Patent Description:
Fluid jet or abrasive-fluid jet cutting systems are used for cutting a wide variety of materials, including stone, glass, ceramics, composites and metals. In a typical fluid jet cutting system, a high-pressure fluid (e.g., water) flows through a cutting head having a cutting nozzle that directs a cutting jet onto a workpiece. The system may draw or feed abrasives into the high-pressure fluid jet to form an abrasive-fluid jet. The cutting nozzle may be controllably moved across the workpiece to cut the workpiece as desired. After the fluid jet, or abrasive fluid jet, generically referred to hereinafter as a "fluid jet," passes through the workpiece, the energy of the fluid jet is often dissipated by a relatively large volume of water in a catcher tank that may also be configured to support the workpiece. Systems for generating high-pressure fluid jets are currently available, such as, for example, the Mach <NUM>™ five-axis waterjet system manufactured by Flow International Corporation, the assignee of the present application. Other examples of waterjet cutting systems are shown and described in Flow's <CIT>. Examples of catcher tank systems for supporting workpieces and dissipating energy of a waterjet after it passes through a workpiece are shown and described in Flow's <CIT>.

Although many fluid jet cutting systems feature a catcher tank arrangement having a relatively large volume of water contained therein to dissipate energy of the fluid jet during use, other known systems utilize compact or relatively compact fluid jet receptacles which are positioned opposite a cutting head and moved in unison with the same to catch the jet after it is discharged from the cutting head and acts on a workpiece. Examples of such receptacles (also referred to as catcher cups) and other related devices are shown and described in <CIT>; <CIT>; <CIT>; <CIT>; <CIT>; <CIT>; <CIT>; <CIT> ; and <CIT>.

Known fluid jet systems, however, can suffer from several drawbacks. For example, many fluid jet systems may be configured such that they generate excessive noise and/or other conditions that provide less than an ideal work environment.

Further relevant prior art is described in <CIT>, which is according to the preamble of claim <NUM>.

A fluid jet cutting system having the features defined in claim <NUM>, which defines the invention, is provided. In the following some arrangements are described, however, some of those arrangements are helpful for understanding the present invention and may not be covered by the claims.

Arrangements described herein provide fluid jet systems, components and related methods for processing workpieces under particularly work-friendly conditions. The systems, components and methods may result in, for example, reduced noise pollution and/or the elimination or reduction of other potentially disruptive work conditions, such as fluid splash back. Arrangements include fluid jet systems and related methods that reduce, minimize or eliminate a gap between a workpiece being processed and jet receiving devices that receive and dissipate the energy of a fluid jet passing through the workpiece. Other arrangements include fluid jet systems and related methods involving fluid jet processing of workpieces in a submerged condition. Still further arrangements include fluid jet systems and related methods involving position and orientation adjustment of a fluid jet receptacle to coordinate the path of an incoming fluid jet with a central axis or other feature of the fluid jet receptacle.

According to the invention, as defined in claim <NUM>, a fluid jet cutting system may be summarized as including a multiaxial industrial robot having an end effector to grip a workpiece to be processed, the multiaxial industrial robot configured to selectively move the workpiece within a working envelope defined by a range of motion of the multiaxial industrial robot; a tank containing a fluid, such tank being positioned within the working envelope of the multiaxial industrial robot to enable the workpiece to be submerged under fluid within the tank during a workpiece processing operation; and at least one fluid jet cutting head having an orifice to generate a high pressure fluid jet and a fluid jet outlet from which to discharge the high pressure fluid jet, the cutting head being located relative to the tank such that, during the workpiece processing operation, the high pressure fluid jet discharges from the fluid jet outlet beneath an upper surface of the fluid within the tank, cuts through the workpiece, and dissipates within a region of the fluid in the tank located adjacent a side of the workpiece opposite the cutting head.

The at least one fluid jet cutting head may include a central axis along which the fluid jet is discharged, and wherein the central axis of the at least one fluid jet cutting head may be aligned vertically and oriented such that the fluid jet is discharged downward from fluid jet outlet during the workpiece processing operation. The at least one fluid jet cutting head may include a central axis along which the fluid jet is discharged, and wherein the central axis of the at least one fluid jet cutting head may be inclined relative to a direction normal to the upper surface of the fluid within the tank. The system may include a first fluid jet cutting head and a second fluid jet cutting head each having a central axis, the central axis of the first fluid jet cutting head aligned perpendicularly with respect to the central axis of the second fluid jet cutting head. The at least one fluid jet cutting head is suspended with a portion thereof located above an open end of the tank. The at least one fluid jet cutting head may be spaced away from sidewalls of the tank to permit the multiaxial industrial robot to maneuver the workpiece beneath the discharged fluid jet without obstruction from the tank. The at least one fluid jet cutting head may be attached to a sidewall of the tank and extend through the sidewall of the tank. The at least one fluid jet cutting head may be movably attached to the sidewall of the tank to enable angular adjustment of the fluid jet cutting head relative to the tank. The fluid jet cutting system may further include a vacuum source, the vacuum source being coupled to the fluid jet cutting head to provide vacuum-assisted entrainment of abrasives into the high pressure fluid jet and being coupled to the tank to assist in withdrawing fluids therefrom. The fluid jet cutting system may further include an inspection station located outside of the tank within the working envelope defined by the range of motion of the multiaxial industrial robot to enable inspection of the workpiece prior to or after submersion in the tank. The fluid jet cutting system may further include a re-gripping station located outside of the tank within the working envelope defined by the range of motion of the multiaxial industrial robot to enable the multiaxial industrial robot to set a workpiece down and re-grip or re-engage the workpiece at a different location. In this manner, the workpiece may be manipulated beneath a waterjet by the multiaxial industrial robot from one of several different gripping locations.

In the following Figures the second arrangement disclosed in <FIG> is an embodiment of the present invention as well as the third arrangement disclosed in <FIG> and <FIG>. The further arrangements disclosed in <FIG> as well as <NUM> to <NUM> are arrangements which are helpful for understanding the present invention, but are outside the scope of the claims.

In the following description, certain specific details are set forth in order to provide a thorough understanding of various disclosed arrangements. However, one of ordinary skill in the relevant art will recognize that arrangements may be practiced without one or more of these specific details. In other instances, well-known structures associated with fluid jet cutting systems and methods of operating the same may not be shown or described in detail to avoid unnecessarily obscuring descriptions of the arrangements. For instance, it will be appreciated by those of ordinary skill in the relevant art that a high-pressure fluid source and an abrasive source may be provided to feed high-pressure fluid and abrasives, respectively, to a cutting head of the fluid jet systems described herein to facilitate, for example, high-pressure or ultrahigh-pressure abrasive waterjet cutting of workpieces. As another example, well know control systems and drive components may be integrated into the fluid jet cutting systems to facilitate movement of the cutting head relative to the workpiece to be processed or vice versa. These systems may include drive components to manipulate the cutting head about various rotational and translational axes, such as, for example, as is common in five-axis abrasive waterjet cutting systems. Example fluid jet systems may include fluid jet cutting heads coupled to a gantry-type motion system or a robotic arm motion system.

Unless the context requires otherwise, throughout the specification and claims which follow, the word "comprise" and variations thereof, such as, "comprises" and "comprising" are to be construed in an open, inclusive sense that is as "including, but not limited to.

Reference throughout this specification to "one arrangement" or "an arrangement" means that a particular feature, structure or characteristic described in connection with the arrangement is included in at least one arrangement. Thus, the appearances of the phrases "in one arrangement" or "in an arrangement" in various places throughout this specification are not necessarily all referring to the same arrangement. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more arrangements. The invention is, however, only defined by the claims.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise.

Arrangements described herein provide fluid jet systems and related methods for processing workpieces in particularly environmentally friendly ways, which can result in reduced noise pollution and/or the elimination or reduction of other potentially disruptive work conditions, such as fluid splash back. Arrangements include fluid jet systems and related methods that reduce, minimize or eliminate a gap between a workpiece being processed and jet receiving devices that receive and dissipate the energy of a fluid jet passing through the workpiece. Other arrangements include fluid jet systems and related methods involving fluid jet cutting of workpieces in a submerged condition. Still further arrangements include fluid jet systems and related methods involving position and orientation adjustment of a fluid jet receptacle to coordinate the path of an incoming fluid jet with a central axis or other feature of the fluid jet receptacle.

As described herein, the term cutting head may refer generally to an assembly of components at a working end of the fluid jet cutting machine or system, and may include, for example, a nozzle of the fluid jet cutting system containing an outlet aperture for discharging a high-pressure fluid jet and surrounding structures and devices coupled directly or indirectly thereto to move in unison therewith.

<FIG> and <FIG> show an example arrangement of a fluid jet cutting system <NUM>. The fluid jet cutting system <NUM> includes a multi-axis robotic motion system <NUM>, such as an industrial multiaxial robotic arm, which is configured to manipulate a workpiece <NUM> within a working envelope of the motion system <NUM> defined by its range of motion to be processed by a high pressure fluid jet (e.g., waterjet or abrasive waterjet). The robotic motion system <NUM> may include an end effector <NUM>, such as a gripper, at the working end thereof for selectively gripping the workpiece <NUM> for manipulation opposite the fluid jet.

With reference to <FIG>, a support structure <NUM> may be provided in the vicinity of the robotic motion system <NUM> to support a fluid jet cutting head <NUM> within or adjacent the working envelope of the robotic motion system <NUM>. The fluid jet cutting head <NUM> is configured to generate a high pressure fluid jet via an orifice and to selectively discharge the fluid jet (with or without abrasives) via a fluid jet outlet for processing the workpiece <NUM>. The support structure <NUM> may be a rigid structure or an adjustable structure suitable for supporting the cutting head <NUM> within or adjacent the working envelope of the robotic motion system <NUM> to enable the workpiece <NUM> to be positioned generally opposite the cutting head <NUM> to be cut, trimmed or otherwise processed by the selectively dischargeable fluid jet. The robotic motion system <NUM> and support structure <NUM> may be fixed to a common foundation <NUM> and/or may be located within an enclosed or partially enclosed work cell.

The support structure <NUM> or another distinct support structure may support a jet receiving receptacle <NUM> generally opposite the cutting head <NUM>. The jet receiving receptacle <NUM> may include a jet inlet aperture <NUM> at a distal end thereof to enable the fluid jet to pass into an internal cavity of the jet receiving receptacle <NUM>. The jet receiving receptacle <NUM> may include one or more energy dissipating devices within its internal cavity for dissipating energy of the incoming fluid jet. For example, the receptacle <NUM> may be filled with an arresting fluid and/or a plurality of ball bearings or other elements that are configured to move or rotate in response to the impinging fluid jet. Further details of such energy dissipating devices are not provided to avoid unnecessarily obscuring descriptions of the arrangements.

As shown in <FIG>, the jet receiving receptacle <NUM> may be coupled to the support structure <NUM> or other foundational structure in a manner that enables a clearance gap distance D between the cutting head <NUM> and the inlet aperture <NUM> of the jet receiving receptacle to be adjusted. For example, in some arrangements, a linear positioner <NUM> may be provided intermediately between the support structure <NUM> and the jet receiving receptacle <NUM> to enable the jet receiving receptacle <NUM> to be controllably moved toward and away from the cutting head <NUM>, as represented by the arrows labeled <NUM>. Example linear positioners <NUM> include HD Series linear positioners available from the Electromechanical Automation Division of Parker Hannifin Corporation located in Irwin, Pennsylvania. The linear positioner <NUM> may be coupled to an upstanding support member <NUM> of the support structure <NUM> with toe clamps <NUM> or other fastening devices. The jet receiving receptacle <NUM> may be coupled to the linear positioner <NUM> by a support arm <NUM> or other structural member. The jet receiving receptacle <NUM> may be offset from the upstanding structural member <NUM> and oriented generally parallel thereto.

The linear positioner <NUM> may include a motor <NUM> in communication with a controller <NUM> (<FIG>) to enable controlled movement of the linear positioner <NUM> and adjustment of the clearance gap distance D before, during and/or after workpiece processing operations. In this manner, the inlet aperture <NUM> of the jet receiving receptacle <NUM> can be maintained in close proximity to a discharge side of the workpiece <NUM>, which may advantageously assist in reducing the level of noise otherwise generated by systems lacking such features. The clearance gap distance D may be adjusted to accommodate for workpieces <NUM> of different thicknesses or of varying thicknesses. In some arrangements, the clearance gap distance D may be adjusted during processing of a workpiece <NUM> (or a portion thereof) to reduce or minimize a gap between a rear discharge surface of the workpiece <NUM> and the inlet aperture <NUM> of the jet receiving receptacle <NUM>.

With reference to <FIG>, a variation of the aforementioned fluid jet system <NUM> is provided in which the jet receiving receptacle <NUM> is fixed relative to the support structure <NUM> and wherein the linear positioner <NUM> is provided intermediately between the support structure <NUM> and the cutting head <NUM> to enable the cutting head <NUM> to be controllably moved toward and away from the jet receiving receptacle, as represented by the arrows labeled <NUM>. Again, the linear positioner <NUM> may be coupled to the upstanding support member <NUM> of the support structure <NUM> with toe clamps <NUM> or other fastening devices. The cutting head <NUM> may be coupled to the linear positioner <NUM> by a support arm <NUM> or other structural member. The cutting head <NUM> may be offset from the upstanding structural member <NUM> and oriented generally parallel thereto.

In some arrangements, the cutting head <NUM> may be aligned at an angle or may be adjustably coupled to the support structure <NUM> to enable adjustment of a fluid jet discharge direction of the cutting head <NUM> before, during and/or after processing the workpiece. Still further, in some arrangements, the jet receiving receptacle <NUM> may rotatable about one or more orthogonally aligned axis of rotation A<NUM>, A<NUM> to enable tilting of the jet receiving receptacle <NUM>, as indicated by the arrows labeled R<NUM>, R<NUM>. In some instances, the receptacle <NUM> may be configured to tilt before or during a processing operation (or at least during a portion of the processing operation) such that a central axis A<NUM> thereof is more closely aligned with a direction of the incoming fluid jet during operation, which may be deflected from a central axis A<NUM> of the cutting head <NUM> as a result of interaction with the workpiece <NUM>.

With reference to <FIG>, other systems or subsystems associated with fluid jet cutting systems may also be provided such as, for example, a high-pressure or ultrahigh-pressure fluid source <NUM> (e.g., direct drive and intensifier pumps with pressure ratings ranging from <NUM>,<NUM> psi to <NUM>,<NUM> psi - ca <NUM> to <NUM> MPa-and higher) for supplying high pressure or ultrahigh pressure fluid to the cutting head <NUM> via one or more fluid supply conduits <NUM> and/or an abrasive source <NUM> (e.g., abrasive hopper and distribution system) for feeding abrasives to the cutting head <NUM> to enable abrasive fluid jet cutting. More particularly, the abrasive source <NUM> may supply abrasives (e.g., garnet particles) to an abrasive feed system <NUM> via one or more abrasive supply conduits <NUM>. The abrasive feed system <NUM> may be provided in close proximity to the cutting head <NUM> and positioned above the cutting head <NUM> to selectively feed abrasives to the cutting head <NUM> via one or more abrasive feed conduits <NUM>. The high pressure fluid source <NUM>, abrasive source <NUM>, abrasive feed system <NUM>, the cutting head <NUM>, the multi-axis robotic motion system <NUM> and/or other functional components of the fluid jet system <NUM> may be coupled to the controller <NUM> to enable coordinated operation of the same. For example, the movement of the multi-axis robotic motion system <NUM> may be coordinated with adjusting movements of the clearance gap distance D (<FIG>) as a workpiece <NUM> is manipulated opposite an abrasive fluid jet discharged from the cutting head <NUM>. In some instances, the controller <NUM> may be configured to adjust the clearance gap distance D based at least in part on a model or model calculations. In other instances, the system may further include one or more sensors (not shown) coupled to the controller <NUM> which are configured to sense a magnitude of the clearance gap distance D, and the controller <NUM> may be configured to adjust the clearance gap distance D based at least in part on the sensed magnitude.

The controller <NUM> may generally include, without limitation, one or more computing devices, such as processors, microprocessors, digital signal processors (DSP), application-specific integrated circuits (ASIC), and the like. To store information, the controller <NUM> may also include one or more storage devices, such as volatile memory, non-volatile memory, read-only memory (ROM), random access memory (RAM), and the like. The storage devices can be coupled to the computing devices by one or more buses. The controller <NUM> may further include one or more input devices {e.g., displays, keyboards, touchpads, controller modules, or any other peripheral devices for user input) and output devices {e.g., displays screens, light indicators, and the like). The controller <NUM> can store one or more programs for processing any number of different workpieces according to various cutting head movement instructions. The controller <NUM> may also control operation of other components, such as, for example, the high pressure fluid source <NUM>, the abrasive source <NUM> and the motion system <NUM>. The controller <NUM>, according to one arrangement, may be provided in the form of a general purpose computer system. The computer system may include components such as a CPU, various I/O components, storage, and memory. The I/O components may include a display, a network connection, a computer-readable media drive, and other I/O devices (a keyboard, a mouse, speakers, etc.). A control system manager program may be executing in memory, such as under control of the CPU, and may include functionality related to routing high-pressure fluid (e.g., water) and abrasive media through the fluid jet systems described herein.

Further example control methods and systems for fluid jet systems, such as, for example, abrasive waterjet systems that include CNC functionality, and which are applicable to the fluid jet systems described herein, are described in Flow's <CIT>. In general, computer-aided manufacturing (CAM) processes may be used to efficiently drive or control a cutting head along a designated path, such as by enabling two-dimensional or three-dimensional models of workpieces generated using computer-aided design (i.e., CAD models) to be used to generate code to drive the machines. For example, in some instances, a CAD model may be used to generate instructions to drive the appropriate controls and motors of the fluid jet systems described herein to manipulate a cutting head about various translational and/or rotational axes to cut or process a workpiece as reflected in the CAD model.

In some arrangements, a vacuum source (not shown) may also be provided to assist in drawing abrasives from the abrasive feed system <NUM> into the fluid from the fluid source <NUM> to produce a consistent abrasive fluid jet to enable particularly accurate and efficient workpiece processing. The same or a different vacuum source may also be coupled to the jet receiving receptacle <NUM> to assist in withdrawing contents of the fluid jet received by the receptacle <NUM> during operation.

Further details of the controller <NUM>, robotic motion system <NUM> and other systems and subsystems associated with fluid jet cutting systems (e.g., abrasive feed system <NUM>), however, are not shown or described in detail to avoid unnecessarily obscuring descriptions of the arrangements.

<FIG> show another example arrangement of a fluid jet cutting system <NUM>. The fluid jet cutting system <NUM> includes a multi-axis robotic motion system <NUM>, such as an industrial multiaxial robotic arm, which is configured to manipulate a workpiece <NUM> (e.g., composite aircraft parts) within a working envelope of the motion system <NUM> defined by its range of motion to be processed by a high pressure fluid jet (e.g., waterjet or abrasive waterjet). The robotic motion system <NUM> may include an end effector <NUM>, such as a gripper, at the working end thereof for selectively gripping the workpiece <NUM> for manipulation opposite the fluid jet.

The fluid jet cutting system <NUM> further includes a tank <NUM> and one or more fluid jet cutting heads <NUM>, <NUM> (two shown). The tank <NUM> is positioned within the working envelope of the multi-axis robotic motion system <NUM> to enable the workpiece <NUM> to be at least partially submerged under fluid <NUM> (e.g., water) within the tank <NUM> during workpiece processing operations. Each of the fluid jet cutting heads <NUM>, <NUM> may include an orifice member <NUM> (e.g., a jewel orifice carried by an orifice mount <NUM>), as shown in <FIG>, to generate a high pressure fluid jet <NUM> and a fluid jet outlet <NUM> from which to discharge the high pressure fluid jet <NUM>. The cutting heads <NUM>, <NUM> are located relative to the tank <NUM> such that, during processing of the workpiece <NUM> by one of the cutting heads <NUM>, <NUM>, the high pressure fluid jet <NUM> discharges from the fluid jet outlet <NUM> of the selected cutting head <NUM>, <NUM> beneath an upper surface <NUM> of the fluid <NUM> within the tank <NUM>, cuts through the workpiece <NUM>, and dissipates within a region of the fluid <NUM> in the tank <NUM> located adjacent a side of the workpiece <NUM> opposite the selected cutting head <NUM>, <NUM>.

<FIG> shows further details of one arrangement of a cutting head <NUM> which can be used in connection with the example arrangement of the fluid jet cutting system <NUM> shown in <FIG>, and the other arrangements of the fluid jet cutting systems <NUM>, <NUM>, <NUM>, <NUM> and related methods described herein. The cutting head <NUM> includes an abrasive inlet <NUM> coupled to an abrasive source <NUM> and includes a supplemental port <NUM> that may be coupled to a supplemental device <NUM>, such as, for example, a vacuum source to assist in drawing abrasives into the cutting head <NUM>. In other instances, the supplemental device <NUM> may be a secondary abrasive feed source, a pressurized air source, or other device that assists or augments the operation of the cutting head <NUM>. In some instances, a supplemental device <NUM> may not be provided and the supplemental port <NUM> may be sealed with a cap <NUM>. In other instances, the cutting head <NUM> may not include a supplemental port <NUM>.

The cutting head <NUM> also includes a cutting head body <NUM>, the orifice member <NUM> for producing the fluid jet <NUM> within the cutting head body <NUM>, and a mixing tube <NUM> coupled to the body <NUM>. The cutting head body <NUM> has an interior surface <NUM> that defines at least a portion of a mixing chamber <NUM>. In some arrangements, including the arrangement illustrated in <FIG>, the mixing chamber <NUM> is generally the space between the orifice mount <NUM>, which supports the orifice member <NUM>, and the mixing tube <NUM>. The abrasive inlet <NUM> defines at least a portion of a flow path between the abrasive source <NUM> and the mixing chamber <NUM>, and the supplemental port <NUM>, when provided, defines at least a portion of a flow path between the mixing chamber <NUM> and the supplemental device <NUM>.

The cutting head body <NUM> can have a one-piece construction and can be made, in whole or in part, of one or more metals (e.g., steel, high strength metals, etc.), metal alloys, or the like. The cutting head body <NUM> may include threads or other coupling features for coupling to other components of the cutting head <NUM>. The orifice mount <NUM> is fixed with respect to the cutting head body <NUM> and includes a recess dimensioned to receive and hold the orifice member <NUM>. The orifice member <NUM> is kept in alignment with the mixing chamber <NUM>, a passageway <NUM> of the mixing tube <NUM>, and an upstream passageway <NUM> in fluid communication with a high pressure fluid source <NUM>. The orifice member <NUM>, in some arrangements, is a jewel orifice or other fluid jet or cutting stream producing device used to achieve the desired flow characteristics of the resultant fluid jet <NUM>. The opening of the orifice member <NUM> can have a diameter in a range of about <NUM> inch (<NUM>) to about <NUM> inch (<NUM>). Openings with other diameters can also be used, if needed or desired.

The orifice mount <NUM> defines an upstream end of the mixing chamber <NUM>, and the mixing tube <NUM> defines a downstream end of the mixing chamber <NUM>. The mixing chamber <NUM> includes a relatively wide central region in which abrasives for the abrasive source <NUM> may be entrained in the fluid jet <NUM>. The illustrated mixing chamber <NUM> has a cross-sectional area that is larger than a cross-sectional area of the passageway <NUM> of the mixing tube <NUM>. The illustrated mixing chamber <NUM> of <FIG> is a single-stage entrainment chamber in which substantially the entire entrainment process occurs. A stream of abrasives can be continuously entrained in at least a portion of a section of the fluid jet <NUM> between the orifice mount <NUM> and the mixing tube <NUM>. The illustrated fluid jet <NUM> exits the orifice member <NUM> directly into the mixing chamber <NUM>. Abrasives fed or drawn into the mixing chamber <NUM>, with optional assistance of a vacuum device, are entrained in the fluid jet <NUM> to form the abrasive fluid jet <NUM> flowing through the passageway <NUM> of the mixing tube <NUM>. The abrasives may be entrained before entering an upstream end of the mixing tube <NUM>. The entrained abrasive may continue to mix together while traveling along the passageway <NUM> of the mixing tube <NUM>. The fluid jet <NUM> is ultimately discharged from the outlet <NUM> generally along a central axis <NUM> defined by the mixing tube <NUM> for processing the workpiece <NUM>.

The cutting head <NUM> may further include a mount <NUM> for coupling the cutting head <NUM> to the tank <NUM> or to another structure in the vicinity of the tank <NUM>. According to the example arrangement shown in <FIG>, the cutting head <NUM> is attached to a sidewall of the tank <NUM> and extends through the sidewall of the tank <NUM> such that the fluid jet outlet <NUM> is positioned beneath the upper surface <NUM> of the fluid <NUM> within the tank <NUM> during processing operations. A fluid-level adjustment system (not shown) may be provided to adjust the level of fluid <NUM> in the tank <NUM> to ensure the fluid jet outlet <NUM> is submerged when processing the workpiece <NUM>. The level of fluid <NUM> may be lowered to enable inspection of the workpiece <NUM> while the workpiece <NUM> is still positioned opposite the cutting head <NUM>. In some arrangements, an inspection station may be located outside of the tank <NUM> within the working envelope defined by the range of motion of the multi-axis robotic motion system <NUM> to enable inspection of the workpiece <NUM> prior to or after submersion and processing within the tank <NUM>. The cutting head <NUM> may be mounted to the tank <NUM> such that the central axis <NUM> is aligned horizontal or generally horizontal. In other arrangements, the cutting head <NUM> may be mounted to the tank <NUM> such that the central axis <NUM> is inclined relative to a horizontal reference plane. For example, the central axis <NUM> may be inclined downwardly to discharge the fluid jet <NUM> at least partially toward a floor of the tank <NUM>.

In still further arrangements, the cutting head <NUM> may be mounted to the tank <NUM> via a manipulable joint (not shown). The manipulable joint may be manually or automatically adjustable to enable selective adjustment of an angle a of the cutting head <NUM> relative to the tank <NUM>. For example, the manipulable joint may be coupled to a motor and a controller (not shown) to enable controlled adjustment of the angle a of the cutting head <NUM> prior to and/or during cutting operations. The angle a of the cutting head <NUM> can be adjusted manually or automatically to, among other things, minimize surface turbulence during cutting operations or allow easier manipulation of workpieces <NUM> opposite the discharged fluid jet <NUM> thereof. Other cutting heads, such as, for example, cutting head <NUM>, may be supported in a similar manner to enable angular adjustment of such cutting heads relative to the tank <NUM> or other fixture.

<FIG> and <FIG> show the multi-axis robotic motion system <NUM> in two different configurations with the workpiece <NUM> positioned opposite each of two separate cutting heads <NUM>, <NUM>. More particularly. <FIG> shows the multi-axis robotic motion system <NUM> positioning the workpiece <NUM> opposite a horizontally oriented cutting head <NUM> that extends through the sidewall of the tank <NUM>, as discussed above, and <FIG> shows the multi-axis robotic motion system <NUM> positioning the workpiece <NUM> opposite a vertically mounted cutting head <NUM> that is positioned above the tank <NUM> such that the fluid jet <NUM> is discharged downwardly from fluid jet outlet <NUM> during processing operations. The cutting heads <NUM>, <NUM> may be provided to discharge fluid jets <NUM> in two primary directions that are perpendicular to each other. In other instances, discharge directions of the fluid jets <NUM> discharge by the cutting heads <NUM>, <NUM> may be non-orthogonal or skewed relative to each other. In still other instances, one or more of the cutting heads <NUM>, <NUM> may be adjustably mounted to allow the discharged jet <NUM> to be reoriented as desired, before, after and/or during processing operations.

Although two separate distinct cutting heads <NUM>, <NUM> are shown, it is appreciated that in some arrangements more cutting heads <NUM>, <NUM> may be provided, and in other arrangements only a single cutting head <NUM>, <NUM> may be provided in conjunction with the tank <NUM> and multi-axis robotic motion system <NUM>. Having a plurality of cutting heads <NUM>, <NUM>, however, provides versatility with respect to processing a wide variety of workpieces and performing a wide variety of processing operations, such as, for example, cutting a complex profile of a workpiece <NUM> in a submerged environment. At least one fluid jet cutting head <NUM> may be spaced away from the sidewalls of the tank <NUM> to permit the multi-axis robotic motion system <NUM> to maneuver the workpiece <NUM> beneath the discharged fluid jet <NUM> without obstruction from sidewalls of the tank <NUM>.

With continued reference to <FIG> and <FIG>, at least one fluid jet cutting head <NUM> may be suspended above or otherwise positioned above the tank <NUM> with a portion thereof (e.g., a cutting head body <NUM>) located above the upper surface <NUM> of the fluid <NUM> during processing operations and with a portion thereof (e.g., at least a portion of mixing tube <NUM>) submerged below the upper surface <NUM> of the fluid <NUM>. Accordingly, the cutting head <NUM> may span across the upper surface <NUM> of the fluid <NUM> with its fluid jet outlet <NUM> submerged during cutting and other processing operations. The cutting head <NUM> may be rigidly or fixedly secured in space above the tank <NUM>. In other instances, the cutting head <NUM> may be mounted to a swing arm or other support structure (not shown) to enable the cutting head <NUM> to move from a stowed configuration in which the cutting head <NUM> may be outside of the working envelope of the multi-axis robotic motion system <NUM> and a deployed configuration in which the cutting head <NUM> is positioned above or within the tank <NUM> with its fluid jet outlet <NUM> submerged. The tank <NUM>, the multi-axis robotic motion system <NUM> and any support structures (not shown) that support one or more of the cutting heads <NUM>, <NUM> may be fixed to a common foundation <NUM> and/or may be located within an enclosed or partially enclosed work cell.

Similar to aforementioned arrangements, and with continued reference to <FIG> and <FIG>, other systems and subsystems associated with fluid jet cutting systems may also be provided such as, for example, a high-pressure or ultrahigh-pressure fluid source <NUM> (e.g., direct drive and intensifier pumps with pressure ratings ranging from <NUM>,<NUM> psi to <NUM>,<NUM> psi -ca <NUM> to <NUM> MPa- and higher) for supplying high pressure or ultrahigh pressure fluid (e.g., high pressure water) to the cutting heads <NUM>, <NUM> and/or an abrasive source <NUM> (e.g., abrasive hopper and distribution system) for feeding abrasives to the cutting heads <NUM>, <NUM> to enable abrasive fluid jet cutting. In some arrangements, a supplemental device <NUM> may be coupled to the cutting heads <NUM>, <NUM> to provide additional functionality. For example, a vacuum source may be provided to assist in drawing abrasives into the cutting heads <NUM>, <NUM>. In other instances, the supplemental device <NUM> may be a secondary abrasive feed source, a pressurized air source, or other device that assists or augments the operation of the cutting heads <NUM>,<NUM>. In addition, a vacuum source or pump <NUM> may be coupled to a tank <NUM> to enable the withdrawal of contents from the tank <NUM> for disposal of the contents or reconditioning and reuse thereof. The high pressure fluid source <NUM>, abrasive source <NUM>, the cutting heads <NUM>, <NUM>, the multi-axis robotic motion system <NUM> and/or other functional components of the fluid jet system <NUM> (e.g., supplemental device <NUM>) may also be coupled to a controller (not shown) or controllers in order to enable coordinated operation of the same. For example, according to one arrangement, the orientation of the cutting heads <NUM>, <NUM> may be adjusted and coordinated with operation of a vacuum source or pump <NUM> such that the discharged fluid jets <NUM> assist in cleaning the tank <NUM> by dislodging spent abrasives from the bottom of the tank <NUM> while the vacuum source or pump <NUM> withdraws the same. Further details of the controller, robotic motion system <NUM> and other known systems (e.g., high pressure fluid source <NUM>) associated with fluid jet cutting systems are not shown or described in detail to avoid unnecessarily obscuring descriptions of the arrangements.

With reference to <FIG> and <FIG>, a fluid jet cutting system <NUM> according to another arrangement is shown for processing workpieces using one of a plurality of alternate processing arrangements. The processing arrangements may include a submerged processing arrangement, as shown in <FIG>, and a non-submerged processing arrangement, as shown in <FIG>. The fluid jet cutting system <NUM> includes a multi-axis robotic motion system <NUM>, such as an industrial multiaxial robot, which is configured to manipulate a workpiece <NUM> within a working envelope of the motion system <NUM> defined by its range of motion to be processed by a high pressure fluid jet <NUM> (e.g., waterjet or abrasive waterjet). The robotic motion system <NUM> may include an end effector <NUM>, such as a gripper, at the working end thereof for selectively gripping the workpiece <NUM> for manipulation of the workpiece <NUM> opposite the fluid jet <NUM>.

The fluid jet cutting system <NUM> further includes a tank <NUM> and at least one fluid jet cutting head <NUM> configured to selectively generate the high pressure fluid jet <NUM>. The tank <NUM> is positioned within the working envelope of the multi-axis robotic motion system <NUM> to enable the workpiece <NUM> to be at least partially submerged under fluid <NUM> (e.g., water) within the tank <NUM> during a submerged processing operation. More particularly, the fluid jet cutting head <NUM> includes an orifice member (e.g., a jewel orifice) to generate a high pressure fluid jet <NUM> and a fluid jet outlet <NUM> from which to discharge the high pressure fluid jet <NUM>. The cutting head <NUM> is positionable relative to the tank <NUM> such that, during processing of the workpiece <NUM>, the high pressure fluid jet <NUM> may be discharged from the fluid jet outlet of the cutting head beneath an upper surface <NUM> of the fluid <NUM> within the tank <NUM> to cut through the workpiece <NUM> to dissipate within a region of the fluid <NUM> in the tank <NUM> located adjacent a side of the workpiece <NUM> opposite the cutting head <NUM>.

More particularly, the cutting head <NUM> may be movably coupled to a support structure <NUM> to enable the cutting head <NUM> to be moved between a submerged processing position, shown in <FIG>, and a non-submerged processing position, shown in <FIG>, as represented by the arrows labeled <NUM>. The cutting head <NUM> may be coupled to the support structure <NUM> by a support arm <NUM> and a carriage or base <NUM> that is configured to translate or ride up and down an upstanding portion of the support structure <NUM>. The vertical position of the cutting head <NUM> along the support structure <NUM> may be manually adjustable or controllably adjustable. A lock (not shown) or other fastening device may be provided to secure the cutting head <NUM> in the submerged processing position, shown in <FIG>, or the non-submerged processing position, shown in <FIG>, or in intermediate positions therebetween.

With reference to <FIG>, the fluid jet cutting system <NUM> may further include a jet receiving receptacle <NUM> having a fluid jet inlet feed component <NUM> with an inlet aperture <NUM> for receiving and capturing the fluid jet <NUM> discharged from the cutting head <NUM> when operating in the non-submerged processing position. The jet receiving receptacle <NUM> may be movably coupled to the support structure <NUM> to enable the receptacle <NUM> to be moved between an active or deployed position for processing the workpiece <NUM>, as shown in <FIG>, and an inactive or stowed position, as shown in <FIG>. The receptacle <NUM> may be coupled to the support structure <NUM> by a support arm <NUM> and a carriage or base <NUM> that may be configured to translate or ride up and down the upstanding portion of the support structure <NUM>, as represented by the arrows labeled <NUM>. The vertical position of the receptacle <NUM> along the support structure <NUM> may be manually adjustable or controllably adjustable. In addition, the carriage or base <NUM> may be configured to rotate around the upstanding portion of the support structure <NUM>, as represented by the arrow labeled <NUM>. In this manner, the support arm <NUM> and receptacle <NUM> can be swung out of the way of the tank <NUM> and stored in a manner so as to not obstruct or interfere with processing the workpiece <NUM> within the tank <NUM>. A lock (not shown) or other fastening device may be provided to secure the receptacle <NUM> in the active or deployed position shown in <FIG>, or the inactive or stowed position shown in <FIG>, or in other positions of interest. Advantageously, the fluid jet cutting system <NUM> provides enhanced versatility with respect to handling and processing a wide variety of workpieces <NUM>. The tank <NUM>, the multi-axis robotic motion system <NUM>, the support structure <NUM> and components supported thereon may be fixed to a common foundation <NUM> and/or may be located within an enclosed or partially enclosed work cell.

Similar to aforementioned arrangements, and with continued reference to <FIG> and <FIG>, other systems and subsystems associated with fluid jet cutting systems may also be provided such as, for example, a high-pressure or ultrahigh-pressure fluid source <NUM> (e.g., direct drive and intensifier pumps with pressure ratings ranging from <NUM>,<NUM> psi to <NUM>,<NUM> -ca <NUM> to <NUM> MPa- psi and higher) for supplying high pressure or ultrahigh pressure fluid (e.g., high pressure water) to the cutting head <NUM> and/or an abrasive source <NUM> (e.g., abrasive hopper and distribution system) for feeding abrasives to the cutting head <NUM> to enable processing with abrasive fluid jets. The abrasive source <NUM> may supply abrasives (e.g., garnet particles) to an abrasive feed system <NUM> via one or more abrasive supply conduits <NUM>. The abrasive feed system <NUM> may be provided in close proximity to the cutting head <NUM> and positioned above the cutting head <NUM> to selectively feed abrasives to the cutting head <NUM> via one or more abrasive feed conduits <NUM>. The high pressure fluid source <NUM>, abrasive source <NUM>, abrasive feed system <NUM>, the cutting head <NUM>, the multi-axis robotic motion system <NUM> and/or other functional components of the fluid jet system <NUM> may also be coupled to a controller (not shown) or controllers in order to enable coordinated operation of the same.

In some arrangements, a supplemental device <NUM> may be coupled to the cutting heads <NUM>, <NUM> to provide additional functionality. For example, a vacuum source may be provided to assist in drawing abrasives into the cutting heads <NUM>, <NUM>. In other instances, the supplemental device <NUM> may be a secondary abrasive feed source, a pressurized air source, or other device that assists or augments the operation of the cutting heads <NUM>, <NUM>. In addition, a vacuum source or pump <NUM> may be coupled to the jet receiving receptacle <NUM> via a conduit <NUM> (<FIG>) to assist in withdrawing contents of the fluid jet <NUM> received by the receptacle <NUM> during operation. Still further, the same or a different vacuum source or pump <NUM> may also be coupled to the tank <NUM> to enable the withdrawal of contents from the tank <NUM> for disposal or reconditioning and reuse.

With reference to <FIG>, and according to some arrangements, contents withdrawn from the fluid jet receptacle <NUM> may be routed via one or more conduits <NUM> to the tank <NUM> to be discharged therein. An outlet of the fluid jet receptacle <NUM> may also be in fluid communication with the tank <NUM> and submerged under water to assist in dampening noise otherwise generated during withdrawal of contents from the jet receiving receptacle <NUM> during operation.

Further details of the controller, robotic motion system <NUM> and other known systems associated with fluid jet cutting systems (e.g., abrasive feed system <NUM>) are not shown or described in detail to avoid unnecessarily obscuring descriptions of the arrangements.

<FIG> and <FIG> show yet another arrangement of a fluid jet cutting system <NUM>. The fluid jet cutting system <NUM> includes a fluid jet cutting head <NUM> having an orifice to generate a high pressure fluid jet <NUM> and a fluid jet outlet <NUM> from which to discharge the high pressure fluid jet <NUM>. A jet receiving receptacle <NUM> (shown only partially in <FIG> for clarity) is provided generally opposite the cutting head <NUM> to receive the high pressure fluid jet <NUM> after the high pressure fluid jet <NUM> passes through a workpiece <NUM> during processing operations. The jet receiving receptacle <NUM> may include an inlet feed component <NUM> having an inlet aperture <NUM> for receiving the fluid jet <NUM> during operation. A discharge conduit <NUM> is provided to withdraw the contents of the fluid jet <NUM> captured by the jet receiving receptacle <NUM> during operation.

With reference to <FIG>, the fluid jet cutting system <NUM> may further include a support structure <NUM> to support the jet receiving receptacle <NUM> generally opposite the cutting head <NUM>. The support structure <NUM> may include a drive system comprising one or more linear or rotary positioners <NUM>, <NUM>, <NUM> to selectively adjust a lateral position of the jet receiving receptacle <NUM>, an axial position of the jet receiving receptacle <NUM> and/or an angular orientation of the jet receiving receptacle <NUM> relative to an axis <NUM> defined by the fluid jet outlet <NUM> of the fluid jet cutting head <NUM>.

For instance, the example arrangement of the fluid jet cutting system <NUM> shown in <FIG>, includes a drive system having two linear positioners <NUM>, <NUM> with associated motors <NUM>, <NUM>, which are oriented perpendicular to each other to provide lateral and axial adjustment of the jet receiving receptacle <NUM>, as represented by the arrows labeled <NUM>, <NUM>. The drive system further includes a rotator or swivel <NUM> coupled between opposing arm portions <NUM>, <NUM> of the support structure <NUM>. The rotator or swivel <NUM> may be, for example, a hydraulic rotator or swivel controlled by hydraulic fluid supplied and returned via respective hydraulic lines <NUM>. One of the arm portions <NUM> is shown with a clevis structure <NUM> for coupling to the rotator or swivel <NUM> to enable the arm portion <NUM> to rotate or swivel relative to the other arm portion <NUM> about a rotational axis <NUM> to selectively tilt the jet receiving receptacle <NUM>, as represented by the arrows labeled <NUM>.

With reference to <FIG>, the drive system of the fluid jet cutting system <NUM> may be controllable to adjust an axial position of the jet receiving receptacle <NUM> relative to the cutting head <NUM>, as represented by the arrows labeled <NUM>. In this manner, the inlet feed component <NUM> of the jet receiving receptacle <NUM> can be brought into close proximity to the workpiece <NUM> to reduce or minimize a distance <NUM> between a side of the workpiece <NUM> opposite the cutting head <NUM> and the inlet feed component <NUM>. This can assist in reducing or minimizing sound generated during a cutting process and may also ensure that the incoming jet <NUM>, which may be deflected from a discharge direction by its interaction with the workpiece <NUM> as illustrated in <FIG>, is better aligned with the inlet aperture <NUM> of the inlet feed component <NUM>. The axial position of the jet receiving receptacle <NUM> may be adjusted during processing in accordance with one or more variables, including, for example, the topography of the workpiece <NUM> being processed.

With reference to <FIG>, the drive system of the fluid jet cutting system <NUM> may be controllable to adjust a lateral position of the jet receiving receptacle <NUM> relative to the cutting head <NUM>, as represented by the arrows labeled <NUM>. In this manner, the inlet feed component <NUM> of the jet receiving receptacle <NUM> can be controlled to align a central axis <NUM> of the fluid jet receptacle <NUM> to intersect with the high pressure fluid jet in a deflected state within an inlet portion <NUM> at the distal end of the fluid jet receptacle <NUM> during workpiece processing. The lateral position of the jet receiving receptacle <NUM> may be adjusted during processing in accordance with one or more variables, including, for example, at which the cutting head <NUM> moves relative to the workpiece <NUM>, or the speed at which the workpiece <NUM> moves relative to the cutting head <NUM>.

With reference to <FIG>, the drive system of the fluid jet cutting system <NUM> may be controllable to independently adjust a lateral position, an axial position and an angular orientation of the jet receiving receptacle <NUM> relative to the cutting head <NUM>, as represented by the arrows labeled <NUM>, <NUM> and <NUM>, respectively. In this manner, the inlet feed component <NUM> of the jet receiving receptacle <NUM> can be controlled to align the central axis <NUM> of the fluid jet receptacle <NUM> to be relatively more parallel to the high pressure fluid jet <NUM> in its deflected state during workpiece processing. In some instances, the inlet feed component <NUM> of the jet receiving receptacle <NUM> can be controlled to align a central axis <NUM> of the fluid jet receptacle <NUM> to be parallel or generally parallel to the high pressure fluid jet <NUM> in its deflected state during workpiece processing.

It is appreciated that amount of lateral adjustment, axial adjustment, and/or angular adjustment may be a function of several variables. These variables may include, for example, the speed at which the cutting head <NUM> is moved relative to the workpiece <NUM> or the speed at which the workpiece <NUM> is moved relative to the cutting head <NUM>, the type of material being processed (e.g., steel versus composite materials), and the thickness or topography of the workpiece <NUM> being processed. Moreover, fluid jet process models, such as those described in Flow's <CIT>, which is incorporated herein by reference in its entirety, may be used to calculate the expected deflection of the fluid jet <NUM>. The position and/or orientation of the jet receiving receptacle <NUM> may then be adjusted based at least in part upon such calculations. In some instances, one or more sensors (not shown) may be provided to sense a position and/or orientation of the fluid jet receptacle <NUM> for feedback adjustment purposes. In some instances, the axial position, the lateral position and/or angular orientation of the jet receiving receptacle <NUM> may be selected and held constant throughout at least a portion of a cutting operation. In some instances, the axial position, the lateral position and/or angular orientation of the jet receiving receptacle <NUM> may be adjusted throughout a cutting operation or portions thereof. Advantageously, the jet receiving receptacle <NUM> can be controlled to capture the incoming fluid jet <NUM> in a manner that reduces noise and splash back.

Generally, one or more drive components may be provided to manipulate the position and/or orientation of the jet receiving receptacle <NUM> relative to the cutting head <NUM> during operation. The position and orientation of the jet receiving receptacle <NUM> may be coordinated with the velocity and/or trajectory of the cutting head <NUM> during operation to optimize or otherwise manipulate contact of the discharged jet <NUM> with the jet receiving receptacle <NUM>. For example, relatively higher cutting speeds may result in greater jet deflection from a central axis <NUM> of the cutting head <NUM> and the jet receiving receptacle <NUM> may be controlled to be laterally adjusted to a greater distance or tilt to a greater degree in such instances to receive the deflected jet <NUM> in a more coaxial manner.

In some arrangements, the cutting head <NUM> may be positioned and held generally opposite the jet receiving receptacle <NUM> while the workpiece <NUM> is passed therebetween, such as, for example, by a multi-axis robotic motion system. In other arrangements, the fluid jet cutting system <NUM> may include a different motion system, such as, for example, a gantry style motion system, that is coupled to the fluid jet cutting head <NUM> to controllably manipulate the fluid jet cutting head <NUM> in space.

As an example, the fluid jet cutting system <NUM> may include a motion system <NUM> (<FIG>) comprising a bridge assembly that is movable along a pair of base rails. In operation, the bridge assembly can move back and forth along the base rails with respect to a translational axis to position the cutting head <NUM> of the system <NUM> for processing a workpiece <NUM>. In addition, a tool carriage may be movably coupled to the bridge assembly to translate back and forth along another translational axis, which is aligned perpendicularly to the first translational axis. The tool carriage may be further configured to raise and lower the cutting head <NUM> along yet another translational axis to move the cutting head <NUM> toward and away from the workpiece <NUM>. Still further, a manipulable forearm and a manipulable wrist may be provided intermediate the cutting head <NUM> and the tool carriage to provide additional functionally. More particularly, a forearm of the motion system may be rotatably coupled to the tool carriage to rotate the cutting head <NUM> about a first axis of rotation. A wrist of the motion system may be rotatably coupled to the forearm to rotate the cutting head <NUM> about another axis of rotation that is non-parallel to the aforementioned rotational axis. In combination, the rotational axes enable the cutting head <NUM> to be manipulated in a wide range of orientations relative to the workpiece <NUM> to facilitate, for example, cutting of complex profiles. The rotational axes may converge at a focal point, which in some arrangements may be offset from the end or tip of the cutting head <NUM>. The end or tip of the cutting head <NUM> is preferably positioned at a desired standoff distance from the workpiece <NUM> to be processed. The standoff distance may be selected or maintained at a desired distance to optimize the cutting performance of the fluid jet. During operation, movement of the cutting head <NUM> with respect to each of the translational axes and rotational axes may be accomplished by various conventional drive components and an appropriate controller (not shown).

<FIG> shows a fluid jet system <NUM> O' similar to the aforementioned system <NUM> but wherein an inlet feed component <NUM>' includes a distal portion having an external surface that tapers inwardly in an upstream direction (i.e., a direction generally opposite the direction of the incoming fluid jet <NUM>) to provide additional workpiece clearance in a region immediately adjacent to and downstream of the inlet aperture <NUM>' thereof. Advantageously, the inlet feed component <NUM>' may be characterized by a slender profile at a distal end thereof so as to reduce or minimize the potential for interference between the jet receiving receptacle and the workpiece <NUM> to be processed. The inlet feed component <NUM>' can be maintained in close proximity to the workpiece <NUM> and manipulated relative to the workpiece <NUM> (or vice versa) in a manner that minimizes a gap between the workpiece <NUM> and the inlet feed component <NUM>' despite, for example, the workpiece <NUM> having a complex shape or surface topography. In some instances, the fluid jet <NUM> may enter the inlet aperture <NUM>' of the inlet feed component <NUM>' within about <NUM> inch from the location at which the fluid jet <NUM> exits the workpiece <NUM> throughout the duration of a cutting operation. Additionally, the fluid jet system <NUM>' may include a drive system that enables alignment of a central axis <NUM> of the inlet feed component <NUM>' to be generally parallel to the high pressure fluid jet <NUM> in a deflected state during at least a portion of a workpiece processing operation, as shown in <FIG>. In this manner, the fluid jet <NUM> may at times pass generally unobstructed through the inlet feed component <NUM>', thereby reducing or minimizing wear of the inlet feed component <NUM>'.

<FIG> show still yet another arrangement of a fluid jet cutting system <NUM>. The fluid jet cutting <NUM> includes a fluid jet cutting head <NUM>, represented by a nozzle portion thereof, which has an orifice to generate a high pressure fluid jet <NUM> and a fluid jet outlet <NUM> from which to discharge the high pressure fluid jet <NUM>. A jet receiving receptacle <NUM> is provided generally opposite the cutting head <NUM> to receive the high pressure fluid jet <NUM> after the high pressure fluid jet <NUM> passes through a workpiece <NUM> (<FIG>) during a processing operation. The jet receiving receptacle <NUM> may include an inlet feed component <NUM> having an inlet aperture <NUM> for receiving the fluid jet <NUM> during operation. The jet receiving receptacle <NUM> may further include a base <NUM> positioned at one end of the inlet feed component <NUM> and a discharge conduit <NUM> coupled to the base <NUM> to withdraw contents of the fluid jet <NUM> that are captured by the jet receiving receptacle <NUM>. The discharge conduit <NUM> may be in fluid communication with a vacuum source <NUM> to assist in withdrawing the contents of the fluid jet <NUM> for disposal or reconditioning and reuse.

The inlet feed component <NUM> may be a generally slender, elongated tubular structure, such as, for example, a cylindrical tube. The inlet feed component <NUM> may be particularly slender and extend a length of about ten inches or more and may have a diameter equal to or less than about <NUM> inches. In some instances, the inlet feed component <NUM> may be an elongated tubular structure having an external surface that tapers toward the distal end to provide additional workpiece clearance in a region immediately adjacent to and downstream of the inlet aperture <NUM>. Advantageously, the inlet feed component <NUM> may be characterized by a slender profile at a distal end thereof so as to reduce or minimize the potential for interference between the jet receiving receptacle <NUM> and the workpiece <NUM> to be processed. The inlet feed component <NUM> can be maintained in close proximity to the workpiece <NUM> and manipulated relative to the workpiece <NUM> (or vice versa) in a manner that minimizes a gap between the workpiece <NUM> and the inlet feed component <NUM> despite, for example, the workpiece <NUM> having a complex shapes or surface topography. In some instances, the fluid jet <NUM> may enter the inlet aperture <NUM> of the inlet feed component <NUM> within about <NUM> inch from the location at which the fluid jet <NUM> exits the workpiece <NUM> throughout the duration of a cutting operation.

The jet receiving receptacle <NUM> may further include a noise suppression member <NUM> coupled to the inlet feed component <NUM>. The noise suppression member <NUM> may be deformable between a neutral configuration (<FIG>) and a compressed or deformed configuration (<FIG>), in which the noise suppression member <NUM> is able to fill or substantially fill a gap between the inlet aperture <NUM> of the inlet feed component <NUM> and the workpiece <NUM> being processed. The noise suppression member <NUM> may be coupled to the inlet feed component <NUM> to enable longitudinal movement of the noise suppression member <NUM> relative to the inlet feed component <NUM> as the noise suppression member <NUM> interacts with the workpiece <NUM> during operation. For example, the noise suppression member <NUM> may be slidably coupled to the inlet feed component <NUM>.

The noise suppression member <NUM> may also be biased in an upstream direction (i.e., generally opposite the direction of the incoming fluid jet <NUM>). For instance, a biasing device <NUM>, such as, for example, a spring, may be positioned to bias the noise suppression member <NUM> in the upstream direction. In other instances, the biasing device <NUM> may comprise a pneumatic chamber or other mechanism for selectively biasing the noise suppression member <NUM> in the upstream direction. The magnitude of the reactive force applied to the workpiece <NUM> as the workpiece <NUM> is brought into contact with the noise suppression member <NUM> may be controlled or selected by adjusting the biasing force of the biasing device <NUM>. For example, a relatively light bias may be provided when processing relatively delicate workpieces <NUM> and a relatively strong bias may be provided when processing relatively robust workpieces <NUM>. The noise suppression member <NUM> may comprise a deformable or conformable material that is well-suited to adapt to a shape or surface profile of the workpiece <NUM>. For example, the noise suppression member <NUM> may comprise an elastic porous material, such as solid foam, or other suitable material. The noise suppression member <NUM> may take a variety of shapes and forms, such as, for example, a cylindrical sleeve.

Although arrangements are shown in some of the figures in the context of processing a generic plate-like workpiece <NUM>, <NUM>, <NUM>, <NUM>, it is appreciated that the fluid jet cutting systems <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and components described herein may be used to process a wide variety of workpieces having simple and complex shapes, including both planar and nonplanar structures. Furthermore, as can be appreciated from the above descriptions, the fluid jet cutting systems <NUM>, <NUM>, <NUM>, <NUM>, <NUM> described herein are specifically adapted to generate a high-pressure fluid jet and capture the same in a particularly environmentally friendly manner. The environment of the fluid jet cutting systems <NUM>, <NUM>,<NUM>,<NUM>,<NUM> may be relatively quiet and free from water hazards and other conditions that are typically prevalent in conventional fluid jet cutting environments.

Claim 1:
A fluid jet cutting system (<NUM>, <NUM>), comprising:
a multiaxial industrial robot (<NUM>, <NUM>) having an end effector (<NUM>, <NUM>) to grip a workpiece (<NUM>, <NUM>) to be processed, the multiaxial industrial robot (<NUM>, <NUM>) configured to selectively move the workpiece within a working envelope defined by a range of motion of the multiaxial industrial robot (<NUM>, <NUM>);
a tank (<NUM>, <NUM>) containing a fluid, such tank being positioned within the working envelope of the multiaxial industrial robot (<NUM><NUM>) to enable the workpiece (<NUM>, <NUM>) to be submerged under fluid within the tank (<NUM>, <NUM>) during a workpiece processing operation; and
at least one fluid jet cutting head (<NUM>, <NUM>, <NUM>) suspended with a portion thereof located above an open end of the tank, the at least one fluid jet cutting head having an orifice (<NUM>) to generate a high pressure fluid jet (<NUM>, <NUM>) and a fluid jet outlet (<NUM>) from which to discharge the high pressure fluid jet (<NUM>, <NUM>),
characterized in that the cutting head (<NUM>, <NUM>) is located relative to the tank (<NUM>, <NUM>) such that, during the workpiece processing operation, the high pressure fluid jet (<NUM>, <NUM>) discharges from the fluid jet outlet (<NUM>) beneath an upper surface of the fluid within the tank (<NUM>, <NUM>), cuts through the workpiece, and dissipates within a region of the fluid in the tank (<NUM>, <NUM>), located adjacent a side of the workpiece (<NUM>, <NUM>) opposite the cutting head (<NUM>, <NUM>)