Search

CN-122029492-A - Method for positioning a tool in a magnetic levitation system

CN122029492ACN 122029492 ACN122029492 ACN 122029492ACN-122029492-A

Abstract

In various embodiments, a method for determining a position of an element of a mechanical system relative to a levitation platform of a magnetic levitation system and/or a workpiece positioned thereon. The method comprises the steps of position locating by monitoring at least one parameter of the magnetic levitation system indicative of a position of the levitation platform relative to the magnetic levitation system, causing relative movement between the levitation platform and an element of the mechanical system, stopping the relative movement between the levitation platform and the mechanical system when physical contact is established, and determining a position of the element of the mechanical system relative to the levitation platform. The methods described herein may be used to correct any misalignment between two independent operating systems during additive manufacturing and assembly.

Inventors

  • M. P. Chaya
  • N. Carney
  • A. SCHNEIDER

Assignees

  • 贝拉塞诺有限公司

Dates

Publication Date
20260512
Application Date
20240905
Priority Date
20230905

Claims (15)

  1. 1. A method for determining the position of an element of a mechanical system relative to a levitation platform of a magnetic levitation system and/or a workpiece located thereon, the method comprising the following position-locating steps: Monitoring at least one parameter of the magnetic levitation system indicative of the position of the levitation platform relative to the magnetic levitation system; causing relative movement between the levitation platform and the element of the mechanical system; Stopping the relative movement between the levitation platform and the mechanical system upon detecting a change in the at least one parameter; The position of the element of the mechanical system relative to the levitation platform and/or the workpiece located thereon is determined based on a stop position of the element and/or a stop position of the levitation platform.
  2. 2. The method according to claim 1, Wherein the element is fixedly attached to the mechanical system.
  3. 3. The method according to claim 1, Wherein the element is movable along at least one axis by the mechanical system.
  4. 4. The method according to claim 1 to 3, Wherein the monitored parameters include the current supplied to the magnetic levitation system while maintaining the levitation platform in levitation, and/or the current induced in a magnetic sensor provided in the magnetic levitation system.
  5. 5. The method according to claim 1 to 4, Wherein the element of the mechanical system comprises a tool of the mechanical system.
  6. 6. The method according to claim 5, Wherein the tool comprises an extruder nozzle of a 3D printer.
  7. 7. The method according to any one of claim 1 to 6, Wherein causing relative movement between the levitation platform and the element of the mechanical system comprises moving the element towards the levitation platform and/or the workpiece thereon by the mechanical system.
  8. 8. The method according to any one of claim 1 to 6, Wherein causing relative movement between the levitation platform and the element of the mechanical system comprises moving the levitation platform and/or the workpiece thereon towards the element of the mechanical system by the levitation system.
  9. 9. The method according to any one of claim 1 to 8, Wherein the change in the at least one parameter comprises an electric current provided to the levitation system to maintain levitation of the levitation platform and/or an increase in electric current induced in a magnetic sensor provided in the levitation system exceeding a predefined threshold.
  10. 10. The method according to any one of claim 1 to 9, Wherein the step of determining the position of the element of the mechanical system relative to the levitation platform and/or the workpiece located thereon comprises: Using the stop position of the mechanical system as a reference position in a coordinate system of the mechanical system for the levitation platform and/or the workpiece located thereon, and/or The stop position of the levitation platform is used as a reference position for the element of the mechanical system in the coordinate system of the magnetic levitation system.
  11. 11. The method of any one of claims 5 to 10, when dependent on claim 5, further comprising: attaching a positioning tool to the mechanical system in addition to or in place of the tool of the mechanical system; the step of determining the position of the element of the mechanical system relative to the levitation platform and/or the workpiece located thereon is performed with the positioning tool.
  12. 12. The method of any one of claims 1 to 11, further comprising: the step of determining the position of the element of the mechanical system relative to the levitation platform and/or the workpiece located thereon is performed with respect to at least one further axis along which the element is movable, wherein the at least one further axis is perpendicular to the axis.
  13. 13. The method of any of claims 1 to 12, further comprising: The position of the element of the mechanical system and/or the position of the levitation platform and/or the workpiece located thereon is corrected by a correction distance corresponding to the distance travelled by the element and/or the levitation platform during the response time of the parameter monitoring system of the magnetic levitation system and/or the response time of the entire magnetic levitation system.
  14. 14. The method according to any one of claim 1 to 13, Wherein the at least one parameter of the magnetic levitation system is indicative of an orientation of the levitation platform relative to the magnetic levitation system.
  15. 15. The method of any one of claims 1 to 14, further comprising: Determining the position of the workpiece on the levitation platform based on the determined position of the element of the mechanical system relative to at least one of the workpieces located on the levitation platform; Determining an orientation and/or position of the workpiece on the levitation platform based on the determined position of the workpiece on the levitation platform; Determining an offset between a target position and/or orientation of the workpiece on the levitation platform and the determined position of the workpiece on the levitation platform; The orientation of the levitation platform is adjusted to compensate for the determined offset of the position of the workpiece on the levitation platform.

Description

Method for positioning a tool in a magnetic levitation system Cross Reference to Related Applications The present application claims the benefit of priority from european patent application number 23195445.4 filed at 2023, 9 and 5, the entire contents of which are incorporated herein by reference for all purposes. Technical Field The present invention relates generally to the field of automated machine manufacturing, and in particular to a method for positioning a tool in a magnetic levitation system. Background Recent advances in automated manufacturing, especially in 3D printing, have demonstrated promising advantages for a wide variety of applications ranging from industrial objects to medical implants. Additive manufacturing (commonly referred to as 3D printing) encompasses a set of techniques that enable the creation of physical components or objects through layer-by-layer addition of materials. Manufacturing lines are becoming increasingly complex and involve multiple independent operating systems, each of which is responsible for different stages of the manufacturing process, including 3D printing, milling, and quality control stations. While these systems are typically mechanically operated, such as gantry systems, they may also include non-mechanical systems that utilize levitation technology. The magnetic levitation system comprises a stator and a mover module, wherein an interaction between a magnetic field generated by the stator and a magnet embedded in the mover enables the mover to levitate over the stator. Each of the movers can be considered as an independent manufacturing platform. Precise control of the strength and orientation of the magnetic field allows stable levitation and frictionless movement of the mover over the stator module. Feedback from magnetic field sensors (such as hall sensors) enables the control system of the magnetic levitation system to adjust the current flowing through the coils in the stator module. By modulating the magnetic field strength and distribution, the control system can counteract external disturbances that may affect the position and orientation of the levitation platform, which ensures stability and control movement of the manufacturing platform throughout the manufacturing process. This becomes critical when multiple independent manufacturing systems are involved in the manufacturing process and interact with objects placed on the floating manufacturing platform, ensuring proper alignment between the individual processing tools and the objects placed on the floating platform system. Modern systems are equipped with a position feedback mechanism that monitors and adjusts the relative position between the process tool and the process object within the respective system in real time. However, problems may occur when a plurality of processing systems are used in combination and interact with an object to be processed located on a levitation platform. Not only may errors and tolerances for each manufacturing stage accumulate, but the relative orientation of the manufactured object with respect to the levitation platform may also vary. Disclosure of Invention The present disclosure provides a method that may be used to determine a position of an element of a first mechanical system relative to an element of a second mechanical system. The method may be used in additive manufacturing or other manufacturing/assembly processes that include at least one mechanical system that is a manufacturing/processing system and a second system that is a transport system, preferably a transport system including a magnetic levitation system. Accordingly, in various embodiments, a method for determining a position of an element of a mechanical system relative to a levitation platform of a magnetic levitation system and/or a workpiece positioned thereon is provided. In a first step the method comprises monitoring at least one parameter of the magnetic levitation system indicative of a position of the levitation platform relative to the magnetic levitation system, in particular relative to a stator of the magnetic levitation system. In a next step, the method includes causing relative movement between the levitation platform and the element of the mechanical system. Here, the elements of the mechanical system may be moved towards the levitation platform or vice versa, or the elements of the mechanical system and the levitation platform may be moved towards each other. In a next step, the method includes stopping the relative movement between the levitation platform and the mechanical system upon detecting a change in at least one parameter. Here, a change in at least one parameter may qualify as a change only when the change in the monitored parameter exceeds a predefined threshold. The predefined threshold may be selected such that false positives (e.g. caused by noise in the signal) are avoided and reliable detection is achieved. Finally, the method comprises determining the