TW202146311A - Performing operations on a workpiece using electromagnetic forces - Google Patents

Abstract

This invention relates to a method for feeding magnetic objects in a stream which are singulated each from the next in a supply path where there is provided a series of electromagnets which provides a sequence of magnetic fields along the supply path to direct the magnetic objects by the series of electromagnets in a required direction toward a required location. The method can be used for carrying out an operation on a workpiece by interaction of the objects as individual tools with the workpiece including sorting, shaping, material removal, physical modification, chemical modification, addition of material cutting, polishing, abrading peening and addition of energy. A lubricant/purge material is supplied to the workpiece to arrive at different times relative to the tools.

Description

Use electromagnetic force to perform operations on workpieces

The present invention relates to the use of electromagnetic forces to perform operations on workpieces. CROSS-REFERENCE TO RELATED APPLICATIONS

This application relates to a method and apparatus for singulating particles in a stream as described in PCT application PCT/CA2017/050907 published as WO 2018/018155 on February 1, 2018, which corresponds to the US application Case No. 15/662794.

Automatic fastener machines are widely used in the manufacture of assembled products. Several methods have been used in the prior art to singulate and orient the fixtures before transferring them to a device that places the fixtures in the part to be assembled. Bowl feeders are operated by vibrating screw ramps. The vibrations provide energy to the disordered collection of fixtures in the central reservoir, causing the fixtures to reorient. Adjust the vibration frequency (usually from 60 Hz to 400 Hz) to resonate with the fixture to be singulated. Fixtures with a preferred orientation (long axis substantially aligned with the local ramp axis) advance along the helical ramp, while fixtures with a non-preferred orientation drop into the central reservoir. In another variation, a step feeder is used to feed the group of fixtures to the vibrating ramp. In another variation, the fixture is fed onto an intermittently vibrating plate with directional features. After vibrating for a period of time, the orientation of the fixtures is detected by machine vision, and an automatic picker is used to extract those fixtures with a preferred orientation. These devices produce loud audible noises that must be suppressed. The prior art method described above can only supply a few parts per second. In this regard, PCT publication WO 2019/195946 discloses an arrangement for singulation and orientation of objects in order to increase the number of parts per second that can be supplied to an automatic fixture, thereby increasing manufacturing speed and reducing singulation reduce the size of the singulation equipment, reduce the cost of the singulation equipment, and reduce the noise of the singulation equipment. However, the arrangement requires mechanical engagement with the object.

According to the present invention, a method for feeding magnetic objects from a stream of magnetic objects in bulk, the method comprising: Provide a large supply of magnetic objects; Forming magnetic objects into a moving stream of magnetic objects that singulate each other; wherein the magnetic object is supplied to the supply path from the moving stream; wherein a series of electromagnets are provided along the supply path, the electromagnets are operated to provide a sequence of magnetic fields along the supply path, the sequence of magnetic fields applying a force to the magnetic object; and The magnetic object is directed in the desired direction towards the desired location by this sequence of electromagnets.

The configurations herein may be particularly useful in a method for performing one or more operations on a workpiece by using electromagnetic forces to translate and orient a singulated magnetic object. The workpiece can be a magnetic object or a non-magnetic object. Operations on the workpiece may include one or more of the following group: sorting, forming, material removal, physical modification, chemical modification, addition of material cutting, polishing, abrading peening, and addition of energy.

The sorting operation takes the singulated magnetic objects and changes at least one dynamic property based on a measured property of each magnetic object, where the dynamic property is one of position, velocity, or orientation.

Forming and physical modification operations utilize the momentum and kinetic energy of a magnetic object to shape a workpiece by any combination of material removal, plastic deformation, and altering the arrangement of atoms within the workpiece.

For material addition and chemical modification operations, a magnetic object delivers material or energy to a location on the workpiece. The material may be the material to be added to the workpiece, or the material may be a catalyst. Energy may be added by generating and/or directing photons to locations on the workpiece, by providing electrical energy to locations on the workpiece, by providing chemical energy to locations on the workpiece, or by providing thermal energy to locations on the workpiece.

According to important features of the present invention, which may be used independently of any of the following features, there is provided a singulation element that supplies a plurality of magnetic objects separated from each other. The methods herein can be used with the configuration disclosed and claimed in the above-referenced PCT application PCT/CA2017/050907 for singulated objects.

The present invention works on objects that are subjected to a force or moment in an applied magnetic field. As used herein, the term "magnetic object" means that the object has an interaction energy greater than kT under an applied magnetic field, where k is the Boltzmann constant and T is the absolute temperature (Kelvin): that is, at The interaction energy under the applied magnetic field is greater than the thermal energy. Preferably, the interaction energy is much greater than the thermal energy at room temperature. This is generally true for ferromagnetic materials containing ferromagnetic elements (eg, Fe, Ni, and Co) and materials containing rare earth elements (most commonly, Gd, Nd, and Sm). However, for objects composed of paramagnetic or diamagnetic materials that interact weakly with the applied magnetic field, the temperature may decrease to the point where the interaction energy becomes greater than the thermal energy.

The term "composite magnetic object" refers to an object comprising a plurality of parts, wherein at least two parts have different compositions, and wherein the part with a first composition interacts with an external magnetic field differently than with a second composition part of the interaction with the external magnetic field.

The term "complex magnetic object" refers to an object comprising multiple parts, wherein at least two parts have different magnetic moments.

The term "synthetic composite magnetic object" refers to an object comprising a plurality of parts, wherein at least two parts are composed of different materials that have different interactions under an external magnetic field, and wherein at least two parts have different magnetic moments.

The term "magnet" refers to a permanent magnet, an electromagnet, or a combination of both (which is known in some literature as an electro-permanent magnet).

As used herein, the term "electromagnet" refers to a magnet consisting of at least one wire, wherein the magnetic field of the magnet changes when an electric current flows in the wire. Therefore, within the scope of this article, the combination of permanent magnet and wire is considered to be an electromagnet.

According to important optional features of the present invention, which may be used independently of any of the features above or below, there is provided a magnetic orientation device for orienting a selected object in response to detection of at least one orientation parameter of a singulated object of magnetic objects. The magnetic orientation device includes a detector for measuring the position and orientation of the magnetic object and at least one electromagnet for each degree of freedom of the magnetic object, wherein each electromagnet is positioned to deliver magnetic flux to the magnetic object from a different direction at least part of it.

Preferably, at any time during the reorientation process, the electromagnets are spaced at equal solid angles around the center of mass of the magnetic object; or alternatively, the path followed by the electromagnets around the magnetic object is spaced at equal intervals. open. The magnetic moment of a magnetic object experiences a moment aligned with the applied magnetic field.

Preferably, the direction of the applied magnetic field produced by the electromagnet is at an angle of 30 degrees or less to the magnetic moment of the magnetic object. Where a change in orientation of more than 30 degrees is desired, the magnetic field may be applied in a sequence of steps of 30 degrees or less, wherein the magnetic moment of the magnetic object is aligned with the applied magnetic field prior to the next step.

In important embodiments, the direction and magnitude of the applied magnetic field is determined to provide the force required for the dynamic calculation at each of the plurality of steps. In important embodiments, the dynamics of the magnetic object include translation and rotation.

According to important optional features of the present invention, which may be used independently of any of the features above or below, there is provided a magnetic steering device for steering a selected magnetic object in response to detection of at least one parameter of a singulated magnetic object of magnetic objects. The detected parameters may be, for example, orientation or quality parameters. In this embodiment, the path is selected based on measured parameters of the magnetic object, and a magnetic field gradient oriented substantially along the selected path is generated to attract the object to and along the selected path. A magnetic field can be generated with a single electromagnet. Preferably, at least two electromagnets are used to provide a field component transverse to the path. This feature is useful for accommodating objects incident from different directions.

According to important optional features of the present invention, which may be used independently of any of the above or below features, there is provided a magnetic steering device for steering a selected magnetic object along different paths in response to user input. The magnetic steering device includes a detector, a control device, and one or more electromagnets in different paths, the electromagnets being configured to generate a longitudinal magnetic field component along the path axis and a magnetic field component transverse to the path axis. The detector communicates the object's velocity and position to the control, and the control uses kinetic calculations to determine the magnetic force required to steer the object to the chosen path. Next, the control device activates one or more electromagnets to provide the desired magnetic field. At start-up, the longitudinal magnetic field gradient attracts the object along the path axis, and the transverse gradient acts to reduce the object velocity transverse to the path axis. For example, three tools may share a common flow of singulated fixtures for different operations, and the magnetic steering device steers the fixtures in priority order in response to signals from each tool that they are ready to receive the fixture each tool. The user may, for example, steer a first batch of 100 objects along a first path to fill a first package, and then steer a second batch of 100 objects along a second path to fill a second package.

According to important optional features of the present invention, which may be used independently of any of the above or below features, there is provided a magnetic translation device for translating a magnetic object along a path. The magnetic translation device consists of a control device and an array of electromagnets arranged at positions along the path, the array of electromagnets being sequentially activated by the control device to attract the object to each successive electromagnet position. In some embodiments, the array of electromagnets is similar to a stepper as long as the object reaches discrete locations corresponding to the potential energy well of the first electromagnet before the first electromagnet is turned off and the second electromagnet is turned on motor to operate. This mode is useful for delivering objects at regular intervals to the end of the array.

In another embodiment, the first electromagnets that attract the object are turned off in sequence only before the object reaches the first electromagnetic potential energy minimum, and the subsequent electromagnets are turned on, then the array of electromagnets operates similar to a linear motor . This mode produces more uniform velocity and acceleration. Since the energy efficiency of electromagnetic transport is generally greater than that of pneumatic transport, this feature may be particularly useful as an alternative to pneumatic transport of magnetic objects. In one example, the magnetic object may be singulated through a rotating pipe in a direction of increasing radius from the axis of rotation, as described in the above-referenced PCT application PCT/CA2017/050907. The singulated object can then be brought back to the axial position for use by the tool by activating the array of electromagnets.

According to an important optional feature of the present invention, which may be used independently of any of the above or below features, there is provided an element for adding material to a portion of a magnetic object, wherein the position and orientation of the magnetic object is controlled by a magnetic field, and wherein the adding The material depends at least in part on the measured properties of the magnetic object. The added material may be, for example, lubricant added to the head of the screw, marking material added to the head of the bolt, various structural materials or materials to be tested.

According to an important optional feature of the present invention, which may be used independently of any of the above or below features, there is provided a radiation device that directs radiation towards a portion of a magnetic object. The radiation can be photons, electrons, neutrons, atoms, molecules or ions.

According to important optional features of the present invention, which may be used independently of any of the above or below features, there is provided a detector array operable to measure at least one property of a magnetic object. The detector array may include one member or multiple members. The detector array may measure radiation scattered, reflected or emitted from a portion of the magnetic object, eg, in response to radiation incident on the magnetic object, and analyze the measured radiation to provide information about the material of the portion of the magnetic object. The detector array may, for example, measure the bidirectional reflectance function of one surface of the magnetic object for different angles of incidence. Each detector in the array may be a spectrometer that measures the intensity of the radiation received as a function of energy, frequency, or wavelength. The detector array may be, for example, a high-speed camera that measures the position and orientation of the magnetic object as a function of time, and analyzes the camera frame to provide information about the velocity and angular velocity of the magnetic object.

According to important optional features of the present invention which may be used independently of any of the above or below features, there is provided a detector array operable to measure at least one characteristic of a workpiece operating on a magnetic object. The detector array may include one member or multiple members. The detector array may measure radiation scattered, reflected or emitted from a portion of the workpiece, eg, in response to radiation incident on the workpiece, and analyze the measured radiation to provide information about the material of the portion of the magnetic object. The detector array may, for example, be an acoustic array that measures the shape of a cavity in the workpiece created by the removal of material from the interior of the workpiece by a magnetic object. The detector array may, for example, measure the X-ray diffraction pattern of a location on the workpiece, and analyze the diffraction pattern to determine crystal structure and orientation. The detector array may, for example, measure magnetic moments on the workpiece and infer the orientation and position of the workpiece from the measured magnetic moments.

In embodiments that may be used in conjunction with the preceding or following embodiments, radiation from the radiation device may interact with the material of the magnetic object to heat, melt, anneal, fuse, or ablate a portion of the magnetic object.

According to important optional features of the present invention, which may be used independently of any of the features above or below, there is provided a magnetic reversing device for moving along a ballistic trajectory in response to detection of at least one parameter of a singulated magnetic object Orbits guide magnetic objects. The magnetic reversing device applies a magnetic field in the area near the end of the pipe, which acts on the magnetic object traveling in the pipe to change the speed of the magnetic object. After the magnetic object leaves the magnetic field region, the velocity of the magnetic object determines the ballistic trajectory of the magnetic object. The detected parameter may be, for example, the quality parameter of the magnetic object, and the exit velocity (and ballistic trajectory) is selected so that magnetic objects with different quality parameters fall in different bins. The magnetic objects can be, for example, ore particles.

According to important optional features of the present invention, which may be used independently of any of the above or below features, there is provided a magnetic reversing device for guiding a magnetic object along a ballistic trajectory in response to user input. The magnetic reversing device operates as described above, except that the ballistic trajectory is selected by the user. For example, a user may select a ballistic trajectory that causes a magnetic object to strike another target object or a specific location on the workpiece at a specific angle of incidence and velocity.

According to important optional features of the present invention which may be used independently of any of the above or below features, there is provided an element for inducing relative motion between the magnetic object path and the workpiece. The magnetic object path is produced by a magnetic object orientation element, a magnetic object translation element, or a combination thereof. The relative motion is rotational in some embodiments, the relative motion is translational in some embodiments, and the relative motion is both rotational and translational in some embodiments. In some embodiments, the external magnetic field translates and/or rotates the magnetic object within a defined volume containing at least a portion of the workpiece. In some embodiments, the workpiece is further translated and/or rotated relative to the defined volume of the external magnetic field.

According to an important optional feature of the present invention, which may be used independently of any of the above or below features, there is provided an element for controlling the temperature of a plurality of locations in a workpiece such that each location may have a different temperature.

In embodiments that may be used in conjunction with the preceding or following embodiments, the magnetic object is an abrasive, and impact of the magnetic object with the target object or workpiece removes at least some material from the target object or workpiece.

In an embodiment that can be used in conjunction with the previous or subsequent embodiments, the impact of the magnetic object changes properties of the target object or workpiece, such as work hardening of a metal surface. The magnetic object may, for example, harden a first spatial region of the workpiece without hardening a second spatial region of the workpiece that requires greater elasticity. In some embodiments, the impact of the magnetic object on the workpiece performs a machining operation that deforms and/or reshapes the shape of the target object.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the magnetic object is a cutting tool, and the impact of the cutting tool removes selected material from the target object. In this embodiment, the cutting tool is singulated and oriented by the methods discussed above. The cutting tool is checked by the detector during the orientation process and parameters related to tool suitability are measured. For example, the sharpness of the cutting edge of the cutting tool can be checked to determine whether the cutting edge is sharp or blunt. Depending on the parameter being measured, the cutting tool can be steered to a waste bin by the methods discussed above, or to a magnetic translation device that operates to increase the speed of the cutting tool. Finally, the cutting tool is guided on a ballistic trajectory towards the position on the target object from which material is to be removed. The cutting tool can then be recovered and directed to the supply line of the singulation plant for reuse. This embodiment has four advantages over conventional milling operations. First, make sure the cutting edge is always sharp by inspection or by using a new cutting tool for each operation. Second, the range of action of the tool is not limited by the length of the tool shaft. This feature is particularly important for small diameter tools where breakage of the shaft is a problem. Third, the cutting tool does not overheat because it is only used for one cut. Fourth, the effect of each interaction with the magnetic object tool on the workpiece can be measured, and the momentum of subsequent magnetic object tools can be interactively adjusted to produce the desired effect on the workpiece. This embodiment is similar to a water jet cutting machine as long as the cutting action on the workpiece is achieved with a particle flow. Water jet cutting machines have wear surfaces that require maintenance, which wastes production time and the cost of replacement parts. These costs are avoided in the magnetic cutter of this embodiment since there are no wear surfaces in this embodiment. Furthermore, since the cutting tools are individually guided, this embodiment allows for a more precise cut than a water jet cutter. Unlike the laser cutter, the magnetic cutter of this embodiment can cut straight edges and is not limited by the material or thickness of the workpiece.

In an embodiment that can be used in conjunction with the preceding or following embodiments, a sequence of magnetic objects is applied to locations on the workpiece and a sequence of fluid flows is applied at locations adjacent to the workpiece locations, wherein the magnetic objects are in contact with the fluid flow The workpiece arrives at different times. Fluids can be gases or liquids. The magnetic object may, for example, be cut, polished, ground or impacted at the workpiece location. The fluid flow can provide cooling, lubrication, and chip removal, for example, near the workpiece location. The times at which the magnetic object and the fluid flow arrive at or adjacent to the workpiece location are separated in time such that the momentum of the magnetic object is not altered by the momentum of the fluid flow prior to impacting the workpiece location. Fluid flow can be regulated, for example, by interrupter wheels that periodically block flow. A sensor adjacent to the interrupter wheel communicates the interrupter status to the control element, and the control element generates a signal to the magnetic array so that the magnetic object arrives at a different time than the fluid flow. For example, the control element may set the phase and angular velocity of the interrupter wheel so that the magnetic object and fluid flow arrive at the workpiece location at different times. For example, the control element may actuate a valve that regulates fluid flow so that the magnetic object and fluid flow arrive at the workpiece location at different times.

In an embodiment, which may be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a set of magnetic moments that act as magnetic bearings to constrain the composite magnetic object around an external magnetic field at the location of the magnetic bearing moments. The movement of rotation about an axis determined by the direction.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the integrated magnetic object includes a set of magnetic moments that act to constrain the mass of the integrated magnetic object in response to an external magnetic field at the location of the set of magnetic moments The position of the heart, where the external magnetic field is temporally modulated to create a force on the magnetic object against displacement of the confinement position.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a set of magnetic moments that act to generate a force that translates the composite magnetic object.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a set of magnetic moments that act to produce a moment that rotates the composite magnetic object.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the magnetic object is added to the target object or workpiece at the selected location in an additive process.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the composite magnetic object to be added comprises multiple parts that interact strongly with the external magnetic field, and is used to position and orient the object as a whole to be embedded in the external magnetic field. for weakly interacting materials. For example, composite magnetic objects may be composed of silicon dioxide with embedded iron flakes.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the composite magnetic object is guided on a path to a selected location of the target or workpiece under an external magnetic field, wherein a portion of the composite magnetic object is added to the target or workpiece, And part of the composite magnetic object is separated and guided along different paths.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a first portion that interacts strongly with the external magnetic field, a second portion that interacts weakly with the external magnetic field, and A connected third portion is formed therebetween, wherein the third portion includes material that can be removed by the operation, and wherein the first portion and the second portion travel separately along different paths after the operation. For example, a composite magnetic object may consist of ferrite beads and silica glass beads attached to a binder that can be removed by heating, the silica beads are added to the workpiece at selected locations, and the ferrite beads Guide to recycling container.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a first portion that surrounds the second portion in the absence of an applied magnetic field and does not surround the second portion in the presence of an applied magnetic field, wherein the first portion is strongly interacting with the external magnetic field, and wherein the second portion can travel on at least one path independently of the first portion.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a first portion that surrounds the second portion in the absence of the first applied magnetic field and does not surround the second portion in the presence of the second applied magnetic field A second portion, wherein the first portion is strongly interacting with the external magnetic field, and wherein the second portion can travel on at least one path independently of the first portion.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the composite magnetic object includes a first portion that interacts strongly with the external magnetic field, the first portion is surrounded by a second portion that interacts weakly with the external magnetic field, wherein the first portion interacts weakly with the external magnetic field. One part can be separated from the second part by the operation of adding thermal energy. For example, the composite magnetic object can be an iron bead surrounded by chalcogenide glass, which is guided in the path of a target or workpiece location by an external magnetic field for additive processing. The application of heat causes the adhesion of the chalcogenide glass to decrease so that the iron beads can be attracted in different directions under the second external magnetic field. Due to the reduced adhesion of the chalcogenide glass, the iron beads pass through the chalcogenide glass, and the momentum of the chalcogenide glass causes it to continue along the path on the target or workpiece for additive processing. Preferably, the iron beads are extracted from the heated low-tack glass in a direction opposite to the momentum of the low-tack glass, so that the direction of the low-tack glass is unchanged. In this example, the Curie temperature of the iron beads is 1043 K, and the glass transition temperature of the chalcogenide glass is 423 K. Typically, the Curie temperature of the first part must be higher than the glass transition temperature of the second part.

In an embodiment that may be used in conjunction with the preceding or following embodiments, the composite magnetic object comprises a first portion that interacts strongly with the external magnetic field and partially surrounds a second portion that is weak to the external magnetic field interact, wherein the second portion can travel in at least one direction without contacting the first portion. For example, the composite magnetic object may be a cobalt cup containing sapphire optics. The mouth of the cobalt cup is directed toward a position for the addition process by the applied magnetic field, and the cup imparts momentum in that direction on the sapphire optic. Applying a second magnetic field causes the cobalt cup to reverse direction without exerting a force on the sapphire optic. The sapphire optics continue to reach a position on the target or workpiece for the additive process.

In an embodiment that can be used in conjunction with the preceding or following embodiments, the magnetic object or a portion thereof is melted and then added to the target object. Melting may occur in the pipe, near the outlet of the pipe, or near the target object or workpiece. Magnetic objects or parts thereof can be melted by induction by applying a radio frequency electric field. Objects can be melted by thermal radiation through the blackbody region. Objects may be melted by laser radiation.

In an embodiment that can be used in conjunction with the preceding or following embodiments, during the three-dimensional printing process, a few drops of molten metal alloy are added to the target object or workpiece. In other embodiments, the molten droplets are optical materials, electronic materials, or polymeric materials. The size and temperature of the droplets can be controlled to control the atomic structure of the deposited material. For example, molten droplets can be quenched to produce metallic glasses, or annealed and slowly cooled to produce crystalline structures. The cooling rate and thermal history of each molten droplet or group of droplets may be different, so different droplets of the same atomic composition may have different crystalline orderings or be amorphous. The material temperature in each droplet or group of droplets can be adjusted before and after addition to the workpiece. The temperature adjustment of the droplet material may, for example, be radiative prior to addition to the workpiece and predominantly conductive after addition to the workpiece. The composition of each molten droplet can be different, allowing the creation of composite three-dimensional objects. For example, gradient index optics can be fabricated by adding a sequence of droplets with different indices of refraction.

In an important embodiment, which may be used in conjunction with the preceding or following embodiments, a molten droplet of material is added to the workpiece, containing a single crystal seed crystal and the material in the droplet crystallizes to grow a single crystal.

In an embodiment that can be used in conjunction with the preceding or following embodiments, molten droplets are added to the workpiece in the presence of an electric field to induce polarization and alignment of the crystallographic axis with the applied electric field during crystallization. In this way, the polarization and alignment of the crystallographic axes can be varied in a controllable manner throughout the three-dimensional structure. This effect can be used, for example, to manufacture piezoelectric members with anisotropic properties. This effect can be used, for example, to produce optical components with a spatially varying anisotropic refractive index.

In an embodiment that can be used in conjunction with the previous or following embodiments, molten droplets are added to the workpiece in the presence of a magnetic field to induce spatially varying magnetic moments in the target object. This method can be used, for example, to fabricate microrobots that change shape in response to an applied magnetic field.

In an embodiment that can be used in conjunction with the preceding or following embodiments, multiple materials are added to the workpiece, wherein each material is conveyed by a magnetic object, and the position and orientation of the magnetic object is controlled by an external magnetic field.

In an embodiment that can be used in conjunction with the preceding or following embodiments, multiple materials are added to the workpiece, wherein each material has a different index of refraction and wherein each material is conveyed by a magnetic object, and the position and orientation of the magnetic object is determined by External magnetic field control. Materials with different indices of refraction can, for example, be assembled into three-dimensional circuits for optical computing.

In an embodiment that can be used in conjunction with the previous or subsequent embodiments, multiple materials are added to the workpiece, wherein each material has different electronic properties and wherein each material is transported by a magnetic object, and the position and orientation of the magnetic object is determined by External magnetic field control. Materials with different electronic properties can be assembled, for example, into three-dimensional electrical circuits.

The magnetic configuration of the present invention is generally indicated at 200 in FIG. 1 . As schematically represented in FIG. 1 , magnetic forces can be used to position objects within a pipe as shown in area 206 , guide objects along different paths as shown in area 207 , push objects along a pipe as shown in area 208 , and The ballistic path as shown in area 209 guides the object. The features described herein can be used alone or in combination.

In FIG. 1 , singulated magnetic objects 74 from singulation device 50 enter conduit 91 . The position of each object is measured as a function of time by a sensor net comprising one or more sensors positioned adjacent to the pipe regions 206, 207 and 208, as exemplarily represented by 201 . The sensor network is in communication with the controller element 202 as shown at 203 . The controller elements include computing devices and electrical elements that act to regulate the voltage and/or current provided to each electromagnet 205 via the wires 204 . For simplicity, only one wire is shown here, but it is understood that each electromagnet is connected to the control unit. The computing elements include elements for storing data on a machine-readable medium and communicating data regarding the operation of electromagnets and sensor inputs (not shown). In some cases, multiple permanent magnets (not shown) may be added to the configuration shown to provide a bias field, and the net magnetic field is the vector sum of the bias field and the magnetic field produced by the electromagnets. This feature can reduce energy consumption in applications where the time-averaged field has a preferred direction.

Object orientation region 206 is arranged with an array of electromagnets 205 that operate to generate magnetic fields in different directions, as shown at 211 , 212 , 213 , 214 and 215 . The object orientation region may be partially surrounded by non-magnetic walls 210 that act to constrain object movement and provide mechanical support for the array of electromagnets 205 . The number of electromagnets in the array is at least equal to the number of degrees of freedom of the object. Wall 210 may, for example, constrain magnetic object 74 to move in a plane, thereby eliminating one translational degree of freedom, and may also hinder rotational degrees of freedom. Alternatively, the object may be oriented in free space without contacting the wall 210, and the wall only acts as a barrier in case of irregular operation. The spatial extent of the array of electromagnets can be determined by the translation velocity of the object and the required throughput of the object. In the simplest case where the object has a translation velocity small enough that the magnetic field from any electromagnet is nearly constant over the distance traveled in the orientation region 206, only six electromagnets are required to orient the object with six degrees of freedom. Preferably, the electromagnets are spaced apart and oriented to point toward a common center, and each electromagnet occupies an equal solid angle. More electromagnets can be used to better define the direction of the net magnetic field. In the more general case where the object is translated in an orientation step through the region of the magnetic field from the individual electromagnets, more electromagnets are required to provide the magnetic field in space for each orientation step.

At each time interval in the orientation process, the forces and moments on the object are proportional to the inner product between the applied magnetic field and the object's magnetic moment, and the forces and moments will align the object with the applied magnetic field. For this consideration, the angle between the applied magnetic field and the magnetic moment of the object must be less than 90 degrees. At angles close to 90 degrees, the system is unstable and may rotate toward or away from the desired direction. Preferably, the object is oriented in steps of 30 degrees or less.

As shown in FIG. 1, an object 221 is detected by the detector 201 in proximity to a first magnetic region, indicated at 211, which is oriented at 30 degrees to the direction of travel of the object. In response to object position and orientation information from detector 201 , controller 202 turns on two or more electromagnets to generate magnetic field 211 . Objects are attracted to the regions of highest magnetic flux in the magnetic field 211 and experience a moment towards alignment with the direction of the magnetic field. The detector 201 monitors changes in the position of the object, and before the object reaches the magnetic axis 211, the controller 202 turns off the magnetic field at 211 and turns on the next magnetic axis at 212. This process is repeated incrementally at 213, 214 and 215 to rotate the object to the desired orientation.

FIG. 2 shows a deterministic algorithm for orienting objects in the orientation region 206 of FIG. 1 by the control device 202 . The algorithm takes as input the desired position, velocity and orientation of the object leaving the orientation zone 206 . In some embodiments, the algorithm calculates a series of waypoints between the entrance and exit of the orientation region 206, where each waypoint has a desired set of position, velocity, and orientation parameters. In the discussion here, the anchor parameter will then become the required parameter. The algorithm begins by detecting the position, velocity, and orientation of objects entering the orientation region 206 . In the next step, the dynamic properties of the object are determined. These dynamic properties include mass, shape, moment of inertia, and coefficient of friction with surfaces and air resistance. In the case of a series of similar or identical objects, the kinetic properties are known from previous measurements and are therefore available from the storage medium. In the case of objects with variable properties, the dynamic properties are determined by measuring the object's response to known forces. For example, in an initial step, known magnetic fields are applied over short time intervals in different (preferably orthogonal) directions, and the response of the object to the magnetic fields is observed through the detector mesh 201 . The control device 202 then calculates an initial set of kinetic characteristics from the observations. Based on this initial set of kinetic properties, the control device 202 calculates through classical dynamics the magnetic force required to be applied to produce a change in position, velocity and orientation parameters towards the desired final or anchor point parameters. The algorithm then attempts to find an input combination of an array of electromagnets that is closest to the desired magnetic field, and then generates the magnetic field. The detector 201 measures changes in the position, velocity and orientation parameters of the object in response to the applied field, and the control device 202 calculates the difference between the actual parameter and the calculated parameter. This difference can be used to improve estimates of kinetic parameters. This feature is especially useful for magnetic objects with irregular shapes, as the initial dynamics at a small number of measurements can have large uncertainties. If the position, velocity and orientation parameters are within the tolerances of the desired final parameters, the algorithm terminates. Otherwise, the algorithm performs another iteration of: calculating the required magnetic force from classical dynamics, providing an approximate magnetic field with available electromagnets, applying the magnetic field for a short time interval, and observing the results. It should be noted that, in some cases, the resulting field component may simply be used to defy gravity and keep the object suspended in space without friction with the wall 210 .

FIG. 1 schematically shows the operating device 216 connected to and under the control of the control device 202 by means of wires 217 . There may be any number of discrete manipulation devices 216 in regions 206, 207, 208 and 209 to perform different manipulations on magnetic objects. There may be any number of different types of manipulation devices in the spatially distinct regions 206, 207, 208 and 209 to perform manipulations on magnetic objects.

In some embodiments, the manipulation device 216 directs radiation towards a portion of the magnetic object, and the radiation causes a physical or chemical change at a location on the magnetic object. Radiation can, for example, heat, fuse, melt, or ablate a portion of a magnetic object, causing physical changes. Radiation can be used, for example, to photopolymerize a magnetic part of the object, thereby causing chemical changes.

In some embodiments, manipulation device 216 adds material to at least a portion of magnetic object 221 , 231 , 241 , 261 or 271 . For example, the added material may be lubricant added to the threads of the screw or ink marks added to the head of the screw.

FIG. 1 shows a magnetic gate configuration in region 207 where a magnetic object 231 approaches the gate with three branches 232 , 233 and 234 . Detector 201 measures the position and velocity of object 231, and controller 202 calculates the required magnetic field to guide object 231 along one of paths 232, 233 and 234 selected based on the desired use of the object. As shown, electromagnets 235 and 236 may be used in combination to generate a magnetic field having a transverse component substantially along path 232 . The control unit varies the lateral component to adjust for changes in position and velocity of the different objects 231 to steer each object to the tool 67 along the path 232 . In some embodiments, a single electromagnet may be used to attract objects to each path. Similarly, controller 202 may activate electromagnets 237 and 238 to steer object 231 toward bumper 240 along path 233 . Likewise, controller 202 may activate electromagnets 238 and 239 to manipulate object 231 to follow path 234 toward delivery area 08 .

Detector 201 detects the position and velocity of objects entering transport zone 208 and controller 202 activates an array of electromagnets along longitudinal positions 242, 243, 244, 245, 246, 247, 248, 249 and 250 in sequence along zone 208. In one embodiment, the array of electromagnets is operable as a linear stepper motor such that an object is attracted to each electromagnet and held for a user-defined time interval before being transferred to the next electromagnet in the array. This feature is useful for applications where objects must be delivered to the tail end of the array at specific time intervals. In another embodiment, the array operates as a linear motor. That is, when the object 241 approaches the electromagnet 242 , the electromagnet 242 is turned on to attract the object 241 . Before the object 241 reaches the position of the electromagnet 242, the electromagnet 242 is turned off and the electromagnet 243 is turned on. In this example, the process is repeated until object 241 reaches the position of the last electromagnet in the array, indicated at 250 . Thus, the object 241 may be conveyed or accelerated in steps toward the last array member 250 at a constant speed. The controller 202 may adjust the timing of electromagnet activation based on dynamic calculations of the object's position, measurements from the detector 201, or both. The distance between the magnetic objects can be measured by the detector 201, and the magnets in the array operate in a manner that increases or decreases the distance between the magnetic objects.

In another configuration, detector 201 detects an object approaching air gap 209, and controller 202 activates electromagnets 251 and 252 to impose a lateral velocity component on the object. The term "air gap" is meant to include the area of the medium that provides the least pulling force on the material passing through that area. In some embodiments, the "air gap" may contain the atmosphere. In some embodiments, the "air gap" may contain a non-reactive gas. In some embodiments, the "air gap" may contain gas at a pressure below atmospheric pressure. In some embodiments, an "air gap" may be a vacuum region with a pressure, eg, less than 1E-5 Torr.

In the air gap 209, as shown at 261, objects may be directed upwards to the bin array 262. The movement of the magnetic object 261 in the air gap 209 is detected by a detector 273 which communicates with the control device 202 via a wire 274 . In this specification, the term "detector" refers to the plurality of detectors required for the functions described herein. In some embodiments, the object approaches the air gap from the singulation feed 91 . In other embodiments, the air gap 209 may precede the orientation region 206 and/or the transport region 208 . Object 261 follows a ballistic trajectory towards bin array 262 and falls into bin 263 in the example shown. That is, an object can be directed to a specific location within a conical area determined by the longitudinal and lateral velocities applied to the object by electromagnets 242 to 252 (including electromagnets 242 and 252), and each The orientation and orientation of the individual objects can be verified by detector 273 . In some embodiments, objects are directed to different bins based in part on measurement parameters of the objects.

In another configuration, detector 201 detects an object approaching air gap 209 and controller 202 activates electromagnets 251 and 252 to impose a lateral velocity component on object 271 shown in air gap 209 . The magnetic object 271 follows a ballistic trajectory towards the workpiece 272 and performs operations on the workpiece 272 . Detector 273 is operable to confirm the trajectory and orientation of magnetic object 271 and the effect of performing operations on workpiece 272 . Optionally, after performing operations on workpiece 272, magnetic objects, shown schematically at 281, are collected and returned to singulation device 50 along path 282.

A radiation source 275 , which communicates with the control device 202 via wires 276 , directs radiation, which may be photons, electrons, neutrons, atoms, ions, or molecules incident on the location of the workpiece 272 . In this specification, the term "radiation source" refers to a plurality of radiation sources required for the functions described herein. In some embodiments, radiation source 275 may provide radiation that is reflected, scattered, absorbed or transmitted by workpiece 272 and then detected by detector 273 to provide information about the interaction of object 271 with workpiece 272 . For example, radiation source 275 may provide photons having a wavelength range between 400 nm and 1050 nm to illuminate the workpiece and adjacent regions, and detector 273 is a camera with a photodiode array sensitive to that wavelength range. In other embodiments, radiation source 275 may provide radiation that causes physical or chemical changes on workpiece 272 that cooperate with the arrival of object 271 . For example, radiation source 275 may be a laser that illuminates and heats selected locations on workpiece 272 to promote a chemical reaction between workpiece 272 and object 271 . For example, areas of workpiece 272 may be heated to facilitate fusion of object 271 with workpiece 272 . For example, a region of workpiece 272 may be heated such that the momentum of object 271 deforms or changes the atomic structure of the region of workpiece 272 .

As schematically represented in FIG. 1 , a portion of the region 208 may pass through the workpiece segments, indicated at 27 and 28 , and magnetic objects within this region may operate on the workpiece segments 27 and 28 . The selection of this area 208 is for illustrative purposes only. Any portion of regions 206, 207 or 208 may pass through a portion of the workpiece and perform operations on the workpiece.

In Figures 3 to 8, it should be understood that all functional structures including the magnetic array, light sources, detectors, sensors, motors and displacement elements are in communication with and controlled by the control element 202. For simplicity, the connection to the controller 202 is not explicitly shown here.

3 and 4 are schematic views of the configuration of FIG. 1 for machining a workpiece. FIG. 3 shows the configuration of FIG. 1 for cutting workpiece block 301 . The magnetic objects 241 in the duct region 208 may be oriented tools or abrasive materials that are not preferably oriented. Magnetic object 241 is accelerated in pipe 208 and directed through air gap 209 towards position on workpiece 301 by manipulating magnets 251 and 252 . As shown at 302 , the workpiece block 301 can be translated to create motion relative to the pipe 208 . The relative motion of the workpiece and the pipe, combined with the direction vector of the magnetic object controlled by the manipulator magnets 251 and 252, together determine the path 303 towards the workpiece and into which the magnetic object 271 is incident to perform the cutting operation. Radiation source 275 illuminates the workpiece with coherent light 277 . The impact and impact of the magnetic object 271 is observed by a light detector 273 in communication with the controller 202 . The light detector 273 includes an interferometer that compares the light reflected from the workpiece with a reference value, and the controller 202 uses the information from the detector 273 to calculate the change in the depth of cut for each magnetic object 271 . The controller 202 can use the information about the impact and effect of each magnetic object on the workpiece 301 to calculate the energy, momentum and orientation of the subsequent magnetic objects and activate the required magnetic field by any part of the path as shown in FIG. 1 . to generate the required energy, momentum and orientation. The controller 202 can store information on the magnetic field used and the effect on the workpiece for each magnetic object on a machine-readable medium, and the information so collected can be used to optimize the manufacturing process. In some embodiments, each magnetic object is individually controlled by feedback from detector 273, providing better control and accuracy than prior art methods. In other embodiments, only the average parameters for the collection of magnetic objects are controlled. In this case, the method of the present invention is functionally similar to a water jet cutting machine, with the advantage that the magnetic levitation effect of the abrasive greatly reduces the wear of the system that delivers the abrasive particles to the workpiece. The reduced wear reduces downtime and reduces the expense of replacing worn parts. In some embodiments, the area adjacent to the cutting operation may be flushed with a gas or liquid flow to remove cuttings and spent magnetic objects.

FIG. 4 shows another configuration in which the flow of abrasive magnetic objects 241 from acceleration zone 208 is directed through air gap 209 through electromagnets 251 and 252 to workpiece 301 on rotating platform 310 . The detector 273 monitors the trajectory and action of the abrasive magnetic object on the workpiece by coherent illumination 277 of the radiation source 275 . As shown at 311 , the acceleration region 208 may be translated relative to the workpiece 301 such that abrasive magnetic particles are directed toward any location on the surface of the workpiece 301 . In the example shown, workpiece 301 is an optical member, and detector 273 operates to measure surface curvature by interferometry. This surface can be accurately ground by the present method because the momentum and orientation of each abrasive particle 271 incident on the workpiece 301 can be calibrated by the control element 202 for the amount of material to be removed. Radiation source 275 may provide radiation that heats locations on the workpiece, allowing the material to flow and smooth the surface after the material is removed.

Fluid flow 261 is generated by fluid source 260 and directed to a location on the workpiece adjacent to the location on the workpiece where the abrasive magnetic object is struck. Fluid flow is periodically interrupted by interrupters 262 that rotate about shaft 263 . Sensor 264 measures the angular displacement of the cutout and communicates the displacement to control element 202 (not shown). The control element 202 can adjust the angular velocity and phase of the interrupter 262 . The control element 202 generates a signal that causes the magnetic object to reach the workpiece position at a different time than the fluid flow.

It should be noted that, due to Earnshaw Theorem, no magnetic field can provide an equilibrium position for a magnetic object. However, the magnetic object 241 can be caused to oscillate around the fixed point with smaller amplitudes by quickly adjusting the applied magnetic field to resist movement away from the fixed point. This method of dynamic balancing is used, for example, in prior art magnetic bearings to balance forces around a single fixed point. In the present invention, dynamic balance is about points on an arbitrary curvilinear path specified by the user.

Figures 5, 6, 7 and 8 show schematic views of the configuration of Figure 1 for applying material to a workpiece. Figures 5, 6, 7 and 8 relate to material added in a non-final form (raw material). 7 to 10 differ only in the details of delivering material to workpiece 272 .

5 , 6 and 7 include the magnetic configuration shown schematically at 200 in FIG. 1 in which a composite magnetic object is guided through air gap 209 towards workpiece 272 by operating electromagnets 251 and 252 from region 208 of magnetic configuration 200 . In FIG. 7, two examples of the magnetic configuration of FIG. 1 are shown at 200A and 200B to show that multiple magnetic configurations can be used to add material to a single workpiece. Each magnetic configuration 200 may, for example, add a different type of material. Magnetic configuration 200A includes steering electromagnets 251A and 252A that guide composite magnetic object 471A from region 208A through air gap 209 toward workpiece 272 . Magnetic configuration 200B includes steering electromagnets 251B and 252B that guide composite magnetic object 471B from region 208B through air gap 209 toward workpiece 272 . In FIGS. 5-8 , workpiece 272 is mounted on platform 401 with integrated temperature controller 402 . The temperature controller 402 is operable to adjust the temperature of the workpiece 272 at different locations to different values. The workpiece 272 may be fabricated on the oriented seed crystals as shown at 403 and the regions adjacent to the workpiece may have an applied external electric field as shown at 404 . If a seed crystal 403 is present, the electric field can be set to favor crystallization in a selected direction or along a particular crystallographic axis. In FIGS. 5 , 6 and 7 , the air gap 209 is illuminated by the radiation device 275 and the trajectory of the composite magnetic object in the air gap 209 is measured by the detector 273 and transmitted to the control element 202 . The control element 202 compares the measured and calculated trajectories and adjusts to manipulate the outputs of the magnets 251 and 252 to minimize the variance of the subsequent composite magnetic object. In Figure 7, there are two detectors 273A and 273B which measure the trajectory of the composite magnetic object projected from the magnetic configurations 200A and 200B, respectively. Control device 202 adjusts the steering magnet parameters for each magnetic configuration in response to measurements from detectors 273A and 273B. Detectors 273, 273A, and 273B are also used to measure changes in properties of workpiece 272 when material is added, and control 202 uses the measured properties to adjust the addition of material and the temperature at which material is added by temperature controller 402 at each location . Figures 5, 6 and 8 schematically illustrate a radiation source 410 directing radiation 411 towards the composite magnetic object. In Figure 7, there are two independent radiation sources 410A and 410B providing radiation 411A and 411B. Radiation 411, 411A, and 411B may be, for example, a laser, a radio frequency source, or a blackbody radiator, which is operable to store energy in the composite magnetic object and change its temperature. Radiation source 275 is used for illumination, while radiation sources 410, 410A and 410B are used to perform operations on magnetic objects.

In FIG. 5, a composite magnetic object 421 consisting of ferromagnetic material 424 embedded in a weakly magnetic material 425 is accelerated by an array of electromagnets 242 to 250 (see FIG. 1) in region 208, and by deflecting magnets 251 and 252 Deflected towards target position 423 on workpiece 272 . As shown at 405, the platform 401 can be rotated by any angle and translated in any direction to expose any surface of the workpiece 272 for material addition. Detector 273 in communication with control element 202 can follow the trajectory of composite magnetic object 421 through air gap 209 to target location 423 on workpiece 272 and use this information to adjust the operating parameters of deflection magnets 251 and 252 for subsequent Composite magnetic objects 421 to improve the accuracy of magnet placement. The radiation source 275 illuminates the workpiece 272 and the information about the reflected radiation received by the detector 273 is processed to provide information about the shaped workpiece 272 . Radiation source 410 in communication with control device 202 directs radiation 411 onto composite magnetic object 422 in air gap region 209 . Radiation 411 may heat, soften, or melt composite magnetic object 422 to facilitate its merging with workpiece 272 . The composite magnetic object 422 can be heated in the air gap 209 to a temperature above the Curie temperature of its ferromagnetic component 424 without affecting the already established ballistic trajectory. Detector 273 is also operable to monitor the incorporation of material in composite magnetic object 422 with workpiece 272 . The workpiece 272 is mounted on a platform, shown schematically at 401 , which can have six degrees of freedom, as shown at 405 , to adjust the relative position of the path 208 and the workpiece 272 . Stage 401 may, for example, include a goniometer, which may provide angular degrees of freedom, and an XYZ translation stage, which may provide translational degrees of freedom. The translation and rotation of the platform 401 can be used to create a series of positions on the workpiece 272 in the conical region, which can be accessed by adjusting the steering magnets 251 and 252 of the path region 208 . The platform 401 may further include a thermal control element 402 operable to adjust the temperature of the location 423 containing the material. The temperature may be set, for example, to react, melt, anneal, or fuse the material added to workpiece 272 by composite magnetic object 421 . The configuration in Figure 5 can be used to 3D print metal structures. The composition of metallic structures can be spatially altered by directing composite magnetic objects with different compositions to different locations. Atoms from the additive material will diffuse into the bulk of the workpiece with kinetics determined by the temperature and the local ordering of the atoms. In some embodiments, an external electric field as shown at 404 is applied to the workpiece. The electric field provides a better direction for crystal growth. The advantage of this method is that almost any solid material can be mixed with ferromagnetic particles and pressed, fused or melted into objects with kinetic properties that are subject to the interaction of an external magnetic field with the ferromagnetic particles contained therein. The scope of the present invention includes the concept of composite magnetic objects for the purpose of influencing kinetics, but does not include methods that can be used to manufacture composite magnetic objects.

In FIG. 6 , the composite magnetic object 431 is composed of ferromagnetic particles 441 , connecting members 442 and payload members 443 . Composite magnetic object 431 is accelerated by the array of electromagnets 242 to 250 in region 208 and deflected towards target location 433 on workpiece 272 by deflection magnets 251 and 252 . As shown at 406, the magnetic device can be translated in any direction so that material can be added to any surface of the workpiece 272. In the air gap 209 at 432, the connecting member 442 is removed by radiation 411 so that the ferromagnetic particles 441 and the payload element 443 independently travel on the same track. The radiation at 411 at 432 may also heat and possibly melt the payload particles 446, which arrive at the target location 433 at 447 as droplets. Depending on the temperature at 433, the liquid droplets can be quenched to a glassy state or added to the crystalline region. After removal of connecting member 442, the electromagnets of the second array shown at 451 and 452 attract ferromagnetic particles 441 into conduit 453, from which they can be recycled to form another composite magnetic object. The payload particle 446 proceeds along the trajectory set for the composite magnetic object 431 in the region 208, as shown at 447. The connecting member 442 may be, for example, glue or a substance whose melting point is lower than the Curie temperature of the ferromagnetic particles 441 . A second radiation source (not shown) may irradiate the workpiece 272 with dopant atoms or ions to alter the electronic properties of the added material.

In Figure 7, composite magnetic object 471A includes a ferromagnetic core 467A surrounded by a first shell material 466A. Similarly, composite magnetic object 471B includes ferromagnetic core 467B surrounded by second shell material 466B. Composite magnetic object 471A is accelerated by the array of electromagnets in region 208A and directed toward location 465A on workpiece 272 by manipulating electromagnets 251A and 252A. As shown at 407A, the magnetic device 200A can be translated in any direction so that material can be added to any surface of the workpiece 272. Composite magnetic object 471B is accelerated by the array of electromagnets in region 208B and directed toward location 465B on workpiece 272 by manipulating electromagnets 251B and 252B. As shown at 407B, the magnetic device 200B can be translated in any direction so that material can be added to any surface of the workpiece 272. In the air gap region 209, the composite magnetic body is irradiated by radiation 411A and 411B from radiation sources 410A and 410B, respectively. Radiation 411A incident on composite magnetic object 471A causes a reduction in the adhesion of first shell material 466A, and after the reduction in adhesion, the array of electromagnets 451A and 452A attracts ferromagnetic core 462A towards conduit region 453A, from which ferromagnetic Core 462A is recycled as another composite magnetic object 445A. The residual tack of the shell material 466A, combined with the magnetic attractive force acting on the ferromagnetic particles 467A, causes the shell material and the ferromagnetic core 462A to separate and the shell material to elongate, as shown at 463A. The elongated shell material continues toward the target location 465A on the workpiece 272, as shown at 464A. Radiation 411B incident on composite magnetic object 471B causes a reduction in the adhesion of first shell material 466B, and after the reduction in adhesion, the array of electromagnets 451B and 452B attracts ferromagnetic core 462B toward conduit region 453B, from which ferromagnetic Core 462B is recycled as another composite magnetic object 445B. The residual tack of the shell material 466B, combined with the magnetic attraction on the ferromagnetic particles 467B, causes the shell material and the ferromagnetic core 462B to separate and the shell material to elongate, as shown at 463B. The elongated shell material continues toward the target location 465B on the workpiece 272, as shown at 464B. Shell materials 466A and 466B can be, for example, different optical glasses with melting points below the Curie temperature of ferromagnetic cores 467A and 467B. Electromagnet arrays 451A and 452A operable in air gap 209 preferably generate a first magnetic field to attract ferromagnetic core 467A in a direction opposite that of composite magnetic object 471A. This will result in a reduction in the viscosity drag and velocity of the first shell material 466A, but in the same direction. Electromagnet arrays 451B and 452B operable in air gap 209 preferably generate a first magnetic field to attract ferromagnetic core 467B in a direction opposite that of composite magnetic object 471B. This will cause the viscous drag and velocity of the first shell material 466B to decrease, but not in the same direction. After separating the respective ferromagnetic cores from the shell material, the ferromagnetic cores may follow a path with a component transverse to the original path. Alternatively, the ferromagnetic core can be separated from the shell material in any direction as long as the control element 202 performs kinetic calculations by adjusting the initial trajectory of the composite magnetic object to compensate for the lateral viscous resistance due to separation of the core. The first shell material 466A is incident on the workpiece 272 at a location 465A, and the second shell material 466B is incident on the workpiece 272 at a location 465B. The workpiece 272 is mounted on the rotating platform 401 to facilitate the manufacture of articles with rotational symmetry, such as lenses. A radiation source 275 controlled by control device 202 illuminates the lens with a range of different wavelengths, and refraction is measured by detectors 273A and 273B and analyzed by controller 202. The control device 202 stores information on the added material and the optical properties of the lens on a machine-readable storage medium. The stored information is then used for quality assurance and optimization of the manufacturing process.

FIG. 8 shows a configuration in which the composite magnetic object 471 consists of a payload object 477 partially surrounded by a ferromagnetic holder 476 . Ferromagnetic holder 476 includes a transport channel aligned along the transport axis through which payload objects may exit the holder. In some embodiments, the ferromagnetic retainer 476 includes a plurality of magnetic domains having different magnetic moments, wherein at least one domain blocks the delivery channel and retains the payload object 477 in the presence of the first external magnetic field, and The payload object 477 is not blocked or retained in the presence of the second external magnetic field. In other embodiments, the payload object 477 is held in the ferromagnetic holder 476 by inertial forces. Composite magnetic object 471 is accelerated in conduit 208 and directed towards position 475 on workpiece 272 by an array of steering electromagnets, indicated at 251 and 252 . After composite magnetic object 471 enters air gap 209, a second array of electromagnets at 451 and 452 creates a magnetic field in air gap region 209 that is used to attract ferromagnetic retainer 472 to position in conduit 453 445C. The magnetic field in the air gap region 209 accelerates the ferromagnetic retainer 472 in the opposite direction to that of the composite magnetic object 471 until the ferromagnetic retainer 472 and the payload object 473 are spatially separated, thereby causing the momentum of the payload object 473 constant. The payload object 473 may then receive the radiation 411 and change its physical state, as shown at 474 . Radiation 411 may reduce the stickiness of payload object 473, eg, by adding thermal energy. The momentum transferred by the radiation (usually photons) is almost small compared to the momentum of the payload object 473, so the momentum and direction of the payload object at 474 is the same as the momentum and direction of the payload object 473 at 473 Basically the same. The payload object continues to the target location 475 and is added to the workpiece 272 . As shown at 408, workpiece 472 can be mounted on platform 401 with six degrees of freedom.

The configurations of FIGS. 5-8 can be used to fabricate three-dimensional electronic devices by adding materials with different electron and hole concentrations to workpiece 272 . Alternatively, the added material may diffuse into the pre-existing material of the workpiece, thereby changing the concentration of electrons and holes. The electronic device may be, for example, transistors or transistor arrays with a connected configuration, which may be difficult to achieve with conventional etching methods.

The configurations of FIGS. 5-8 can be used to fabricate conventional optics such as mirrors, prisms, lenses, and gratings, as well as optics with novel properties. For example, photonic crystals can be fabricated by adding materials with different refractive indices in a regular pattern. For example, gradient index optics can be fabricated in which the index of refraction varies nonlinearly in multiple directions. For example, three-dimensional optical computing devices can be fabricated. For example, the light modulator described in PCT publication WO 2018/213923 published by the present inventors on Nov. 29, 2018 can be fabricated. For example, surface features can be fabricated to enhance spectral signals.

The configurations of Figures 5-8 can be used as an alternative to etching to fabricate optoelectronic devices such as LEDs and photodiodes.

In a particularly useful configuration, a single crystal can be grown by the configuration shown in FIG. 3 by adding material to an oriented single crystal seed crystal 403 by adding a series of composite magnetic objects, wherein the single crystal seed crystal is held in The material is added at a temperature slightly below the melting point of the crystals, and slightly above the melting point of the crystals, and allowed to cool slowly in the presence of the crystals. This method differs from the well-known Bridgeman method in that the interfacial layer between the crystal and the liquid state is exposed and can be directly monitored by the detector 273 to provide feedback. That is, the radiation source 275 may provide collimated neutrons or X-rays incident on the workpiece to produce a diffraction pattern. The diffraction pattern of the new layer can be monitored by detector 273 and analyzed by controller 202 during cooling. If the diffraction pattern matches that of the seed crystal, add more material, and if not, reheat the surface layer. Furthermore, the spatial extent of the crystallographic facets of the crystal growth can be much larger than the area covered by the material of a single composite magnetic object. In this case, material can be selectively added where the new material has finished crystallizing while other regions are being annealed.

27: Workpiece 28: Workpiece 50: Single granulation device 67: Tools 74: Magnetic Objects 91: Pipe/Single Pellet Supply 200: Magnetic Configuration 200A: Magnetic configuration 200B: Magnetic Configuration 201: Sensor 202: Controller element 203: Sensor Network 204: Wire 205: Electromagnet 206: Area 207: Area 208: Area 208A: Area 208B: Area 209: Air Gap 210: Non-magnetic Wall/Wall 211: Magnetic Field 212: Magnetic Field 213: Magnetic Field 214: Magnetic Field 215: Magnetic Field 216: Operating device 217: Wire 221: Magnetic Objects 231: Magnetic Objects 232: path/branch 233: path/branch 234: path/branch 235: Electromagnet 236: Electromagnet 237: Electromagnet 238: Electromagnet 239: Electromagnet 240: Buffer 241: Magnetic Objects 242: Position/Electromagnet 243: Position/Electromagnet 244: Location 245: Location 246: Location 247: Location 248: Location 249: Location 250:Position/Array Member/Array 251: Electromagnet/Fuck Magnet 251A: Electromagnet 251B: Electromagnet 252: Electromagnet/Fuck Magnet 252A: Electromagnet 252B: Electromagnet 260: Fluid Source 261: Magnetic Objects 262: Circuit Breaker 263: Box/Shaft 264: Sensor 271: Magnetic Objects 272: Artifact 273: Detector 273A: Detector 273B: Detector 275: Radiation Source 276: Wire 277: Coherent Lighting / Coherent Lighting 281: Magnetic Objects 282: Path 301: Artifact block/artifact 302: Pan 303: Path 310: Rotating Platform 311: Pan 401: Platform 402: Temperature Controller/Thermal Control Element 403: Seed 404: External Electric Field 405: Rotate and/or translate 406: Rotate and/or translate 407A: Pan 407B: Pan 408: Six degrees of freedom 410: Radiation Source 410A: Radiation source 410B: Radiation Sources 411: Radiation 411A: Radiation 411B: Radiation 421: Composite Magnetic Objects 422: Composite Magnetic Objects 423: target location 424: Ferromagnetic Materials / Ferromagnetic Components 425: Weak Magnetic Materials 431: Composite Magnetic Objects 432: Location 433: Location 441: Ferromagnetic particles 442: Connecting components 443: Payload Element 445A: Composite Magnetic Objects 445B: Composite Magnetic Objects 445C: Location 446: Payload Particles 447: Location 451: Location 451A: Electromagnet / Electromagnet Array 451B: Electromagnet / Electromagnet Array 452: Location 452A: Electromagnet / Electromagnet Array 452B: Electromagnet / Electromagnet Array 453: Pipe 453A: Duct Area 453B: Piping Area 462A: Ferromagnetic Core 462B: Ferromagnetic Core 463A: Elongation 463B: Elongation 464A: Elongated Shell Material 464B: Elongated Shell Material 465A: Target position 465B: Target Location 466A: Shell Material 466B: Shell Material 467A: Ferromagnetic Particles/Ferromagnetic Cores 467B: Ferromagnetic particles/ferromagnetic cores 471: Composite Magnetic Objects 471A: Composite Magnetic Objects 471B: Composite Magnetic Objects 472: Ferromagnetic holder 473: Payload Object 474: Location 475: Location 476: Ferromagnetic holder 477: Payload Object

Embodiments of the present invention will now be described with reference to the accompanying drawings, in which:

[FIG. 1] is a schematic diagram of a configuration for positioning, steering and translating a magnetic object;

[Fig. 2] is a flow chart of the operation of the magnetic orientation configuration of Fig. 1;

[FIG. 3] is a schematic diagram of the configuration of FIG. 1 for performing a cutting operation on a workpiece;

[FIG. 4] is a schematic diagram of the configuration of FIG. 1 for performing a flow-directing operation on a workpiece;

[Fig. 5] is a schematic diagram of the configuration of Fig. 1 for adding a composite magnetic object to a workpiece;

[Fig. 6] is a schematic diagram of the configuration of Fig. 1 for adding a non-magnetic material to a workpiece;

[ FIG. 7 ] is a schematic diagram of the configuration of FIG. 1 for adding two types of non-magnetic materials to a workpiece; and

[ FIG. 8 ] is a schematic diagram of the configuration of FIG. 1 for adding a non-magnetic material to a workpiece from a container.

27: Workpiece

28: Workpiece

50: Single granulation device

67: Tools

74: Magnetic Objects

91: Pipe/Single Pellet Supply

200: Magnetic Configuration

201: Sensor

202: Controller element

203: Sensor Network

204: Wire

205: Electromagnet

206: Area

207: Area

208: Area

209: Air Gap

210: Non-magnetic Wall/Wall

211: Magnetic Field

212: Magnetic Field

213: Magnetic Field

214: Magnetic Field

215: Magnetic Field

216: Operating device

217: Wire

221: Magnetic Objects

231: Magnetic Objects

232: path/branch

233: path/branch

234: path/branch

235: Electromagnet

236: Electromagnet

237: Electromagnet

238: Electromagnet

239: Electromagnet

240: Buffer

241: Magnetic Objects

242: Position/Electromagnet

243: Position/Electromagnet

244: Location

245: Location

246: Location

247: Location

248: Location

249: Location

250:Position/Array Member/Array

251: Electromagnet/Fuck Magnet

252: Electromagnet/Fuck Magnet

261: Magnetic Objects

262: Circuit Breaker

263: Box/Shaft

271: Magnetic Objects

272: Artifact

273: Detector

275: Radiation Source

276: Wire

281: Magnetic Objects

282: Path

Claims (37)

A method for feeding magnetic objects from a stream of magnetic objects in bulk, the method comprising: providing a large supply of said magnetic object; forming the magnetic objects into a moving stream of the magnetic objects singulated to each other; wherein the magnetic object is supplied from the moving stream to a supply path; wherein a series of electromagnets are provided along the supply path, the series of electromagnets being operative to provide a series of magnetic fields along the supply path, the series of magnetic fields applying a force to the magnetic object; as well as The magnetic object is directed to the desired position in the desired direction by the series of electromagnets. The method of claim 1, wherein the series of electromagnets are also operable to change the orientation of the magnetic object. The method of claim 2, wherein in the event that a change in orientation of more than 30 degrees is required, the magnetic field is applied in a sequence of steps of 30 degrees or less, wherein the magnetic moment of the magnetic object precedes subsequent steps aligned with the applied magnetic field. The method of claim 2 or 3, wherein at any time during the reorientation process, the electromagnets are spaced at equal solid angles about the center of mass of the magnetic object. A method as in any preceding claim, wherein the series of electromagnets are used to drive the magnetic object along different paths in response, at least in part, to at least one measured parameter of the magnetic object. A method as in any preceding claim, wherein the magnetic field of the sequence activated to drive one of the magnetic objects along a path depends at least in part on a measured characteristic of the magnetic object. A method as in any preceding claim, wherein the sequence of magnetic fields drives the magnetic object along different paths in response to user input. A method as in any preceding claim, wherein the sequence of magnetic fields acts at one end of a conduit defining the supply path to drive the magnetic object along a ballistic path. A method as in any preceding claim, wherein sensors are provided for detecting properties of each of the magnetic objects in a plurality of orientations. A method as claimed in any preceding claim, wherein the magnetic objects in the stream are singulated to each other in a singulation duct that rotates transverse to an axis of rotation of the duct. A method as in any preceding claim, wherein the series of electromagnets are operated sequentially such that each electromagnet turns off when the next electromagnet is activated. A method as claimed in any preceding claim, wherein the paths followed by the electromagnets around the magnetic object are spaced at equal intervals. A method as claimed in any preceding claim, wherein each of the magnetic objects is a composite magnetic object comprising an operative portion and a ferromagnetic portion, and wherein at least some of the operative portions of the magnetic object reach the The position was previously separated from the ferromagnetic part. A method as claimed in any preceding claim, wherein the path includes a guide surface of the conduit along which the magnetic object moves. A method as in any preceding claim, wherein the series of electromagnets is used to drive the magnetic object along the supply path at a controlled rate. A method as in any one of the preceding claims, wherein the method is configured to perform an operation on a workpiece, and wherein the magnetic object comprises a magnetic operating tool that is moved towards the workpiece so as to be The operation is performed on the workpiece at the location by interacting the magnetic operating tool with the workpiece at a desired location on the workpiece. The method of claim 16, wherein the operation on the workpiece comprises one or more of the following group: sorting, forming, material removal, physical modification, chemical modification, addition of material cutting), polishing, abrading peening and adding energy. A method as claimed in claim 16 or 17, wherein the magnetically operating tool is detected by a detector and a parameter related to the suitability of the tool is measured. The method of claim 18, wherein the magnetically operating tool is diverted from use based on the measured parameter. The method of claim 18, wherein the electromagnetically operated tool is operated by the series of electromagnets to vary the speed of the electromagnetically operated tool based on the measured parameter. The method of any of claims 16 to 20, wherein after said operating, each of said magnetic handling tools is recovered and directed into said bulk supply for reuse. The method of any one of claims 16 to 21, wherein a first sequence of magnetic fields drives a first of the magnetically operating tools to a first position on the workpiece, wherein the first is associated with the workpiece The interaction of the detectors causes a change in the workpiece measured by the detector, and wherein a second sequence of magnetic fields drives a second of the magnetically operating tools to a second position on the workpiece, the first The two positions depend at least in part on the change in the workpiece measured by the detector. The method of any of claims 16 to 22, wherein at least a portion of the supply path is integrated with the workpiece. The method of any of claims 16 to 23, wherein the magnetically operating tool is a cutting tool, and the impact of the cutting tool removes selected material from the workpiece. The method of any of claims 16 to 23, wherein the magnetically operating tool is an abrasive member. A method as claimed in claim 23 or 24, wherein lubricant/cleaning material is supplied to the magnetic operating tool and/or the workpiece. The method of claim 26, wherein the lubricant/cleaning material is supplied to the workpiece such that the lubricant/cleaning material and the magnetic operating tool arrive at different times. The method of claim 27, wherein the flow of the lubricant/cleaning material is regulated by a chopper wheel that periodically blocks flow. The method of any one of claims 16 to 23, wherein each of the magnetic operating tools at least partially includes an additive material configured to be applied to the workpiece. The method of claim 29, wherein the additive material is melted and added to the workpiece. The method of claim 29 or 30, wherein the additive material comprises a plurality of different types of materials. The method of any of claims 29 to 31, wherein the additive material is added to the workpiece in a three-dimensional printing process. A method as in any one of claims 29 to 32, wherein the function of the added material depends at least in part on the structure of the underlying substrate. The method of claim 33, wherein the underlying substrate includes a seed crystal, and the added material crystallizes to grow a single crystal. The method of any of claims 16 to 34, wherein relative motion is provided between the magnetic object and the workpiece, the relative motion being rotational, translational, or a combination thereof. The method of claim 35, wherein the external magnetic field translates and/or rotates within a defined volume containing at least a portion of the workpiece. The method of claim 35, wherein the workpiece is further translated and/or rotated relative to the defined volume of the external magnetic field.

Images