Note: Descriptions are shown in the official language in which they were submitted.
WO 2022/251961
PCT/CA2022/050880
Title: CNC MACHINE, WORKSTATION AND COMPONENTS
FIELD OF THE INVENTION
[001] This invention relates to the field of CNC (Computer Numerical Control)
machines, including related workstations and components thereof.
BACKGROUND OF THE INVENTION
[002] There are a variety of cutting machines commonly in use. Among them
are lathes, mills, routers and grinders. More recently, such machines have
taken the form of CNC (Computer Numerical Control) machines, which are
computer controlled for high precision. Such machines typically operate
continuously for a substantial period of time, according to how they have been
programmed. This is in contrast to a traditional machine being operated by a
person, which may make one cut, grind, etc., and then be stopped and
repositioned by the operator for the next operation.
[003] High precision is expected from CNC machines because they operate
in response to computer programming that governs the movement of the
machine. This type of control is to be distinguished from traditional cutting
machines operated by a person, where distancers and positioned might just
be eyeballed. Even if higher-precision guides and measuring devices are used
in such traditional modes of operation, hand operation is expected to be less
precise than computer control.
[004] As the computer-numerical programming is controlling the movement
of the machine, it is expected that the movement and positioning of the
machine, and of the cutting tool, will be very precise. Due to this
expectation,
there exists a desire to use CNC machines for progressively more precise
application. As this trend continues, even greater levels of precision are
required, which go beyond those provided by use of computer numerical
control. It is not only the control system that affects precision. The
structure
and composition of the CNC machine can also affect precision.
1
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
SUMMARY OF THE INVENTION
[005] It has been discovered that it is not only the mode of control that
affects
the precision of CNC machines. One feature that affects precision is the
rigidity of the CNC machine's support structure. If that structure has low
rigidity, then the displacement or deformation of the structure during
operation
of the machine will result in reduced precision.
[006] Another factor affecting precision ¨ sometimes related to the previous
factor ¨ is the manufacturing tolerances of the components of the CNC
machine's support structure. If the elements of the support structure have
high
tolerances ¨ that is, if there is a wide variation in the actual dimensions of
different components that are manufactured to have the same nominal
dimensions ¨ then precision will be affected, in part because the tool will
tend
not to be positioned precisely where the CNC's controller thinks it is
positioned.
[007] It is common for CNC machines to use extruded aluminum elements as
elements of the support structure, and also as guides for linear motion. With
such extruded elements, wheels are required for the linear motion, with the
wheels travelling along surfaces of the extruded elements created to support
the wheels. Providing such surfaces in turn requires the extruded aluminum
elements to have complicated cross-sectional shapes. This is one reason,
among several, why extruded aluminum elements have high tolerances, with
a consequent loss of precision for the CNC machine.
[008] The use of wheels for linear motion also results in lower precision.
Debris from the CNC machine can deflect the wheels as they travel and reduce
precision. If there is enough debris, the wheels can get jammed.
[009] It has also been discovered that CNC machines are often complicated
and difficult to set up, calibrate and square.
[0010] Embodiments of the present invention are understood to address one
or more of these or other deficiencies in the prior art.
[0011] Therefore, according to an aspect of the present invention there is
provided a Computer Numerical Control (CNC) machine, including a computer
2
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
numerical controller, the CNC machine comprising:
[0012] a tool spindle for holding and actuating a tool;
[0013] a compound support frame comprising an X-
direction support
frame for guiding movement of the tool in an X-direction, a Y-direction
support
frame for guiding movement of the tool in a Y-direction and a Z-direction
support frame for guiding movement of the tool in a Z-direction;
[0014] the X-direction support frame, Y-direction
support frame and Z-
direction support frame being (1) operatively coupled to the tool spindle, (2)
sized, shaped and mutually positioned to support the tool spindle and tool,
and
(3) mutually operatively coupled to guide the tool to a three-dimensional
range
of operating positions;
[0015] a motion actuator, operatively coupled to the X-
direction support
frame, the Y-direction support frame, the Z-direction support frame, and the
tool spindle, for causing movement of the tool spindle and tool;
[0016] an electronic controller for controlling the motion actuator;
[0017] each of the X-direction support frame and Y-
direction support
frame comprising rigid tubing.
[0018] Optionally, the tubing is metal tubing, and optionally, steel tubing.
[0019] Optionally, the X-direction support frame comprises at least one metal
tube, and the Y-direction support frame comprises at least two metal tubes.
[0020] Optionally, the motion actuator comprises;
at least one X-direction ball screw and at least one associated X-
direction ball screw motor for rotating the at least one X-direction ball
screw;
at least one Y-direction ball screw and at least one associated Y-
direction ball screw motor for rotating the at least one Y-direction ball
screw;
at least one Z-direction ball screw and at least one associated Z-
direction ball screw motor for rotating the Z-direction ball screw.
[0021] Optionally, the at least one Y-direction ball screw comprises two Y-
direction ball screws, and the at least one Y-direction ball screw motor
comprises two Y-direction ball screw motors, each of the Y-direction ball
screw
motors being associated with a respective Y-direction ball screw.
3
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
[0022] Optionally, the Y-direction support frame comprises two Y-direction
support frame assemblies, each Y-direction support frame assembly
comprising at least two Y-direction metal tubes fastened within two Y-
direction
frame ends, each Y direction frame assembly including a Y-direction carriage,
the Y-direction carriages being sized, shaped and positioned to carry the X-
direction support frame; the X-direction support frame comprises an X-
direction support frame assembly comprising at least two X-direction metal
tubes fastened within two X-direction frame ends, the X-direction frame
assembly including an X-direction carriage, the X-direction carriage being
sized, shaped and positioned to carry the Z-direction support frame; the Z-
direction support frame carrying the tool spindle.
[0023] Optionally, the metal tubing comprises steel tubing, and/or the X-
direction metal tubes and the Y-direction metal tubes comprise steel tubes.
Optionally, the CNC machine further comprises a stiffening assembly fixedly
coupled to the X-direction support frame, the Y-direction support frame and
the Z-direction support frame, the stiffening assembly comprising a stiffening
frame having a solid rigid workpiece fastened thereto.
[0024] Optionally, the machine comprises at least one X-direction manual ball
screw actuator coupled to the at least one X-direction ball screw, at least
one
Y-direction manual ball screw actuator coupled to the at least one Y-direction
ball screw, and at least one Z-direction manual ball screw actuator coupled to
the at least one Z-direction ball screw.
[0025] Optionally, the machine comprises a plurality of door gripping flanges,
operatively coupled to the compound support frame, for positioning the CNC
machine on a door that is oriented in a vertical plane, whereby the CNC
machine can work on the door while the door is oriented in a vertical plane.
[0026] Optionally, the machine comprises a leg assembly with a plurality of
legs, the leg assembly being operatively coupled to the compound support
frame, the plurality of legs having a deployed position in which the legs are
extended to position the CNC machine generally spaced upward from a floor,
and a folded position, whereby the CNC machine may be more easily
4
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
transported or stored with the legs in the folded position.
[0027] Optionally, the leg assembly is fastened to the stiffening frame, the
plurality of legs having a deployed position in which the legs are extended to
position the CNC machine generally spaced upward from a floor, and a folded
position, whereby the CNC machine may be more easily transported or stored
with the legs in the folded position.
[0028] Optionally, the machine comprises a stand coupled to the compound
support frame, the stand being sized, shaped and positioned such that when
the stand is engaged the CNC machine stands in a generally vertical plane.
[0029] Optionally, the machine comprises two wheels coupled to the
compound support frame and positioned such that the CNC machine may be
manually pulled with the wheels rolling on a floor to facilitate transport of
the
CNC machine.
[0030] Optionally, the CNC machine comprises a plurality of detachably
attachable stiffening rods, said stiffening rods being detachably attachable
to
said X-direction and Y-direction support frame assemblies, said stiffening
rods
comprises steel tubing.
[0031] According to another aspect of the invention, there is provided a frame
assembly module for a CNC machine support structure, the module
comprising a frame assembly module support structure, and a traversing
element, coupled to the frame assembly module support structure, for
traversing the frame assembly module support structure, the traversing
element comprising a frame assembly fastening feature for attachment of a
second frame assembly module to the traversing element, and a spindle
fastening feature of attachment of a spindle to the traversing element, the
frame assembly module support structure comprising a traversing element
fastening feature for attachment of the frame assembly module support
structure to a different traversing block.
[0032] According to another aspect of the invention, there is provided a
Computer Numerical Control (CNC) machine, including a computer numerical
controller, the CNC machine comprising:
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
a tool spindle for holding and actuating a tool for contacting a workpiece;
a support frame comprising at least one frame element carrying the tool
spindle;
at least one angle adjustment actuator, coupled to the support frame
and the spindle for deflecting an angle of contact of the tool to the
workpiece;
a motion actuator for causing movement of the tool spindle and tool;
an electronic controller for controlling the motion actuator.
[0033] According to another aspect of the invention, there is provided a
support
assembly for supporting a CNC machine, the support assembly comprising:
a support frame, the support frame comprising a CNC machine
receiving portion and legs for supporting the CNC machine receiving portion
on a surface, the legs having a retracted position and a deployed position;
at least one lock, coupled to the legs, the at least one lock having a first
position in which the legs are movable from the retracted position to the
deployed position to lock in the deployed position, and a second position in
which the legs are movable from the deployed position to the retracted
position
to lock in the retracted position.
[0034] According to another aspect of the invention, there is provided a
Computer Numerical Control (CNC) machine assembly, comprising:
a CNC machine including a computer numerical controller;
a support surface;
a linearly arranged plurality of guide rollers rotatably associated with the
support surface to rotate in response to a work piece sliding along the
linearly
arranged plurality of guide rollers;
sensors associated with the guide rollers to sense the extent of rotation
of the guide rollers, the sensors being operatively connected to the
controller,
wherein the controller calculates a length of work piece sliding along the
linearly arranged plurality.
[0035] According to another aspect of the invention, there is provided a
support
assembly for supporting a CNC machine, the support assembly comprising:
a support frame, the support frame comprising a CNC machine
6
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
receiving portion for supporting a CNC machine in a wall-mounted position;
at least one bracket having wall mounting features for rigid mounting of
the bracket to a wall;
the support frame comprising a bracket mating feature to mate with the
at least one bracket;
whereby a CNC machine may be supported in a wall-mounted position.
BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Reference will now be made, by way of example only, to the figures
which illustrate the preferred embodiment of the invention, and in which:
[0037] Figure 1 is a perspective view of an embodiment of the frame assembly
module;
[0038] Figure 2 is an exploded view of the frame assembly module of Figure
1;
[0039] Figure 3 is a perspective exploded view of three interconnected
modules;
[0040] Figure 4 is a perspective exploded view of a CNC machine;
[0041] Figure 5 is a perspective view of a CNC machine;
[0042] Figure 6 is a perspective view of a CNC machine;
[0043] Figure 7 is a perspective exploded view of a stiffening frame and waste
board;
[0044] Figure 8 is a perspective view of a CNC machine with stiffening frame
and waste board;
[0045] Figure 9 is a close up view of a frame end;
[0046] Figure 10 is a close up view of a frame end and hand knob;
[0047] Figure 11 shows a CNC machine on a door;
[0048] Figure 12 shows a portion of a folding leg assembly;
[0049] Figure 13 shows a CNC machine, stiffening frame and folding leg
assembly;
[0050] Figure 14 shows a CNC machine and folding leg assembly with legs
folded;
7
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
[0051] Figure 15 shows a CNC machine, folding leg assembly, stand and
wheels;
[0052] Figure 16 shows the folded leg assembly folded and resting on a stand;
[0053] Figure 17 shows a frame assembly with stiffening rod;
[0054] Figure 18 shows wall mounting brackets with a bases;
[0055] Figure 19 shows a wall mounted CNC machine;
[0056] Figure 20 is a schematic diagram of controller and motors;
[0057] Figure 21 shows a controller display and mount;
[0058] Figure 22 shows a CNC machine with tool angle adjustment system;
[0059] Figure 22A shows a close up view of the angle adjustment system;
[0060] Figure 23 is a cross-section view of the tool angle adjustment system;
[0061] Figure 24 is an elevation view of a CNC machine support assembly;
[0062] Figure 25 is a perspective view of a CNC machine support assembly;
[0063] Figure 26 is an elevation view of a CNC machine support assembly in
a retracted position;
[0064] Figure 27 is a close up of a lock for the CNC machine support assembly;
[0065] Figure 28 is an exploded perspective view of a CNC machine support
assembly;
[0066] Figure 29 is a perspective view of a wall mounted CNC machine support
assembly;
[0067] Figure 30 is a close up of the wall mounting features;
[0068] Figure 31 is a close up of the wall mounting features in operation.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0069] Referring now to Figures 1 and 2, a support frame in the form of linear
rail assembly 10 is shown. The linear rail assembly comprises two support
frame elements 12. The support frame elements extend between, and are
held by, frame ends 15, forming a rigid structure. Preferably, frame elements
12 comprise steel tubing, as described in more detail below. It will be
appreciated that the linear rail assembly 10 shown in Figure 1 is preferably a
modular component that can inter alia be used in an X-direction support frame
8
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
as referred to herein, or in a Y-direction support frame as described herein.
Each of these support frames may comprise more than one such rail
assembly, though in the preferred embodiment the X-direction support frame
includes one such assembly 10 and the Y-direction support frame two.
[0070] The assembly 10 also includes a linear translator, which preferably
takes the form of ball screw 14. Mounted on the two frame elements 12 is a
traversing element, optionally in the form of traversing block 19 having ball
screw nut 17 mounted thereto. Frame elements 12 extend through traversing
block 19, and block 19 is mounted to them via bushings described below. Ball
screw 14 is operatively coupled to motor 13, which motor 13 is coupled to one
of the frame ends 15. Ball screw 14 extends through the first frame end 15,
through ball screw bearing 11 mounted in that same frame end 15, through
traversing block 19 and ball screw nut 17 and to the second frame end 15,
having a second bearing 11 therein. The motors, ball screws and traversing
blocks described herein form part of the motion actuator operatively connected
to the support frames described herein for causing movement of the spindle
and cutting tool as part of the operation of the CNC machine described herein.
[0071] It will be appreciated that, although the preferred embodiment is being
described using a cutting tool and cutting tool spindle, the tool need not be
a
cutting tool, and the spindle may hold a non-cutting tool. For example, and
without limitation, the tool may be a laser for engraving, or a marking device
(e.g. a permanent marker) that is used to draw. The tool may also comprise a
printer head for 3D printing. The tool may also be a cutting tool that is not
a bit.
For example, the tool may comprise a drag knife to cut vinyl or other fabrics.
[0072] It will be appreciated that the frame elements 12, while preferably
comprising tubing and most preferably comprising
[0073] Motor 13 is operatively coupled to ball screw 14 to rotate ball screw
14.
Ball screw 14 is operatively coupled to nut 17, which is connected to block
19.
Thus, traversing block 19 is moved along the frame elements 12 by rotation of
the ball screw 14, by means of rotation of the motor 13. Rotation of ball
screw
14 causes the threads thereof to exert a force on nut 17 to move block 19.
9
CA 03221349 2023- 12-4
WO 2022/251961 PC
T/CA2022/050880
Reversing the direction of rotation of the ball screw 14 reverses the
direction
of movement of block 19.
[0074] Referring further to Figure 2, motor 13 is coupled to ball screw 14 via
coupling 99, positioned within rail end 15. The top and bottom frame elements
12 (preferably in the form of steel tubes) are held to the frame ends 15 by
tube
mounting screws 97. Motor 13 is coupled to frame end 15 by means of motor
mounting screws 91.
[0075] Easy change bearings 95 are mounted within traversing block 19, on
frame elements 12. The bearings 95 facilitate the movement of the block 19
along the frame elements 12. It will be appreciated that, although a ball
screw-
bearing combination is preferred, other forms of linear translator are
comprehended by the invention. For example, a threaded rod may be used in
place of the ball screw, a nut in place of the ball screw nut, and bushings
instead of bearings. Ball screws, ball screw nuts and bearings are preferred
because ball screws provide high precision movement with lower friction than
threaded rods. However, threaded rods may be less expensive, and therefore,
there may be applications of the invention for which a user might employ a
threaded rod.
[0076] Figure 3 shows the compound frame assembly 8 which comprises three
linear rail assemblies 10 as described above. In Figure 3, two linear rail
assemblies 10A and 10B are disposed parallel to one another. They both
extend in a direction that will be called, for illustrative purposes, the Y
direction
(denoted by the letter Y). Most preferably, the assemblies 10A and 10B are
disposed with their ends at the same respective Y positions, to facilitate
assembly of the CNC machine. Figure 3 shows the X, Y and Z directions,
mutually orthogonal, for illustrative purposes.
[0077] Linear rail assembly 10C is mounted to the blocks 19A and B of each
of rail assemblies 10A and 10B. Linear rail assembly 10C is shown, for
illustrative purposes, extending along the X-direction. The preferred mounting
is accomplished by means of mounting screws 25 that extend through holes
in the frame ends 15 of assembly 10C and into blocks 10 of assemblies 10A
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
and 10B. Assemblies 10A, 10B and 10C together permit movement of the
cutting tool and cutting spindle in the X-Y plane.
[0078] The embodiment shown in Figure 4 is similar to that shown in Figures
3 and 5, except that the compound frame assembly 8 includes risers 79
mounted on traversing blocks 19 of assemblies 10A and 10B. Mounting
screws 81 fasten frame ends 15C of assembly 10C to traversing blocks 9 of
assemblies 10A and 10B via risers 79. The effect of risers 79 is to raise
assembly 10C, and cutting too spindle assembly 31, further above the work
surface than they would be without risers 79. This may be useful, for example,
if a thick work material is being worked on, or for other reasons.
[0079] Referring now to Figure 5, the mounting of Z-axis spindle assembly 31
to frame assembly 10C is shown. Spindle mounting screws 31 are used to
mount spindle assembly 31 to traversing block 19C of assembly 10C.
Attached to spindle assembly 10C includes motor 130 driving ball screw 140.
Both of these are mounted directly or indirectly to spindle assembly support
structure 100 including steel tubing rails 103, which support structure 100
receives screws 33 to be mounted to traversing block 9C. Structure 100 acts
as a Z-direction support frame which guides the tool in a Z-direction
(typically
vertically if the CNC machine is, for example, on a horizontal worktable).
Also
mounted directly or indirectly to structure 100 are spindle assembly
traversing
block 101, cutting tool motor 102, and spindle 104 which holds the cutting
tool
(e.g. a bit, not shown) that works on the workpiece (not shown). Cutting tool
motor 102 actuates the working of the cutting tool of the workpiece (e.g.
rotating the bit). In the preferred embodiment, the cutting tool is moved
toward
or away from the workpiece by means of motor 130 rotating ball screw 140.
This rotation causes traversing block 101, which carries the cutting tool, to
move up and down (i.e. in the Z direction), preferably by means of a ball
screw
nut (not shown).
[0080] Referring now to Figure 6, a method of fixing the CNC machine, and in
particular the compound frame assembly 8, to a work-table 106 is shown.
Mounting screws 35 are used to fasten frame ends 15A and 15B to the work
11
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
table 106. The frame ends preferably have holes extending in a vertical
direction, at right angles to the generally horizontal surface of the work
table
106. The holes are configured to receive screws 35 which screws engage the
table to fasten the assembly 8 to the work table.
[0081] Referring now to Figures 7-10 the use of a stiffening frame assembly
36 to stiffen the compound frame assembly 8 is shown. Assembly 36 includes
stiffening frame connecting blocks 37, stiffening frame tubes 39, stiffening
frame cross braces 41, and wasteboard 43. Waste board 43 is fastened to
stiffening frame 36 using stiffening frame mounting screws 45. To help stiffen
assembly 8, assembly 8 is fastened to stiffening frame assembly 36.
Preferably, this fastening is achieved by using stiffening frame fastening
screws 47 to fasten the frame ends 15A and 15B to connecting blocks 37. It
will be appreciated that this configuration adds rigidity to assembly 8. There
are multiple points of fastening to the stiffening frame. The stiffening frame
itself is rigid due to the solid wasteboard and its multiple points of
fastening to
the stiffening frame assembly 36. In a typical embodiment, frame 36 would be
employed with the folding leg assembly referred to below, though other
configurations are also possible. It will be appreciated that the increased
stiffening/rigidity of the CNC machine related to this feature provides
increased
precision, as described herein.
[0082] In addition to the stiffening frame assembly, Figure 10 shows an
embodiment in which any of the ball screw 13A, 13B or 130 are operatively
coupled with a manual linear translator actuator in the form of hand knob 49.
The hand knob 49 ¨ most preferably positioned at the end of the ball screw
opposite to the motor ¨ can be rotated in order to rotate the ball screw and
move the traversing blocks 19A and 19B. This configuration can be used when
it is desired to calibrate the position of the CNC machine, its linear rails,
or its
cutting tool. It can also be used to operate the CNC machine. Although shown
in association with the stiffening frame assembly, the manual actuator can be
used in other embodiments.
[0083] Figure 11 shows an embodiment of the invention in which the
12
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
compound frame assembly 8 is attachable to a door 53. Such an embodiment
could be employed, for example, to facilitate the use of the CNC machine on
a door while the door is installed. This may be desirable, for example, when
it
is desired to apply a design to the door without removing the door from the
hinges. In this embodiment, frame ends 15A and 15B are fastened by door
mounting bracket screws 49 to door mounting brackets 51. Preferably, the
mounting brackets are shaped and positioned to grip the door 53 as shown in
Figure 11. Door mounting brackets 51 can be mounted either on top of the
door (so that the CNC machine hangs from those top-of-door brackets, or
around the sides of the door, to hold the CNC machine steady. Figure 11
shows a pair of each kind of mounting bracket 51.
[0084] Figures 12-14 show a folding leg assembly.
In this preferred
embodiment, the folding leg assembly 55 can be used to support the CNC
machine. Each folding leg assembly 55 provides four legs, with each
assembly comprising a folding leg assembly element having two legs. Each
assembly 55 includes legs 59, preferably in the form of steel tubing, and
cross
braces 61, each one fastened to two legs 59.
[0085] Each assembly element further includes two folding leg mounting
brackets 65, to which stiffening frame assembly 36 or compound frame
assembly 8 may be mounted. Associated with each mounting bracket 65 is
folding leg lock 63. Folding leg lock 63 has a position in which the legs are
locked in a deployed position, and another position in which the leg may be
folded up for stowage or transport of the CNC machine with leg assemblies.
In the preferred embodiment, lock 63 locks the legs when inserted (as shown)
and unlocks them when withdrawn.
[0086] Stiffening frame assembly 36 is configured to be fastened to folding
leg
mounting brackets 65 by means of folding leg mounting screws 57 attaching
connecting blocks 37 to mounting brackets 65. The compound frame
assembly 65 is then mounted to the stiffening frame assembly 36 as described
previously. In an alternated embodiment, frame ends 15 and brackets 65 may
be configured such that frame ends 15A and 15B are fastened directly in
13
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
brackets 65. However, this alternative may result in less rigidity for the
compound frame assembly than the embodiment shown in Figure 13.
[0087] Figure 14 shows the folding leg assembly with legs 55 folded up
conveniently under the CNC machine. In Fig 14, the locks 63 are quick release
connectors. Thus, they are pulled outward to unlock the legs, the legs are
folded/retracted, and then the locks 63 are released, and their spring loading
causes them to move back into the locking position to hold the legs in the
retracted position.
[0088] The embodiment of Figures 12-14 makes it easy for the CNC machine
to be moved from one place to another. In this embodiment, there is no need
to disassemble the machine at all. Rather, the legs 55 may be folded, and the
entire folding leg assembly, stiffening frame assembly and CNC machine may
be transported by carrying or rolling (see below) without any disassembly of
those items from one another.
[0089] Figures 15 and 16 show an embodiment similar to that shown in Figures
12-14, but with additional elements facilitating easy storage/stowage and
transport of the CNC machine. In this embodiment, two of the mounting
brackets comprise wheel mounting brackets 71, configured to mount wheels
75 at two corners of the folding leg assembly 55. Wheels 75 are mounted to
brackets 71 by means of wheel mounting screws 73, with the wheels and
mounting screws configured such that the screws act as axles around which
the wheel rotates. The brackets 71 preferably have two flanges forming a
wheel space in which the wheel is positioned.
[0090] Stand 77 is mounted along one side of stiffening frame assembly 36
and folding leg assembly 55. It is configured such that when the legs are
folded and the CNC machine and stiffening frame are turned on their edge,
the weight of the machine and frame leans on the stand to allow the entire
thing to stand vertically. This position is shown in Figure 16. This provides
for
convenient storage and of the machine in narrow spaces. As shown is Figure
16, the machine can be transported by pulling on the frame causing the whole
machine to be carried by the wheels rolling on the floor. In addition, apart
from
14
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
the wheel, stand 77 can also be used as a handle. Stand 77 can be grasped
by hand and the machine lifted. A convenient way of lifting and moving the
machine, in its folded up and retracted state is provided. The machine can be
moved and be conveniently deployed by unfolding the legs, without
disassembly.
[0091] Referring now to Figure 17, one of the linear rail assemblies is shown.
Also shown is a detachably attachable stiffening rod 108. The rod 108 may
be attached to further stiffen/rigidify the rail assembly when desired. The
stiffening rod preferably has, mounted thereto, a traversing block extension
110 which engages with the traversing block and as a result, moves with it
along the rail assembly.
[0092] It will be appreciated by those skilled in the art that by virtue of
its
features, the disclosed CNC machine may be modified and upgraded in
various ways. For example, to increase or decrease the size of the machine,
shorter or longer rails and ball screws may be substituted for existing ones.
The existing ones can be removed from the frame ends, and the new ones
substituted.
[0093] As mentioned above, deformability in CNC machine frames results is
lower than desired precision, because the frame can deflect and cause the
cutting to work in a position that is different, due to deformation or
deflection,
from the nominal position according to the controller. Thus, it is preferred
have
a rigid structure. In typical CNC support structure and
motion guide
assemblies, extruded aluminum elements are used. These elements usually
require wheels on one of the extrusion surfaces for motion of the spindle, but
wheel structures are often deformable. By contrast, in the present invention,
metal tubing ¨ preferably steel, is used, and ball screws are used for linear
translation. Both of these are less deformable and provide greater rigidity
and
precision.
[0094] In addition, while the tolerances on aluminum extrusions are
undesirably wide, with a consequent lowering of precision, the tolerances for
steel tubing are significantly narrower, and thus provide greater precision.
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
[0095] Furthermore, the use of steel tubing reducing the number of parts
required. For example, wheels and axles are not required for spindle motion,
and are replaced in the present invention by simple bushings.
[0096] Another feature of some embodiments of the invention is modularity.
Assemblies 10A, B and C, which comprise the bulk of the support structure,
are preferably interchangeable. As seen in Figures 1-5, they are very similar
in structure. Among other things, this reduces the cost of producing the CNC
machine.
[0097] Specifically, the linear rail assemblies 10A, 10B and 10C are of
substantially the same structure. Frame ends 15 of each of them, together
with frame elements 12 of each of them, provide the support structure of each
linear rail assembly. In the preferred embodiment, frame elements 12 are
threaded at their ends, and frame ends 15 have corresponding threaded
orifices to receive the frame ends. Thus, for example, if it is desired to
change
the frame elements 12 of an assembly 10 (for example, to substitute longer
ones or shorter ones), the elements 12 can be unscrewed from one frame end,
and the ball screw would be detached as well. The elements 12 are
unscrewed from the other frame end, and the traversing block 19 is slidably
removed from the frame elements. New frame elements 12 can now be
screwed on to one frame end, then the traversing block 19 placed over the
new frame elements with the bearings, and then the second frame end
attached to the new frame elements 12. Similarly, if it is desired to replace
a
ball screw, a frame end and ball screw, and the frame elements, can be
detached as just described. The assembly 10 would then be reassembled with
the new ball screw as described. Thus, assemblies 10A, 10B and 10C are
preferably interchangeable. The parts of each of the (including frame ends,
frame elements, traversing blocks, block screws mounting screws etc.) are
interchangeable with the parts of the others.
[0098] Because assemblies 10A, 10B and 10C are interchangeable, when the
machine is being assembled, any of the assemblies can be in either of the two
Y positions, or in the X position. In fact, it is comprehended that these
16
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
interchangeable frame assemblies 10 could be configured differently than the
preferred structure of two parallel Y-direction assemblies with an X-direction
assembly between them. Furthermore, that these frames are interchangeable
makes manufacturing simpler and less expensive. It also makes stocking and
obtaining related spare parts simpler and less expensive.
[0099] To increase the interchangeability and modularity of the linear rail
assemblies 10 and the CNC machine, the preferred assemblies 10 are
structure as follows. Having regard to the figures, the assemblies 10 comprise
two frame ends 15. Between the ends 15 are at least one, and preferably two
frame elements providing the rigid structure of assembly 10. Three or more
frame elements are comprehended ¨ see, for example, Figure 18. Each frame
end has a surface fastening feature ¨ preferably holes 96 through which
fastening screws 98 fasten the assembly 10 to a surface such as a worktable.
Each traversing block also has a frame assembly fastening feature ¨ holes
125 for receiving mounting screws 25. Thus, if the assembly 10 is being used
as a Y-direction assembly, the traversing block 19 and holes 125 line up with
surface fastening feature holes 96 of the X-direction assembly. The ends 15
of the X-direction assembly 10 are thus fastened to the traversing blocks 19
of
the Y-direction assemblies 10. However, the assemblies can be interchanged
because they all have the same features. For example, all three traversing
blocks 19 are preferably configured with spindle fastening features to permit
the spindle to be coupled to the traversing block of whichever assembly 10 is
being used as the X-direction frame assembly.
[00100] It will be appreciated by those skilled in the art that,
particularly
when the CNC machine is on a generally horizontal surface, it may not even
be necessary fasten the Y-direction assemblies 10 to the surface. Depending
on the type of work being done, the type of tool being used, and the weight of
the CNC machine, the weight might be sufficient to keep the CNC machine
firmly in place. For example, a user may want to use a CNC machine to carve
an inlay on a dining room table. It may be impossible to screw the CNC
machine into the dining room table without ruining the table, but it may not
be
17
CA 03221349 2023- 12-4
WO 2022/251961 PC T/CA2022/050880
required. Each assembly 10 may weigh, for example, 15-25 pounds, and the
machine can be positioned on the table and might perform this work without
being fastened by screws 98. If the weight is insufficient to hold the machine
in place, weights can be added to the assemblies 10 that act as Y-direction
assemblies ¨ for example, by placing weights on their frame ends 15 to hold
them down more firmly.
[00101] It will be appreciated that the preferred configuration of the CNC
machine facilitates the transporting and setting up of the machine. It is
common in prior art CNC machines for the machine to have an integral frame,
and furthermore, for the frame to include the wasteboard. Thus, the machine
cannot really be easily dismantled to be moved, and once it is moved, it is
hard
to set up and square for future use. By contrast, the preferred embodiment of
this machine does not have a built in wasteboard or an integral frame. Rather,
the support structure is comprised of three assemblies 10. That permits use
on various surface and in various orientations, as described elsewhere herein.
Furthermore, the preferred embodiment can be easily transported and set up.
Specifically, for transport, the controller is unplugged from the machine. The
three assemblies 10 are unfastened from one another ¨ the spindle may be
left on the X-direction assembly 10. The pieces of the CNC machine, plus the
controller described elsewhere herein, can be transported to a new location.
[00102] To set up the machine in the preferred manner, two assemblies
are lined up roughly parallel to one another as Y-direction frame
assemblies. The X-direction frame assembly is mounted to the Y-direction
frame assemblies, and moved by hand so that the X-direction frame assembly
is positioned at a first end of the two Y-direction frame assemblies. This
locates the Y-direction frame ends at the first end, and one screw can be
screwed into each of those two first end frame ends of the Y-direction
assemblies 10. Using one screw allows each Y-direction frame assemblies 10
to rotate as the set-up continues, and thus allows the second ends to move as
needed. The X-direction frame assembly 10 is then pushed by hand all the
way to the second ends of the Y-direction frame assemblies 10, thus locating
18
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
the second ends. Those second ends can then be fastened in place (e.g. by
screws 98), and the fastening of the first ends can be completed. Also, as
described above, if no fastening is being done at all, the location of the
ends
of the Y-direction assemblies to square the device can be performed this way
without fastening. The controller can then be plugged in, and the CNC
machine is squared and ready to use.
[00103] This aspect of the preferred embodiment makes it possible to
install the CNC machine even on a vertical surface such as a wall (rather than
a horizontal surface like a table). The same basic steps can be taken to
fasten
the CNC machine so that the X-direction and Y-direction assemblies are
parallel to the wall, and the work piece and wasteboard would be positioned
against the wall. This can be useful for a user who wants to run a larger
number of CNC machines than he is currently running but lacks the horizontal
space to do so. Depending of the work being done, such a user might be able
to run the extra CNC machines on the walls, thus increasing productivity.
[00104] If it is desired to mount the machine to a wall, mounting brackets
200, such as those shown in Figures 18-19 might be employed (though they
are not necessarily required). The CNC machine would be squared as
described above, but the ends of Y-direction assemblies 10 would first be
screwed into brackets 200 with screws 98. Then, when the ends of the Y-
direction assemblies are located during the squaring process, the bracket
bases 202 ¨ in the form of two by fours in the embodiment of figures 18-22 -
would be fastened to the wall. The benefit of this mounting method is that the
bases and brackets can be left in place if the CNC machine is moved. When
it is desired to put the machine back on the wall, the bases and brackets are
already in place and after simply re-mounting the machine it is squared and
ready to use.
[00105] Thus, the CNC machine of the preferred embodiment may
possibly be used on, for example, tables, floor, walls, truck tailgates,
trailers,
car hoods ¨ a wide variety of surfaces of varying types and orientations.
[00106] It is typical for prior art machines to require separate computers.
19
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
In such configurations, the controller is used to cause operation of the
motors
to move the machine. It is the separate computer that stores and interprets
the computer numerical control code (typically called G-code) and
communicates the commands to the controller, which then controls the motors.
This greatly increases the cost of the CNC machines, because a computer,
usually a laptop, is also required. Furthermore, the computer is typically
positioned in the workshop, which is a harsh environment damaging to the
computer.
[00107] In the preferred embodiment of the present invention, the
controller includes computer functionality to store and interpret G-code, as
well
as to actuate the motors according to those commands. Thus, when a design
is created on a computer (say, in the comfort of the user's home or office), G-
code can be generated, and transferred to the preferred controller, for
example, by WiFi, USB drive, Ethernet etc. The controller includes one or
more processors and associated storage to store and process G-code. This
configuration also makes dismantling, moving and setting up the machine
easier, as there is no separate computer that needs to be moved.
[00108] In the preferred embodiment, the controller 204 is coupled, via
quick connect wiring 206, to each motor in the CNC machine (in the preferred
embodiment, there are four motors ¨ two on the Y-direction assemblies, one
on the X-direction assembly, and the fourth to move the Z-direction ball
screw).
See Fig 20. This mode of connection is another feature that facilitates
disassembly, transport and setup. In the preferred embodiment, to disconnect
the controller for the machine, four quick connect plug are disconnected. To
set up, the same four need to be connected. The machine is also powered,
both for the controller, and in some applications, for the spindle.
[00109] Referring to Figure 21, the CNC machine may include a
controller display 210 with display mount 212. The mount 212 includes a
mounting bracket 214 and magnets 26 to mount the display to the bracket 214.
The mounting bracket 214 can be mounted to a place on the machine as
desired. Preferably, the display (in the form of a tablet) communicates with
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
the controller wirelessly and can be used to enter commands to the controller
according to the capability of the controller and display.
[00110] Referring now to
Figures 22, 22A and 23, an angular adjustment
system for the CNC machine is shown. It will be appreciated that the
environment in which the CNC machine operates can be a cause of
imprecision. Thus, for example, as described above, the machine 8 may
operate while resting on a table, and the table may be crooked, lopsided or
otherwise imperfect in some fashion. Or, the floor on which the table rests
might itself have some significant imperfection. The result might be that
either
machine 8 or the workpiece may not be positioned or oriented as expected or
desired by a user of machine 8. Correcting the shape, position or orientation
of, for example, a table or workpiece, may be impractical. If is therefore
desirable to be able to adjust the machine 8 to correct for such imprecision.
[00111] In an embodiment
of the present invention, the angle of
traversing block 19C can be adjusted. Since block 19C carries the spindle
assembly 31, which carries the cutting tool, adjusting the angle of block 19C
adjusts the angle of the cutting tool. This in turn affects the angle and
trajectory
at which the tool contacts the workpiece.
[00112] For ease of
description, in Figure 23, the frame elements 12C
are labelled as 12Cu (the upper element 12C) and 12CL (the lower element
12C). Elements 12Cu and 12CL extend into cavities 310 in blocks 15C, which
cavities have edges 308. The blocks secure elements 12C in place as part of
the overall machine frame. In the preferred embodiment, there is some play
within cavities 310 to permit a small amount of motion of the elements 12C
within the blocks 15C in a direction transverse to the longitudinal axes of
the
elements 12C. In other words, the openings or edges 308 are not precisely
the same size as the elements 12C; rather, the openings 308 and associated
cavities 310 are larger than elements 12C. In the preferred embodiments, this
means that the cavities 310 are generally circular in cross-section and have a
larger circumference than the elements 12C, which are also generally circular
in cross-section. The result is that the elements can move side to side to
some
21
CA 03221349 2023- 12-4
WO 2022/251961
PCT/CA2022/050880
degree within the cavities 310.
[00113]
It will be appreciated that, in practice, it is impractical for the
there
to be zero play for the elements 120 within the cavities 310. In a zero-play
scenario, it would be practically impossible to insert the elements 12C into
the
cavities 310. On the other hand, preferably, to have a rigid fame for the CNC
machine, play should be limited. In the preferred embodiment, the limited play
can be used for fine angle adjustment of the angle of the spindle block 19C,
and ultimately, the angle of the tool held by the spindle, relative to the
workpiece that is being worked on.
[00114]
The preferred tool angle adjustment system includes angular
adjustment elements 312A, 312B, 314A and 314B.
In the preferred
embodiment, each of these adjustment elements comprises a screw engaged
with threading in block 150. Each screw is positioned such that it pushes on
an element 12C when actuated ¨ preferably, screwed in further, and can push
the element 12C against the side of cavity 310 when actuated. Adjustment
elements 312A and B are preferably positioned on opposite sides of element
12Cu from one another, and can move element 12Cu horizontally against one
side of cavity 310, or the opposite side. Elements 314A and B preferably have
the same arrangement in respect of element 12CL.
[00115]
In the preferred embodiment, the angle of the spindle and tool
can be adjusted by moving the elements 12Cu and 12CL relative to one
another, preferably in opposite directions. Referring to Figure 23, if
adjustment
elements 312A and 314B are actuated, while adjustment elements 312B and
314A are not (i.e. they are unscrewed) to allow the elements 12C to move
toward the corresponding side of the corresponding cavity 310, then element
12Cu will move in direction D1, element 12CL will move in direction D2, and
the spindle and tool will rotate through an angle having the direction of Al.
If
adjustment elements 312B and 314A are actuated, while adjustment elements
312A and 314B are not to allow the elements 120 to move toward the
corresponding side of the corresponding cavity 310, then element 12CL will
move in direction D1, element 12Cu will move in direction D2, and the spindle
22
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
and tool will rotate through an angle having the direction of A2. In the
preferred
embodiment, each of the adjustment elements is present at both ends of each
frame element 12C ¨ thus, there are two of each of adjustment elements 312A,
312B, 314A and 314B.
[00116] It will be appreciated that the tool angle adjustment system
comprehends forms other than the preferred form described above. The
system may include one or more angle adjustment actuators, comprising one
or more adjustment elements, optionally as described above. The one or more
angle adjustment actuators are coupled to the spindle and the tool, and to the
frame of the CNC machine. The one or more angle adjustment actuators are
actuated to deflect the spindle so as to change the angle of the tool.
[00117] .. By way of example only, the angle adjustment actuator may
comprise only angle adjustment elements 312A and B, but not 314A and B. In
such a form, the angle of the tool would be adjusted by moving element 12Cu
in direction D1 or D2. Or, the angle adjustment actuator may comprise only
adjustment elements 312A, so as to deflect element 12Cu in one direction. In
such an embodiment, if adjustment elements 312A were de-actuated (Le.
unscrewed), the force of gravity would adjust the angle of the spindle and
tool
in the opposite direction.
[00118] .. It will be appreciated that the angle adjustment system
comprehends a machine with a frame comprising at least one frame element.
The tool is coupled to the frame element. There is at least one angle
adjustment actuator, coupled to the frame element, for deflecting the angle of
the tool relative to the frame and/or the workpiece upon which the tool works.
The angle adjustment system may have some or all of the features of the
preferred angle adjustment system described above.
[00119] Referring now to Figures 24-28, an alternative folding support
frame 410 for the machine 8 is shown. This alternative support frame 410 also
provides for a convenient means of transporting and using machine 8 in
various locations according to the needs and circumstances of the user. The
frame 410 preferably has four legs comprising two foldable leg-pairs 412 for
23
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
supporting the machine 8 on a floor or other surface 414. Leg-pairs 412 are
pivotally coupled to horizontal frame 416. In the preferred embodiment,
horizontal frame 416 comprises longitudinal frame elements 418 extending
between the leg pairs 412, and multiple transverse frame elements 420
extending between elements 418.
[00120] Transverse frame elements 420 preferably include screw holes
or other fastening facilitators by which waste board 424 can be fastened to
the
frame 410. In the embodiment of Figures 24-28, the waste board 424 is
screwed on to elements 420 so as to provide slots 426 between sections of
waste board 424. The slots are preferably open at their ends, from the top
side of the horizontal frame 416, and from the bottom side of the horizontal
frame 416. This configuration allows T-track clamps (not shown) to be used
for clamping a work piece to the waste board 424. The clamp is inserted from
an end of slot 426 and positioned as desired to hold the workpiece.
[00121] When the legs 412 are folded up (see Figure 26), the frame 410
may be stored in a narrow space (i.e. short in horizontal directions). As
shown
in Figure 26, the frame 410 in its retracted or folded-up state is configured
to
stand on its end on surface 414. The frame 410 has stand 428 and wheels
430, both of which contact floor 414 to keep frame 410 standing in this
retracted storage position. It will be appreciated that stand 428 can be used
as a handle to carry frame 410. Meanwhile, wheels 428 (of which there are
two, in the preferred embodiment) can be used to roll the frame 410 as needed.
A user might hold the frame 410 on the side of frame 410 opposite or distal
from the wheels 430, while the wheels 430 are resting on a surface like
surface
414. The user can then roll the frame 410 to transport it, by pushing or
pulling
on it to roll the frame of wheels 430.
[00122] In the preferred embodiment, coupled to the leg pairs 412 and
the horizontal frame 416 are leg locks 432. Preferably, there are four leg
locks
432, positioned at the top of each leg pair. The leg locks 432 each preferably
have at least two positions. When moved to the first position, the locks
permit
the leg pairs 412 to be deployed to the extended position (as shown in Figure
24
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
24) from the folded or retracted position (which is shown in Figure 26). With
the leg locks 432 in that first position, once the leg pairs 412 are moved
from
the retracted position to the extended position, the leg pairs 412 lock in the
extended position. When the locks are moved to the second position, leg pairs
412 may move from the extended or deployed position to the retracted or
folded up position, and once they reach that position, they lock in that
position.
In the embodiment shown in Figures 24-28, Figure 28 shows the locks 432 in
the first position. Figure 26 shows the locks 432 in the second position.
[00123] The preferred frame 410 further includes mounting elements 434
rigidly coupled to the horizontal frame 416. The preferred mounting elements
434 are shaped and sized to receive frame ends 15A and 15B so that machine
8 can be mounted on frame 410. Preferred mounting elements 434 include
holes 436 that line up with the screw holes in frame ends 15A and 15B. Thus,
frame ends 15A and 15B can be fastened to mounting elements 434 by
fastening screws through the holes in the frame ends and holes 436, thus
rigidly fastening machine 8 to frame 410.
[00124] Referring now to Figures 29-31, a wall mounted version of frame
410¨ labelled with reference numeral 410A - is disclosed. The preferred frame
410A includes two brackets 510. Preferably, each bracket 510 has two
generally planar portions, namely, wall-mounting portion 512 and frame-
supporting portion 514. In the preferred embodiment of this wall-mounting
system, the planar portions are oriented generally perpendicularly to one
another.
[00125] Wall-mounting portions 512 preferably comprise one or more
screw holes 518 which are used to rigidly screw brackets 510 into a wall 516
or some other generally vertical or non-horizontal surface (though this system
may, if desired, non-preferredly be used on a horizontal surface). The
preferred brackets 510 of Figure 29 have three screw-holes 518.
[00126] Portions 514 each have a slot 520 open at its top end to receive
a wall mounting feature, which may comprise a wall mounting lug 522. Lug
522 is preferably rigidly coupled to frame 510 via mounting elements 434,
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
without interfering with the features of mounting element 434 which receive
the frame ends. In the preferred embodiment, there are two brackets 510,
each mating with a lug 522, and coupled to frame 410A via lug 522.
Preferably, each lug 522 includes locking flanges 524 which are sized and
shaped to lock lug 522 in slot 520 such that lug 522 does not slide out of
slot
520 in a horizontal direction. It will be appreciated that the means of
locking
the frame 510 to the wall mounted brackets to prevent unexpected or
undesired detachment may be done by other means besides the preferred
means described here.
[00127] It will be appreciated that this wall mounting system may be used
as follows. Brackets 510 can be fastened to the wall using screws and holes
518. The brackets are fastened in position so that they are the proper width
apart to allow lugs 522 to mate with slots 520. Frame 410A is lifted so that
lugs 522 are positioned above slots 520. Then, lugs 522 are lowered so as to
fit in slots 520, with flanges 524 engaging the bottom end of slot 520 to hold
lugs 522 in place, thus holding frame 410A and machine 8 in place.
[00128] Referring now to Figures 25 and 29, the frame 410/410A
preferably includes guides, preferably in the form of guide rollers 526
positioned generally linearly along an edge of the frame, and in particular
positioned along an edge of waste board 424. The plurality of guide rollers
526
may be positioned along the bottom edge of the wall mounted frame, or along
the edge of the frame distal from the wheels 430. It will be appreciated that
the guide rollers can be used for positioning a work piece on the waste board.
Preferably, the guide rollers 526 have edges that form a straight line, so
that
when a straight edge of a work piece is rolled along the guide rollers, the
position of the edge of the work piece is precisely known.
[00129] In the preferred embodiment, the guide rollers are rollably or
rotatably mounted to the frame 410/410A. Preferably, they comprise sensors
that sense the rotation of the guide rollers, which sensors are operatively
connected to the controller. In this way, the guide rollers can be used to
provide precise information about the work piece being placed on the waste
26
CA 03221349 2023- 12-4
WO 2022/251961 PCT/CA2022/050880
board.
[00130] For example, suppose it is desired to place precisely half a
metre of workpiece on to the waste board. An input can be made to the
controller indicating the desired length. The edge or corner of a workpiece
could be placed at starting point 438, and then moved along guide rollers
526. As guide rollers 526 rotate, and the rotation is sensed, the length of
work piece that has been extended on to the waste board is calculated by the
controller. Once precisely a half-metre of workpiece has been measured, the
controller can signal that the half-metre length has been reached, and the
work piece can be cut and/or positioned accordingly.
[00131] While the foregoing preferred embodiments of the present
invention have been set forth in considerable detail for the purpose of making
a complete disclosure of the invention, it will be apparent to those skilled
in the
art that other embodiments described herein are comprehended by the broad
scope of the invention as defined in the appended claims.
27
CA 03221349 2023- 12-4
