition, the cutter system can include a collection mechanism , such as a water receiver 41, to receive the spent cutting fluid.

The various configurations of the invention may additionally include an energy storage system for absorbing the twisting motion and energy produced by the servo drive 44. By absorbing energy, the present invention can avoid the use of associated seals and seals. that can degrade and place the runoff of the cutter fluid. The energy absorbed can also be reconverted back to kinetic energy to facilitate the desired movements within the mechanical system. In the illustrated arrangement, for example, the representative energy storage system includes the torsional force tube conduit 60. The torsional force tube conduit is constructed of a material which is capable of elastic deformations in torsion, and this configured so that the stress and the cyclic torsional stress are below the fatigue limit of the torsional force tube material. For example, the torsional force tube 60 may be composed of 316 stainless steel, and in particular aspects, the torsional force tube 60 may have a longitudinal extension which is as low as about 61 centimeters. In other aspects, the length of the torsional force tube may be at least about 121 centimeters. Alternatively, the length of the torsional force tube 60 may be at least about 152 centimeters, and optionally, it may be about 183 centimeters to provide improved performance. It should be readily apparent that the length of the torsional force tube has no upper limit and is restricted only by the limitations of the space in which the cutting system is to be located.

A further aspect of the invention includes a configuration wherein the longitudinal axis of the torsional force tube 60 is located and maintained in an essentially collinear alignment with the axis of rotation 52 of the output servo shaft 45 extending from the motor 43. This configuration can essentially avoid generating lateral displacements of the torsional force tube 60 and can essentially avoid placing unnecessary stresses and stresses on the torsion force tube 60 and the energy storage system.

It should be readily appreciated that other storage mechanisms can be employed with the present invention. For example, a mechanical energy storage system may include a length of conduit tube formed in a spirally and / or helically wound configuration.

The coiled configuration defines an axis of torsional force around the coil that can be twisted to absorb and store the mechanical kinetic energy. For example, in a spiral coil, the axis of torsional force can be defined essentially by a line passing through the geometric center of the spiral, and in a helical coil, the axis of torsional force can be defined essentially by a central line around which the geometry of the helix is formed. Therefore, in such configurations of the invention, the axis of rotation 52 of the servo output shaft 45 extending from the motor 43 can be aligned or otherwise placed in substantially collinear fashion with the selected torsional force axis of the coil. For example, the conduit tube can be coiled helically around the rotation axis of the motor.

The various configurations of the invention can advantageously impart a desired movement to the cutting nozzle 24 without the use of an intermediate transmission system, as typically provided by the gears, bands, pulleys, cams, or the like. Such transmission systems can impose additional inertial loads on the servo actuator, and can impose an undesired lateral load on the servo motor. Transmission systems can also introduce unwanted amounts of operational instability and dead motion. By avoiding such transmission systems, the various aspects of the invention can keep the inertial loads imposed on the servo actuator 44 at very low levels, they can avoid the servo side loading and can prevent the introduction of excessive idling, and can improve operational stability. As a result of this, the present invention can impart relatively high accelerations, such as high angular accelerations, to the movements of the cutting nozzle 24, and can control the nozzle movements with greater accuracy. Optionally, however, an intermediate transmission may be employed with the present invention wherein the desired movements of the nozzle 24 do not lead to high inertial loads or high accelerations, provided that the dead gear of the system and the lateral load servo are sufficiently small. or otherwise controlled to provide adequate operational stability.

In addition, the distinctive arrangements of the present invention can allow discrete adjustments easily to the location of the cutting pattern 32 relative to the transverse direction 49 of the substrate. In particular, the actuator 44, together with its associated components, can be moved laterally along the transverse direction to reposition the resultant cutting pattern as desired. The ability of the system to easily tolerate and accommodate side repositions of the servo actuator may also facilitate the production of selected cut pattern contours, such as the contours requiring relatively large traversing of the cutting nozzle along the transverse direction.

In the various arrangements of the present invention, the regulating means 48 is configured to control the actuating servo 44 in a predetermined sequence and routine to direct the cutting nozzle 24 along the cutting path 46 in a routine of sequential movements. necessary to provide the selected cutting pattern 32 on the substrate 22. With the arrangement shown representatively, the routine of the sequential movements is composed of a predetermined sequence of rotational movements of the servo arm 54 when driven by the actuating servo motor 43. Regulating means may include a feedback from the actuating servo 44 to generate a predetermined correspondence between the movement of the cutting nozzle 24 and the movement of the substrate 22. The illustrated arrangement, for example, the feedback is provided by the servo motor encoder 98 the which provides the data of the actuator in relationship to a location of the nozzle and is operably coupled to the actuating servo motor 43 in a conventional manner.

The motor encoder 98 in this system can serve two functions. This may provide information about the position of the motor to the amplifier 102 so that switg is carried out correctly, and may also provide data representing the position of the motor for the regulating means 48. The servo encoder 98 provides a predetermined number of pulses of encoder per revolution of the servo motor 43. Therefore, the number of encoder accounts from the servo encoder 98 can provide information in relation to the angular positioning of the servo output shaft 45 and thus provide information in relation to the positioning of the servo arm 54 and to the location of the cutting nozzle 24.

The illustrated configuration of the invention can, for example, employ a servo encoder model No. 0018-7014 which is available from Reliance Electric Company. The encoder generates two channels of 2,500 pulses per revolution of the servo motor 43, with a phase change of 90 degrees between the pulses in the two channels.

The regulatory means operably incorporate the selected data set which is stored electronically in a suitable memory mechanism. The data set operably provides a set of trajectory position data which is tabulated in correspondence with the distance measured along the mae direction of each selected article length along the substrate. The regulating means 48 monitor the position of the substrate 22 and the position of the servo motor 43. The position of the substrate can, for example, be driven from the gear encoder 92 of the phase change device, and the position of the motor can be derived from the encoder. of the motor 98. Therefore, the encoder of the drive motor can provide actuator data in relation to the location of the nozzle 24. The position of the gear encoder determines the point on the data set 50 with which the position of the motor will be compared. motor so that an output error signal can be generated. A suitable comparator mechanism compares the actuator data with the path position data in the data set 50. The regulating means then processes the error signal to generate an output reference signal to the amplifier 102. In response to the signal from reference, the amplifier 102 alters the current to the motor 43 causing it to rotate in such a way that the error signal is driven to zero. The servo actuator is therefore directed to move to locate the nozzle in an essential agreement with the path position data.

Suitable regulating means may include a "dual axis" card, such as an AUTOMAX dual axis card model No. M / N57C422B, which is available from Reliance Electric Company. The dual axis controller card is generally described as a configurable motion control card, which can control two separate movement axes, with individual quadrature encoder inputs for reference and feedback on each section. Feedback can be speed or position, and can be incremental (relative) or absolute. The reference can be from the encoder (in gear or tracking mode), it can be from the dual axis card (Index mode) or from the encoder through the dual axis card (position cam profile). In the arrangement shown, the dual axis card can be operated in a "once only" mode, cam position, "4X quadrature". The card can be installed on the Reliance Automax Multibus 1 card rack, and can be configured for a desired operation with an appropriate program. The appropriate program can be obtained from Reliance Electric Company. After the dual axis card is configured, orders must be issued to the dual axis card through the program, and the dual axis card can in turn provide status information to the program. The current analog / linear control can be carried out by the dual axis card independently of the program, based on how the dual axis card is configured.

The regulating means 48, such as the means provided by the dual axis card, can perform a number of important functions. In particular, the regulating means can store the data set 50, which in the displayed arrangement can represent a desired "cam profile".

The cam profile is a sequence of numbers, each number representing a desired motor angle. More particularly, the motor angle is expressed in terms of a corresponding number of the encoder accounts provided by the motor encoder 98.

The dual axis card can also receive signal data from the gear encoder 92 and the motor encoder 98. The gear encoder signals provide position data in relation to the article sections 36 so that the control system can Determine which data points on the cam profile should be selected to control servo motor 43. For example, if the gear encoder has rotated 2,500 counts of a total of 10,000 per revolution, the correct cam profile data point will be the twentieth point on a 80-point cam profile data set. The dual axis card can be interpolated between the cam points as necessary. The motor encoder 98 provides feedback data on the rotational position of the servo motor 43 and the position data is expressed in encoder accounts.

The dual axis card can generate an error signal based on the difference between the actual motor position indicated by the motor encoder 98, and the desired motor position selected from the cam profile by the dual axis card. The control system on the dual axis card "subtracts" the motor feedback or position data from the desired motor position data to generate a basic error signal. The basic error signal is processed to generate a reference signal to the motor amplifier 102.

The basic or unprocessed error signal is processed by the four gain setting within the dual axis card control system. As shown representatively, the gains can be mentioned as "proportional profit", "integral profit", "speed gain" and "forward shipping gain".

The magnitude of the gains was determined by the desired cam profile and the motor torque required to generate a movement of the servo motor in correspondence with each cam point of the cam profile. An adequate selection of profits allows the system to operate in a controlled and stable manner. With the dual axis card, the gains can be adjusted as required to maintain a stable system.

A schematic block diagram of the operation of the dual axis card is shown representatively in Figure 7. The dual axis card creates a reference signal based on the stored data set represented by the cam profile 124, and the data SI position of the gear encoder 92. When rotating the gear encoder, the dual axis card goes over the cam profile points to provide the appropriate command signal. This command signal is indicated as the signal "order position" 150 on the block diagram.

The order signal is processed in two ways. First the order signal is differentiated in block 126, and then multiplied by the forward supply gain in block 128. The differentiation produces information in relation to "the rate of change" of the ordered position. The feedback gain determines how much was left at the "rate of change" to influence the final reference output to the power amplifier 102. The resulting forward supply output signal is fed to the adder in block 130.

Secondly, the order position is compared to the motor encoder position data provided from block 130, and a signal called the "position error" signal 152 is generated. The position error is also processed in two ways: 1) The position error is multiplied by the proportional gain in block 134, and the resulting output signal is fed to the adder in block 130. The proportional gain determines how much the current signal is left to influence the position error. reference / force command-torsional force 154 that is sent out of the motor amplifier 102. 2) The position error is also integrated with the time in block 136, and then multiplied by the integral gain in block 138. The resulting signal is then fed to the adder in block 130, together with the output signals of proportional gain and supply gain forward. The integral gain determines how much the integral error is left to influence the output signal of force-torsion / current-reference 154 to the motor amplifier 102.

The output of the adder, in block 130, is designated as the "speed reference" signal and is supplied to the difference block in block 140. The other input to difference block 140 is the velocity of the feedback signal of motor. The speed signal is obtained in block 146 by differentiating the feedback encoder position data provided by block 132.

The output of block 140 is designated as the "speed error" signal 158, and is multiplied by the speed gain in block 142. The speed gain determines how much the velocity error is left to influence the reference output end to motor amplifier 102.

After block 142, the signal passes to three more conditioning blocks before emerging as a voltage reference signal analogous to the motor amplifier. Of the three blocks, the output limit block 144 is used to scale the reference output to a selected voltage, such as +/- 8 volts DC, which is the voltage range within which the amplifier is designed to work. motor.

The invention may further carry out "phases" which effectively move the cutting pattern 32 relative to the machine direction in a manner that allows the desired match between each pattern repeat segment 35 and its corresponding article segment 38 The phase can be achieved in two ways. First, by monitoring the signal from the vicinity, the flag sensor 91, the control computer 88 can provide a signal which causes the phase change device 78 to advance or be delayed. This advances or delays the relative timing of the phase pulses from the gear encoder 92, thereby resulting in a change in the direction of the proportional machine in the selected cutting pattern in relation to the selected article lengths represented by the article segments 38 along the substrate 22.

Alternatively, the dual axis card cam point records can be rewritten during the operation of the system to electronically change the cam points stored in the cam table to thereby advance or delay the command position reference associated with a Particular cam point on the cam board. This operation also results in a proportional change in the cut pattern in relation to the corresponding segments or product of article. In this configuration of the invention, the use of the phase change device 78 can be eliminated.

Various cutting patterns may be produced according to the present invention as desired. As representatively shown in Figure 6, for example, the cutting pattern 32 can be an essentially regular repeating pattern that repeats a selected number of times for each section of article 36. In the arrangement shown, the repeating cut pattern has a cycle of repeating a cycle for each section of article.

The data set 50 corresponding to the desired cut pattern 32 is generated and stored within the regulating means 48, particularly within the dual axis card.

The data set 50 may be mentioned as a cam board composed of cam points. The cam points represent particular angles of the rotation of the servo actuator 44, in particular, rotation angles of the servo motor 43, as indicated by the servo encoder 98 and measured in encoder accounts. The particular individual angle (as expressed in radians) will depend on the particular physical arrangement of the cutting apparatus 20. In particular, the angles will depend on the radial position distance 25 of the cutting nozzle 24, and the desired cutting pattern 32. In where the cutting pattern 32 is a repeating pattern, each repeat cycle of the cutting pattern can be generated by running through the cam table. Subsequent repetition patterns can be generated by repeating the sequence through the cam table.

Various techniques can be employed to generate the cam table representing the data set 50. With reference to Figure 6, for example, an accurate scale drawing of the repeat pattern of the cutting pattern 32 can be made and a centerline can be incorporated reference of the substrate 22 and a parallel axis line 115 representing the position of displacement of the axis of rotation 52 of the servo arm 54 and of the servo motor 43 in relation to the reference line of the selected substrate. The radio line 117 is employed to represent the distance between the servo shaft 52 and the cutting fluid stream 30 from the cutting nozzle 24. When the radio line 117 is placed at opposite ends of the pattern repeat cycle 32 and extends in a selected direction along the direction of the machine 40, which may be oriented up or down relative to the direction of travel of the substrate 22, the line of the radius 117 in a first End of the repeating cycle will intersect the axis line 115 at an established location. Similarly, the radius line 117 from a second rear end of the repetition cycle will intersect the axis line 115 at a second established location. The established distance 119 between the first and second locations typically represents a section of article 36. The length of the established distance 119 can be divided into a selected number of increments as desired. The number of increments must be large enough to provide the desired resolution within the cut pattern, but there is no upper limit to the number of increments selected. As a practical matter, the number of increments is selected to provide the desired cutting resolution for the cutting process. In the illustrated arrangement, for example, the set distance 119 can be divided into 80 increments of an essentially equal length to generate 81 cam points, wherein the first cam point and the number 81 are essentially identical and represent the endpoints of the segment of repeat cycle 35 of cutting pattern 32.

From each of the incremental length points selected along the set distance 119, the radius line 117 is oscillated to intersect the cut pattern segment 35, and the angle between the radius line 117 and the axis line 115 is measured. This procedure can be repeated for each incremental point along the set distance 119 to generate a set of profile angles. The profile angles are desirably normalized to produce a corresponding set of "cam points". For example, the profile angles can be normalized by subtracting the first cam point value (in encoder counts) from each of the cam point values so that each repetition cycle of the cut pattern will start with " zero "as the first value of cam point. The resulting set of cam points provides a "cam board" which is employed as the data set 50 within the regulating means 48, particularly within the dual axis card. The data set 50 thus effectively provides a distinctive "electronic cam" device.

The operation of the cutter system of the invention also includes the following: 1. Placement of the servo arms in their "neutral position". 2. Align the output shaft for an adequate mechanical stop. 3. Initialization system / house. 4. Adequate tuning The neutral positioning of the servo arm 54 involves locating the servo arm at approximately the center of the arch through which the nozzle 24 is intended to oscillate during the cutting operation. By sweeping the nozzle 24 through the arc of the cutting path 46 or 47, essentially equal and opposite amounts of torsional force can be generated during the resultant twisting of the torsional force tube 60. This arrangement can advantageously minimize the influence of the action of spring of the torsional force tube on the operation of the engine.

The alignment of the output shaft involves placing the mechanical stops on the servo output shaft 45 in the proper location relative to the neutral position of the servo arm 54. When properly positioned, the mechanical stops provide the desired limits of rotational displacement of the shaft. arm servo The house system involves moving servo arm 54 and flag 55 until the home proximity switch sensor detects the edge of the flag. This placement is defined as the "home" position, and provides a mechanism to reliably place the servo arm in a known reference location. The home position can provide a baseline from which the motor can be rotated according to the encoder account values corresponding to the desired cam profile.

Tuning is the process to determine the Particular "gains" appropriate for a selected cutting operation. The gains are determined experimentally and will depend on the individual parameters of the cutting system, such as the length of the torsional force tube 60 and the accelerations necessary to generate the selected cutting pattern 32. For the example of the illustrated embodiment, the four gains have the following baseline values: 1. Proportional 10,500 2. Integral 20 3. Speed 36 4. Forward supply 325 With reference to Figures 8 and 9, an alternate configuration of the invention may include a servo motor 43 having a generally coaxial conduit 69 which is formed through the motor and along the motor shaft 52. More particularly, the conduit may extend through the motor shaft. Similarly, the conduit 69 may also extend through the motor encoder 98 and may be arranged generally coaxially with the motor encoder. As a result of this, the conduit 69 allows the transport and movement of the selected fluid through the interior of the servo actuator 44. This construction advantageously allows a positioning of the servo motor and the motor encoder with the driven nozzle body and the nozzle 24 on the same side of the substrate 22. Such a configuration can reduce the possibility of unwanted interference between the apparatus and the substrate, and can provide greater flexibility with regard to the location and transport of the substrate beyond the nozzle 24. An example A suitable servo motor is a Reliance ES20040 motor, which is available from Reliance Electric Company.

In the configuration shown representatively, the part of the delivery conduit provided by the torsional force tube 60 is operably connected in fluid communication with the conduit 69 entering the servo actuator 44 through the end of the motor encoder 98. For example, the torsional force tube 60 may be constructed to terminate in the motor encoder, or it may be constructed to extend and continue through the conduit 69 formed through the encoder shaft. Similarly, the torsional force tube 60 may be constructed to terminate in the servo motor 43 or may be constructed to extend and continue through the conduit 69 formed through the motor shaft.

The motor output shaft 45 is operably configured to deliver the selected fluid to the nozzle body and movable support 26. Suitable fluid conduits are formed on the output shaft to provide a fluid communication operable from the output shaft and up to the duct arm section 62 of the nozzle body. The fluid moves from the arm section 62 through the support section 64 and up to the nozzle 24 for delivery to the substrate 22, similar in the manner as described above. In the arrangement shown, the motor output shaft 45 extends beyond the interconnection between the motor shaft and the conduit arm section 62, and provides a mounting section on which the servo arm 54 can be secured and configured in a similar way to that previously described. Optionally, the servo arm 54 can be positioned between the servo motor 43 and the conduit arm section 64. Thus, the servo actuator 44 again has a servo axis of rotation 52 which is arranged essentially collinearly with the shaft of torsional force 67 of the energy storage means provided by the torsional force tube conduit section 60.

As previously described, the regulating means 48 will be operably connected to control the servo actuator 44 by employing the electronically stored and selected data set 50. The data set is configured to move the servo actuator 44 in a selected sequence, and the sequence it has a predetermined correspondence with the movement of the substrate 22 to thereby direct the nozzle 24 along the selected delivery path and provide the selected pattern, such as the cutting pattern 32 on the substrate.

Having thus described the invention in quite complete detail, it will be readily apparent that various changes and modifications can be made without departing from the spirit of the invention. All such changes and modifications are contemplated as being within the scope of the invention as defined by the attached clauses.

Claims (18)

R E I V I ND I CA C I O N S

1. An apparatus for directing a fluid on a substrate in motion, said apparatus comprises: a nozzle connected to a movable support; supply means for providing a fluid to said nozzle through the support at a pressure which provides a fluid flow rate from said nozzle; storage means for absorbing the energy produced by the movement of said support, said storage means include a section of torsional force and has an axis of torsional force thereof; Y a servo actuator for rotating the support to move said nozzle along a selected direction path, said servo actuator has a servo axis of rotation which is arranged essentially in collinear form with said axis of force of said section of force torcional.

2. An apparatus for cutting a moving substrate, said apparatus comprises: a cutting nozzle connected to a moving support; supply means for providing a cutting fluid to said cutting nozzle through said support at a pressure which provides the fluid flow rate from said cutting nozzle, said fluid flow rate being sufficient to cut said substrate in a pattern selected cutting, said supply means include a section of torsional force duct which has a torsional axis thereof and is configured to absorb the torsional energy produced by the movement of said support; Y a servo actuator for rotating said support to move said cutting nozzle along a selected cutting path, said servo actuator has a servo axis of rotation which is arranged essentially collinear with said torsion axis of said section of force conduit torcional.

3. An apparatus as claimed in clause 1 characterized in that said servo actuator includes a radially extending servo arm which operably connects said movable support to move said nozzle.

4. An apparatus as claimed in clause 1 characterized in that said movable support is in fluid communication with said torsional force conduit and extends radially outwardly from said torsional force pipe conduit.

5. An apparatus as claimed in clause 1 characterized in that said movable support and said servo arm are configured to be essentially parallel to each other.

6. An apparatus as claimed in clause 1 characterized in that said movable support includes a support conduit.

7. An apparatus as claimed in clause 1 characterized in that said servo actuator includes a conduit which allows a movement of said fluid through the interior of said servo actuator.

8. An apparatus as claimed in clause 1 further characterized in that it comprises an energy storage system for absorbing the mechanical energy produced by the movement of said nozzle along said direction path.

9. An apparatus as claimed in clause 8 characterized in that said energy storage system comprises a torsional force tube and said torsional force tube is constructed to conduct said fluid to said nozzle.

10. An apparatus as claimed in clause 8 characterized in that said energy storage system comprises a tubing coil, and said tubing is constructed to conduct said fluid to said nozzle.

11. A method for directing a fluid on a moving substrate, said method comprises the steps of: providing a nozzle on a mobile support; supplying a fluid to said nozzle at a pressure which provides a fluid flow rate selected from the nozzle; rotating said support with a servo actuator to move said nozzle along a selected direction path, said servo actuator has a servo axis of rotation; Y providing storage means for absorbing energy produced by moving said support, said storage means having a shaft of torsional force which is arranged substantially collinear with said axis of servo rotation.

12. A method for cutting a substrate in motion, said method comprises the steps of: providing a cutting nozzle connected to a mobile support; means for supplying cutting fluid to said cutting nozzle through a section of torsional force duct at a pressure which provides a fluid flow rate from said cutting nozzle, said fluid flow rate being sufficient to cut said substrate in a selected cutting pattern, said section of torsional force duct has an axis of torsional force thereof and configured to absorb the torsional energy produced by the movement of said support; Y rotating said support with a servo actuator to move said cutting nozzle along a selected cutting path, said servo actuator has a servo axis of rotation which is arranged essentially collinearly with said axis of torsional force of said section of torsional force conduit.

13. A method as claimed in clause 11 characterized in that said servo actuator includes a conduit which allows a movement of said fluid through the interior of said servo actuator.

14. A method as claimed in clause 11 characterized in that it comprises the step of absorbing the mechanical energy produced by said nozzle along the direction path.

15. A method as claimed in clause 14 characterized in that said absorption step includes an absorption of mechanical energy with a torsional force tube.

16. A method as claimed in clause 15 characterized in that said torsion force tube is constructed to drive said fluid to said nozzle.

17. A method as claimed in clause 14 characterized in that said absorption step includes absorbing mechanical energy with a tube coil.

18. A method as claimed in clause 17 characterized in that said tube spiral is constructed to convey said fluid to said nozzle. SUMMARY An apparatus for directing a selected fluid to a movable substrate includes a nozzle connected to a movable support, and a supply mechanism for providing fluid to the nozzle at a pressure which provides a fluid flow rate selected from the nozzle. The delivery mechanism includes a section of torsional force duct which has a longitudinal torsional force axis thereof and is configured to absorb the torsional energy produced by the movement of the support. A servo actuator rotates the holder to move the cutting nozzle along a selected cutting path, and the servo actuator has a servo axis of rotation which is arranged essentially collinear with the longitudinal axis of the tube conduit section. torsional force.