System and method for controlled machining fluid distribution

Abstract

Machining systems, fluid distribution systems, and methods are provided by this disclosure. Certain embodiments relate to fluid distribution using a manifold having one or more nozzles for fluid distribution. Some such manifolds can be moved between an extended configuration and a retracted configuration to position the machining tool of the machining system within the internal opening of the manifold for delivery of machining fluid from the manifold to the machining tool and / or associated machining interface. Some embodiments relate to fluid distribution systems and adaptive control of machining systems for improving machining.

Description

Technical Field

[0001] (Cross - Reference to Related Applications)

[0001] This application claims the benefit of priority of U.S. Provisional Application No. 63 / 519,475, filed on August 14, 2023, under 35 U.S.C. § 119(e), the disclosure of which is hereby incorporated by reference in its entirety.

[0002]

[0002] The disclosed embodiments relate to fluid distribution for machining systems, including for machining systems that utilize supercritical machining fluids. Some embodiments relate to tooling for such machining systems.

Background Art

[0003]

[0003] Machining tools such as milling systems, lathes, computer numerical control (CNC) systems, drills (e.g., robotic drills), and / or machining centers can use machining fluids, such as metalworking fluids, to provide cooling and / or lubrication during a cutting or forming process. The machining fluid can be delivered to the interface between the cutting tool and the workpiece during the cutting or forming process. In some applications, the machining fluid can be delivered externally, for example, by routing the machining fluid through a series of pipes to one or more nozzles that direct the machining fluid towards the machining interface. In other applications, the machining fluid can be routed internally, for example, through a tool holder and / or through a cutting tool (e.g., through one or more channels formed within the cutting tool), to the interface.

[0004]

[0004] Conventional machining fluids may comprise a mixture of a cooling fluid (such as air, water, liquid carbon dioxide, or liquid nitrogen) for cooling the cutting zone and a lubricant (such as oil, minimum quantity lubrication (MQL) fluid, or synthetic fluid) for lubricating the cutting zone during the cutting process. In some cases, a machining fluid comprising only oil, emulsion, or synthetic fluid may be suitable. In some applications, supercritical fluids such as supercritical carbon dioxide (scCO2) have been used as part of the machining fluid. [Overview of the project]

[0005]

[0005] In one embodiment, a fluid distribution system is provided. According to some embodiments, the fluid distribution system comprises a manifold that partially encloses an internal opening of a manifold, the internal opening extending from a first surface of the manifold to a second opposing surface of the manifold, the internal opening configured to receive a machining tool positioned therein, the manifold including a gap through which the machining tool can enter the internal opening of the manifold in a short direction, in a direction at least partially perpendicular to the longitudinal axis of the internal opening; one or more actuators configured to move the manifold between a first retraction configuration and a second extension configuration; one or more nozzles disposed on the manifold; a machining fluid inlet of the manifold that is in fluid communication with one or more nozzles; and a vertical motion stage configured to change the vertical position of the manifold.

[0006]

[0006] In another embodiment, a fluid distribution system is provided. According to some embodiments, the fluid distribution system comprises a manifold that partially encloses an internal opening of a manifold, the internal opening extending from a first surface of the manifold to a second opposing surface of the manifold, and the internal opening configured to receive a machining tool positioned therein; one or more nozzles disposed on the manifold; and a machining fluid inlet of the manifold that is in fluid communication with one or more nozzles, the one or more nozzles comprising a plurality of nozzles including a first group of nozzles directed toward a first focal position and a second group of nozzles directed toward a second focal position different from the first focal position.

[0007]

[0007] In yet another embodiment, a machining method is provided. According to some embodiments, the method involves moving a manifold having one or more nozzles from a first retracted configuration spaced apart from a first machining tool to a second extended configuration, wherein moving the manifold from the first retracted configuration to the second extended configuration includes moving the manifold in the short direction with respect to the longitudinal axis of the first machining tool; inserting the first machining tool into the internal opening of the manifold through a gap formed in the manifold as the manifold is moved from the first retracted configuration to the second extended configuration, such that the first machining tool extends through the internal opening of the manifold when the manifold is in the second extended configuration; and moving the manifold in a direction at least partially parallel to the longitudinal axis of the machining tool when the manifold is in the extended configuration.

[0008]

[0008] In yet another embodiment, a machining method is provided. According to some embodiments, the method is to move a manifold having one or more nozzles toward a second extension configuration from a first contraction configuration separated from a first machining tool, to move the first machining tool into the internal opening of the manifold through a gap formed in the manifold as the manifold is moved toward the second extension configuration, such that the first machining tool extends through the internal opening of the manifold when the manifold is in the second extension configuration, and to direct a supercritical fluid toward a machining interface through one or more nozzles of the manifold, wherein the one or more nozzles comprise a plurality of nozzles including a first group of nozzles directed toward a first focal position and a second group of nozzles directed toward a second focal position different from the first focal position.

[0009]

[0009] In another embodiment, a method is provided. According to some embodiments, the method comprises obtaining the location of a machining interface and altering the trajectory of one or more flows of supercritical machining fluid directed from the manifold toward the location of the machining interface, at least in part, based on the location of the machining interface.

[0010]

[0010] In one embodiment, a method is provided. According to some embodiments, the method comprises directing one or more flows of supercritical machining fluid from a manifold toward a machining interface, obtaining properties of the machining interface, and controlling the flow parameters of one or more flows of supercritical machining fluid at least in part on the properties of the machining interface.

[0011]

[0011] In another embodiment, a method is provided. According to some embodiments, the method comprises directing one or more flows of a supercritical machining fluid from a manifold toward a machining interface, obtaining properties of the machining interface, and controlling machining of the machining interface at least in part on the properties of the machining interface.

[0012]

[0012] It should be understood that the concepts described above, and any additional concepts described later, may be composed of any suitable combination, for this disclosure is not limited in this respect. Furthermore, other advantages and novel features of this disclosure will become apparent from the following detailed description of various non-limiting embodiments when considered in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0013]

[0013] The attached drawings are not intended to be drawn to scale. In the drawings, identical or nearly identical components shown in various figures may be represented by similar numbers. For clarity, not all components are marked in all drawings.

[0014] [Figure 1A-1B]

[0014] A schematic diagram of a manifold according to some embodiments is shown. [Figure 2A-2B]

[0015] Schematic diagrams of a fluid distribution system and a machining system according to some embodiments are shown. [Figure 3]

[0016] Schematic diagrams of a fluid distribution system, a machining system, and a workpiece according to some embodiments are shown. [Figure 4]

[0017] A schematic diagram of a fluid distribution system comprising multiple rotatable link mechanisms, according to one embodiment, is shown. [Figure 5A-5B]

[0018] A schematic diagram of a manifold equipped with multiple nozzle groups, according to one embodiment, is shown. [Figure 6]

[0019] A schematic diagram of a machining method according to some embodiments is shown. [Figure 7A-7C]

[0020] A schematic diagram of a machining method according to some embodiments is shown. [Figure 8]

[0021] A schematic diagram of a fluid distribution system with multiple manifolds is shown. [Modes for carrying out the invention]

[0015]

[0022] Improvements in fluid distribution for machining systems, particularly for machining systems that enable rapid tool changes, are generally provided. In some embodiments, improved fluid distribution systems, methods, and machining systems are described. The improvements described herein relate, in some embodiments, to improvements in machining using supercritical machining fluids such as supercritical carbon dioxide (scCO2) or supercritical nitrogen. The inventors understand that supercritical machining fluids can offer numerous advantages compared to conventional machining fluids such as aqueous machining fluids or oil-based machining fluids (e.g., neat oil, minimum quantity lubrication (MQL) fluids, or synthetic machining fluids). As recognized herein, given that supercritical fluids expand rapidly when exposed to ambient temperature and pressure, distributing the machining fluid in close proximity to the workpiece can be particularly advantageous when the machining fluid is a supercritical machining fluid. The specific improvements described herein facilitate rapid tool changes in machining systems that rely on supercritical machining fluids to cool and / or lubricate the workpiece. According to some embodiments, the disclosure relates to the rapid insertion and / or removal of a fluid distribution system to a machining tool, which may help facilitate rapid tool changes, but other advantages different from those described above may also be considered.

[0016]

[0023] This disclosure, in some embodiments, concerns the use of a manifold for delivering a fluid, such as a supercritical machining fluid, to a machining interface associated with one or more machining tools in a machining system. The manifold may comprise a body that at least partially extends (i.e., partially surrounds) an internal opening configured to receive a machining tool positioned inside. The manifold may include a gap through which a machining tool can enter the internal opening from outside the manifold in a short direction (for example, as the manifold moves during a change in configuration). The manifold may be configured to facilitate movement of the manifold relative to one or more machining tools during operation (for example, by being attached to one or more motion stages or to a lead screw), as will be further detailed below. The use of the disclosed lubrication system and associated manifold is recognized herein to be particularly advantageous for specific applications of supercritical machining fluids in machining systems. For example, the disclosed system and method appear particularly well suited to rapid changes in manifold configurations, which can facilitate rapid tool changes in machining systems, but other advantages, including those not mentioned above, may also be considered.

[0017]

[0024] To facilitate tool changes and / or adjustment of the delivery of supercritical machining fluid to the interface, the fluid distribution system may be configured to change the orientation of the manifold configured to deliver supercritical machining fluid to the relevant machining interface and / or machining tool. Changing the manifold configuration may be useful in the context of tool changes, as positioning the manifold too close to the first machining tool may hinder the removal of the machining tool and / or the installation of the second machining tool. Therefore, the manifold may be configured to move between a first retracted configuration and a second extended configuration (e.g., through the use of one or more actuators in the fluid distribution system). According to some embodiments, in the first retracted configuration, the manifold may be separated from the machining interface and / or machining tool, and the machining tool is therefore located outside an internal opening formed within the manifold. In the second extended configuration, the manifold may at least partially surround the machining tool. For example, the machining tool may be located within the internal opening of the manifold when the manifold is in the extended configuration. The manifold may transition between a first shrinking configuration and a second extending configuration by passing through one or more intermediate configurations, each of which can be classified as either extending or shrinking based on whether the manifold is configured to at least partially surround a machining tool. For example, the manifold may pass through a third shrinking configuration when transitioning between the first shrinking configuration and the second extending configuration.

[0018]

[0025] The manifold may be in a position suitable for directing a supercritical machining fluid towards the machining interface of the tool when the manifold is in a second extended configuration. In some embodiments, the manifold is used to distribute the machining fluid without surrounding the machining tool. According to some embodiments, the manifold is in a position suitable for directing a supercritical machining fluid towards the machining interface of the tool when the manifold is in a contracted configuration. For example, in some embodiments, the fluid distribution system is configured to move the manifold from a first contracted configuration to a second contracted configuration closer to the machining tool than the first contracted configuration. In the second contracted configuration, the manifold may be configured to distribute the supercritical fluid to the machining tool and / or workpiece, while in the first contracted configuration, the manifold is not configured to distribute the supercritical fluid to the machining tool and / or workpiece. According to some embodiments, the manifold may be advantageous for performing a tool change (e.g., by exchanging a first machining tool with a second machining tool) when the manifold is in a first contracted configuration rather than in a second extended configuration or a second contracted configuration closer to the machining tool. This is because the manifold is less likely to interfere with tool changes when it is further away from the machining tool and does not at least partially surround the machining tool.

[0019]

[0026] Any set of movements may be used to transition the manifold between a retracted configuration and an extended configuration, but in some embodiments, one or more motion stages associated with the manifold may be configured to displace the manifold in the short direction with respect to the longitudinal axis of the machining tool of the machining system. This may include, in some embodiments, rotational motion of the manifold, but the disclosure is not limited in that way, so that a combination of short-direction motion, longitudinal motion, and / or rotation of the manifold may be used. In some such embodiments, the manifold may be configured such that, as the manifold moves from a first retracted configuration to a second extended configuration, the machining tool enters the internal opening of the manifold through the gap in the manifold in the short direction. In connection with this, in some embodiments, the manifold may be configured such that, as the manifold moves from a second extended configuration to a first retracted configuration, the machining tool exits the internal opening of the device through the gap in the short direction as the manifold moves.

[0020]

[0027] It should be understood that the production of many parts involves multiple types of machining processes using different types of machining tools. Therefore, in some embodiments, tool changes may be performed when the manifold is in a retractable configuration. For example, in some embodiments, while the system's manifold is in a retractable configuration, the first machining tool and its first tool holder are removed from the machining system, and then the second machining tool, now in a second tool holder, is installed in the machining system. As another example, in some embodiments, while the system's manifold is in a retractable configuration, the first machining tool is removed from the tool holder of the machining system, and then the second machining tool is installed in the tool holder of the machining system. As yet another example, the machining system may include multiple machining tools (e.g., installed in multiple tool holders), and a tool change operation may be performed by withdrawing the first machining tool from the workpiece and then inserting the second machining tool toward the workpiece. The disclosure is not limited in this way, and tool changes may be performed automatically (for example, in response to a pre-programmed set of processor-executable instructions configured to activate a tool change), manually (for example, by a process of manually moving the first and second machining tools), or by any various appropriate combination of steps performed automatically and manually.

[0021]

[0028] The manifold can be configured to move rapidly between a first contracted configuration and a second extended configuration, for example to facilitate rapid tool changes. In some embodiments, the manifold is configured to move between the first contracted configuration and the second extended configuration in a period of 30 seconds or less, 20 seconds or less, 10 seconds or less, 5 seconds or less, 2 seconds or less, 1 second or less, 500 milliseconds or less, or less. In some embodiments, the manifold is configured to move between the first contracted configuration and the second extended configuration in a period of 100 milliseconds or more, 200 milliseconds or more, 500 milliseconds or more, 1 second or more, 2 seconds or more, 5 seconds or more, 10 seconds or more, 20 seconds or more, or longer. These ranges can be combined. For example, in some embodiments, the manifold is configured to move between the first contracted configuration and the second extended configuration in a period of 100 milliseconds or more and 30 seconds or less. Since the present disclosure is not so limited, other ranges are possible, whether higher or lower than those described above.

[0022]

[0029] Of course, it should be understood that changing the manifold from the first contracted configuration to the second extended configuration, and changing the manifold from the second extended configuration to the first contracted configuration, can each be achieved independently within one of the periods described in the previous paragraph.

[0023]

[0030] The manifolds described in the various embodiments disclosed herein may comprise any of a variety of suitable materials compatible with the supercritical machining fluids disclosed herein. For example, in some embodiments, the manifold comprises a metal (such as steel or aluminum). Also, the supercritical fluid distribution channels can be formed in the disclosed manifolds in any suitable manner. This can include, for example, using drilling, casting, electrical discharge machining, sealed channels formed in assembled portions of the manifold, and / or any other suitable forming method.

[0024]

[0031] A manifold may be configured to distribute a machining fluid (for example, to a workpiece and / or a machining tool) using any of a variety of suitable methods. For example, one or more nozzles may be disposed on or formed within the manifold. As used herein, the term “nozzle” may refer to a component having an orifice, or to an integrally formed part of the manifold having an orifice. For example, in some embodiments, the manifold includes an orifice configured to direct the machining fluid in a direction perpendicular to the flat surface of the manifold. As another example, in some embodiments, the nozzle is an insert having an orifice (for example, a glass insert or a ceramic insert) which is inserted into a hole in the manifold and is configured so that the machining fluid from the manifold is directed out of the nozzle through the orifice. In any case, it should be understood that, as used herein, a nozzle may refer to any structure that can direct the flow of supercritical machining fluid in a desired direction.

[0025]

[0032] In some embodiments, the nozzle is configured to direct the spray of the machining fluid from the manifold toward the machining interface between the machining tool and the part being machined. According to some embodiments, the size of the orifice associated with the nozzle formed in the manifold may be selected to provide a desired combination of pressure and flow characteristics of the supercritical machining fluid. In particular, the inventors recognize that a certain range of orifice diameters may provide desirable pressure and flow characteristics for different applications so as to match the characteristics of other components of the machining system, including the pumping architecture associated with the supercritical machining fluid. For example, the diameter of one or more orifices or other maximum cross-sectional dimensions may be about 50 μm or more, 100 μm or more, 150 μm or more, 200 μm or more, and / or any other suitable dimension. Correspondingly, the diameter of one or more orifices or other maximum cross-sectional dimensions may be 500 μm or less, 400 μm or less, 300 μm or less, 200 μm or less, and / or any other suitable dimension. A combination of the aforementioned is intended, including one or more orifice with a maximum transverse dimension of approximately 50 microns to approximately 500 microns (e.g., approximately 150 microns). The inventors further understand that such orifice transverse dimensions offer numerous advantages when used in conjunction with supercritical machining fluids as described herein, but may not be suitable for use with conventional machining fluids such as aqueous emulsions. For example, many conventional aqueous machining fluids are unlikely to flow through such small orifices due to surface tension effects, and lubricants suspended in some conventional machining fluids (e.g., liquid CO2) would likely clog one or more orifices. In contrast, supercritical machining fluids can flow out of such small orifices easily. Also, oil or other suitable lubricants are soluble in supercritical machining fluids such as scCO2, or can be easily dispersed in the supercritical machining fluid, and therefore oil does not clog the orifices.Naturally, since this disclosure is not limited to the use of any particular machining fluid, it should be understood that the nozzles described herein may be selected considering their compatibility with supercritical machining fluids or conventional machining fluids.

[0026]

[0033] In some embodiments, the diameter or other cross-sectional dimensions of one or more orifices may be selected based on the number of nozzles that may be used with the tool in a particular application. For example, in applications where a large number of nozzles are desirable to provide delivery of machining fluid to multiple locations along the tool and / or machining interface, smaller diameter orifices may be beneficial. In other applications, fewer nozzles (e.g., just one) may be used, and correspondingly, one or more nozzle orifices may be larger (e.g., about 500 microns). In some embodiments, three or more nozzles may be included in the manifold to deliver supercritical fluid to the machining interface from three separate locations on the manifold that are circumferentially distributed around the machining tool during use.

[0027]

[0034] The nozzles described herein may be formed integrally with the manifold (for example, the nozzle may be part of the rigid body of the manifold), joined to the manifold (for example, by welding), mechanically connected to the manifold (for example, by mechanical interlocking parts, threading, etc.), and / or connected using any other suitable type of connection. The nozzles may be made from any of a variety of suitable materials. For example, a nozzle formed integrally with the manifold may be made from any of the aforementioned materials suitable for use in the manifold. A nozzle formed separately and connected to the manifold may be made from any suitable material suitable for withstanding the pressure and temperature applied during lubrication of the machining interface, including materials suitable for use in the manifold itself. In some embodiments, for example, the nozzle may comprise glass (e.g., quartz glass, sapphire glass), metal, a combination of the foregoing, and / or any other suitable material. In certain embodiments, the nozzle orifice may be formed by any suitable method. For example, in some examples, the orifice may be formed by mechanical drilling, laser drilling, electrical discharge machining (EDM), and / or any other suitable method.

[0028]

[0035] Selective use of some or all of one or more nozzles of a manifold may be associated with certain advantages. Therefore, in some embodiments, a fluid distribution system includes a plurality of valves configured to control the fluid flow through at least some of one or more nozzles. This may include separate valves associated with separate channels and / or nozzles formed within the manifold. In some embodiments, the number of valves is equal to the number of nozzles in the manifold, and the flow through each nozzle may be controlled using separate associated valves. However, in some embodiments, the number of valves is less than the number of nozzles. For example, one valve may individually control the fluid flow through a plurality of nozzles fluidically coupled to that valve. In some embodiments, the plurality of valves are used to selectively control the fluid flow through one or more nozzles in a first group and one or more nozzles in a second group. Such a configuration may offer certain advantages for the distribution of machining fluid. For example, the first plurality of nozzles may be configured to distribute the machining fluid to a first focal position, and the second plurality of nozzles may be configured to distribute the machining fluid to a second focal position different from the first focal position. The use of multiple nozzle groups may be advantageous in facilitating simultaneous lubrication of the tool and the machining interface. Furthermore, since different focal positions may be appropriate for different machining tools, this may be advantageous for use in machining systems with multiple machining tools. Therefore, in some embodiments, the machining method comprises distributing fluid to a first focal position associated with a first machining tool through one or more nozzles of a first group; performing a tool change to replace the first machining tool with a second machining tool; and distributing fluid to a second focal position associated with a second machining tool through one or more nozzles of a second group.

[0029]

[0036] The manifold may further comprise one or more fluid inlets that allow machining fluid to enter the manifold. The inlets may be fluidically connected to at least one of one or more nozzles of the manifold. The disclosure is not limited in this way; for example, the inlets may be fluidically connected to all of one or more nozzles of the manifold, or separate inlets and associated separate channels may be fluidically connected to separate groups of nozzles. The inlets may have any of a variety of suitable shapes, sizes, and / or configurations. In some embodiments, the inlets are connected to a machining fluid supply (e.g., a supercritical machining fluid supply) via any suitable type of connection. The inlets may be selected with consideration to their compatibility with a chosen type of machining fluid. For example, the inlets may be selected with consideration to their compatibility with supercritical machining fluids.

[0030]

[0037] The manifolds and associated fluid distribution and machining systems described herein may be particularly well adapted for use with supercritical machining fluids. As used herein, a supercritical fluid refers to a fluid maintained above its critical point (i.e., at a temperature above its critical temperature and a pressure above its critical pressure). For example, the critical temperature and critical pressure of carbon dioxide are 31.1°C and 72.8 atm, respectively. Above the critical point, there are no distinct liquid and gas phases; instead, the supercritical fluid exhibits properties of both a liquid and a gas. For example, a supercritical fluid may exhibit gaseous flow and expansion behavior, while also being able to dissolve substances like a liquid. In some embodiments, the fluid distribution system includes a supercritical machining fluid supply configured to generate, store, and / or maintain the machining fluid in a supercritical state. The supercritical machining fluid supply may be fluidically connected to the manifold as described herein, and thus configured to supply the manifold with supercritical machining fluid. Suitable types of supercritical fluids that may be used with the methods and systems disclosed herein may include, but are not limited to, supercritical carbon dioxide, nitrogen, water, ethane, propane, ethanol, helium, combinations thereof, and / or any other suitable types of supercritical fluids that may be used with machining processes such as those disclosed herein.

[0031]

[0038] According to some embodiments, the disclosure relates to a fluid distribution system configured to deliver an expanded supercritical fluid to a machining system. Expansion of a supercritical fluid can occur when the supercritical fluid is exposed to temperature and / or pressure conditions in which the fluid's thermodynamic equilibrium state is not supercritical. For example, a supercritical fluid can become an expanded supercritical fluid when directed from a manifold nozzle toward a cutting interface. In some embodiments, the expanded supercritical fluid may comprise multiple phases. For example, the expanded supercritical fluid may comprise a gas phase and / or a condensed phase. In some embodiments, the expanded supercritical fluid may comprise a solid phase. For example, expanded supercritical CO2 may comprise dry ice condensates and / or ice condensates. In some embodiments, the expanded supercritical fluid may comprise a liquid phase. For example, the expanded supercritical fluid may comprise a lubricant present in the liquid phase. The expanded supercritical fluid may comprise a supercritical fluid, but does not necessarily have to. For example, a flow of expanding supercritical fluid from a manifold nozzle may contain supercritical fluid near the nozzle (e.g., as a kinetically unstable phase where there was insufficient time to transition to a more kinetically stable gas or condensed phase), but may not contain it further away from the nozzle (e.g., the expanding supercritical fluid is exposed to ambient conditions for a sufficient amount of time to be completely consumed). Thus, depending on the location and flow rate of the supercritical fluid from the manifold, the manifold may deliver the expanding supercritical fluid to a workpiece, and the expanding supercritical fluid may, but may not, contain supercritical fluid as a kinetic phase upon arrival at the workpiece. In general, the supercritical fluid can be expanded within the fluid distribution system (e.g., within the manifold) or after leaving the fluid distribution system (e.g., in the flow directed from the manifold nozzle). Each option may have relevant advantages depending on the embodiment.

[0032]

[0039] While we do not wish to be bound by theory, supercritical machining fluids are not compatible with all materials and / or techniques used in typical machining systems and tools due to effects such as carbonation of materials, embrittlement, explosive depressurization, material dissolution, and other effects. Therefore, various seals, O-rings, and fittings and interfaces of tools, tool holders, components attached to tool holders (e.g., coolant pipes, collets, etc.), spindles, and / or any other suitable components of the machining system that are exposed to supercritical machining fluids may include materials selected to be compatible with supercritical machining fluids so that these components and systems operate with supercritical machining fluids, compared to typical systems that may not be compatible with supercritical machining fluids. For example, materials may be selected based on the operating temperature and pressure ranges associated with supercritical fluids, and to provide compatibility with supercritical fluids. For example, the operating pressure may be about 100–140 bar, and in some cases up to about 200 bar, 300 bar, 400 bar, or greater, and the operating temperature may be about 20°C–100°C. Since the disclosure is not so limited, it should be understood that operating pressures and temperatures both above and below the aforementioned ranges are also possible. Suitable materials for seals and O-rings that can operate in these pressure and temperature ranges and also provide compatibility with supercritical fluids such as scCO2 in some embodiments include, but are not limited to, perfluoroelastomers (e.g., Kallez 0090), hard durometer fluoroelastomers (e.g., hard durometer Viton and Viton encapsulated in fluorinated ethylene propylene), hydrogenated acrylonitrile butadiene rubber, and polytetrafluoroethylene (PTFE). In some applications, it may be beneficial to select a high-durometer seal or O-ring formed from a suitable material.Furthermore, fittings suitable for connecting the various parts of the systems described herein include, but are not limited to, hydraulic fittings such as US pipe threads (NPT), British Standard pipes (BSP and / or BSPP), Japan Industrial Council (JIC), and / or other compression fittings rated at 200 bar or higher.

[0033]

[0040] For clarity, most embodiments described herein relate to rotary machining systems, which include a rotating tool holder and a tool held within the tool holder, with the corresponding supercritical machining fluid flow routed through one or both of these components. However, the disclosure is not so limited, and it should be understood that the various embodiments described herein can be used with any suitable combination of rotating and / or fixed tools and / or tool holders. This may include, but is not limited to, applications using one or more of the aforementioned systems and / or any other suitable type of machining system in which lubrication can be applied to the machining interface between the workpiece and the machining tool, such as milling, drilling, turning, computer numerical control (CNC) machines, grinders, boring machines, broaching machines, honing machines, polishing machines, or planing machines.

[0034]

[0041] In machining applications, rapidly expanding supercritical machining fluids can provide better cooling and / or more efficient heat transfer, better mixing with or dissolution of lubricants, and / or allow the use of smaller amounts of lubricant compared to conventional aqueous machining fluids. However, the distribution of supercritical machining fluids can present significant challenges during machining, and the fluid distribution systems, manifolds, and methods provided herein may be particularly advantageous in overcoming these challenges. For example, supercritical machining fluids may be particularly effective when expanded in close proximity to the machining tool or machining interface. While we do not wish to be bound by any particular theory, when the supercritical machining fluid distribution nozzle is located close to the machining tool or machining interface, waste of the supercritical machining fluid can be reduced, the effectiveness of the supercritical machining fluid can be increased, and / or the essential flow rate or pressure associated with the use of the supercritical machining fluid can be advantageously reduced.

[0035]

[0042] In view of the foregoing, the manifolds disclosed herein may be useful for discharging one or more flows of supercritical machining fluid from the manifold toward a machining interface within a predetermined distance from the machining interface. Accordingly, the manifolds, fluid distribution systems, and methods provided herein may be advantageous for facilitating rapid tool changes in a machining system and for distributing supercritical machining fluid from a nozzle close to the machining tool or machining interface using the manifold during machining.

[0036]

[0043] It may be advantageous to control the position of the manifold relative to the machining interface and machining tool during use, and the focal position of one or more flows of the supercritical machining fluid. For example, in some embodiments, a tool change operation results in the exchange of a first machining tool for a second machining tool, and the second machining tool may have a different shape, orientation, and / or location of the machining interface than the first machining tool had before the tool change. In some embodiments, the location of the machining interface is obtained using a suitable method, as further detailed below. The trajectories of one or more flows of the machining fluid from the manifold (e.g., the trajectories of the supercritical machining fluid) may then be changed, and such changes may be based at least in part on the determined location of the machining interface. In general, one or more flows of the machining fluid may have linear or nonlinear trajectories, depending on the embodiment. Exemplary methods for obtaining the location of the machining interface and altering the trajectory of the machining fluid are described in more detail below with reference to the figures, but may include moving the manifold relative to the machining interface and / or changing the orientation of one or more flows of supercritical machining fluid discharged from the manifold.

[0037]

[0044] In some embodiments, the flow of the machining fluid can be controlled at least in part on the properties of the machining interface. For example, the properties of the machining interface may be the location of the machining interface (e.g., the absolute position of the machining interface or the location of the machining interface relative to the manifold), the temperature of the machining interface (e.g., the average temperature of the machining interface, the highest local temperature of the machining interface, or the local temperature at a reference position), the spatial temperature distribution of the machining interface, or the properties of the machining fluid reaching the interface (e.g., the machining fluid density, the average state of matter of the machining fluid, the temperature of the machining fluid, or the pressure of the machining fluid).

[0038]

[0045] Machining interface properties can be used to control one or more flow parameters of the supercritical machining fluid discharged from the manifold. Machining interface properties may be used to trigger a predefined control response, or more generally, to notify a control system of changes in flow parameters. Controlling flow parameters can offer several advantages to machining. For example, flow parameters may be modified to reduce the temperature of the workpiece, thereby allowing machining to be performed at high speeds without overheating and / or damaging the workpiece. As another example, in the context of supercritical machining fluid distribution, flow parameters may be adjusted to ensure that a higher proportion of the expanding supercritical machining fluid reaches the machining interface in its supercritical state without first evaporating, thereby facilitating the efficient and / or effective use of the machining fluid. As yet another example, flow parameters may be modified to change the proportion, size, or trajectory of material removed from the machining interface (e.g., in the form of chips). Some non-limiting examples of controllable flow parameters include the flow trajectory (as described above), as well as the flow rate. Machining interface properties can be used to control machining. Similar to flow properties, controlling machining can be advantageous for managing the temperature of the workpiece. For example, in some embodiments, machining interface properties can be used to change the rotational speed of the machining tool, to change the feed rate of the machining tool relative to the workpiece, to change the cutting depth of the machining tool, or to perform a tool change.

[0039]

[0046] Controlling one or more flow parameters of a machining and / or machining fluid based on machining interface properties can have several advantages. For example, in some embodiments, machining control or machining fluid flow control can be used to implement a closed-loop machining method. In some embodiments, a closed-loop machining method can be used to quickly adjust machining based on cutting interface properties (for example, by speeding up machining by eliminating the need for specific software controls otherwise required by the machining process, by reducing the frequency or need for tool changes, by reducing vibration (e.g., chatter), and / or by increasing the automatic control of the machining process and reducing the difficulty of manually controlling the machining process).

[0040]

[0047] The fluid distribution systems described herein may comprise one or more machining fluid supplies. For example, the fluid distribution system may comprise two or more machining fluid supplies. The machining fluid supplies may be supercritical machining fluid supplies, as briefly described above. However, embodiments are also conceived in which the machining fluid supplies provide non-supercritical machining fluid supplies and / or mixtures of supercritical and non-supercritical fluids. In some embodiments, the machining fluid supplies may be configured to store reserves of machining fluid for distribution to one or more manifolds associated with one or more separate machines, as described above.

[0041]

[0048] In some embodiments, the fluid distribution system may be configured to mix fluids from multiple machining fluid supplies of the fluid distribution system to produce a single mixed machining fluid for distribution through a manifold. For example, the fluid distribution system may be configured to mix a supercritical machining fluid from a first supercritical machining fluid supply with a lubricant (i.e., a non-supercritical machining fluid) from a second machining fluid supply to form a mixture that can be distributed through a manifold. Such a system can advantageously leverage the properties of both the supplied supercritical machining fluid and the supplied lubricant. Additionally or alternatively, the fluid distribution system may be configured to distribute machining fluids from different machining fluid supplies at different times, for example, so that different machining fluids can be used with different machining tools. Such a system can advantageously enable optimization of the use of machining fluids in terms of cost or efficiency based on the specific requirements of the different machining tools that can be used in the machining system.

[0042]

[0049] The fluid distribution system may include a fluid coupling configured to deliver machining fluid from a machining fluid supply unit to a manifold. Any of a variety of suitable fluid couplings may be used. For example, the fluid coupling may include a hose, channel, pipe, or any of various other suitable couplings. In some embodiments, the fluid coupling is configured to be used with supercritical machining fluid. In some embodiments, the fluid coupling is a flexible fluid coupling (e.g., a hose, tube, or other suitable flexible coupling). The use of a flexible fluid coupling may be advantageous for certain fluid distribution systems that include a manifold. For example, in some embodiments, the flexible fluid coupling can bend (e.g., bend or twist) to accommodate changes in the manifold configuration (e.g., between a first contracted configuration of the manifold and a second extended configuration of the manifold).

[0043]

[0050] As described above, one or more motion stages, including one or more actuators, may be used to change the configuration of the manifold or to control the position of the manifold relative to a workpiece and / or machining tool. In some embodiments, the fluid distribution system includes one or more rotatable linkage mechanisms connected to the manifold and associated actuators. One or more rotatable linkage mechanisms are mechanically coupled to the manifold, so that rotation of one or more rotatable linkage mechanisms by the operation of the actuators can cause a change in the configuration of the manifold. For example, one or more rotatable linkage mechanisms can rotate and / or translate the manifold between a first retracted configuration and a second extended configuration. In some embodiments, the fluid distribution system includes multiple motion stages, which may provide at least two degrees of freedom to control the movement of the manifold, including positioning of the manifold in the short and long directions relative to the associated machining tool, as will be further detailed below. Naturally, any suitable type of motion stage should be understood, including linear actuators, rotatable actuators, linear transmissions, rotatable linkage mechanisms, combinations thereof, and / or any other type of motion stage operably coupled to the manifold. The rotatable linkage mechanism will be described in more detail below with reference to the diagram.

[0044]

[0051] A rotatable linkage mechanism can change the horizontal and / or vertical position of a manifold when actuated by one or more actuators. One or more actuators in a fluid distribution system may be configured to rotate one or more rotatable linkage mechanisms. In some embodiments, one or more actuators are operably coupled to a single rotatable linkage mechanism. According to some embodiments, one or more actuators are configured to actuate multiple rotatable linkage mechanisms, including several rotatable linkage mechanisms arranged in an overall linkage configuration, and by controlling two or more actuators, both the horizontal and vertical positions of the manifold can be controlled. However, in some embodiments, multiple rotatable linkage mechanisms are configured to be actuated by a single mechanical actuator in the fluid system, and the rotatable linkage mechanisms are mechanically coupled to one another in an appropriate arrangement to provide the desired motion. However, embodiments in which the manifold is moved by linear translation using linear actuators and / or linear transmissions are also contemplated.

[0045]

[0052] In addition to providing transverse movement of the manifold relative to the desired longitudinal axis of the machine tool, in some embodiments the fluid distribution system may include a separate vertical motion stage. The motion stage may be configured to move the manifold parallel to the axis of a machining tool positioned for use in the system. For example, the vertical motion stage may be mechanically coupled to the manifold such that the operation of a motion actuation stage causes a mechanical actuator to linearly translate vertically (which may be substantially parallel to the axis of the machining tool). According to some embodiments, the fluid distribution system further includes a vertical actuation stage configured to adjust the vertical position of the manifold, along with a rotatable linkage mechanism configured to change the configuration of the actuator between a first retraction configuration and a second extension configuration. Naturally, various configurations may be used to properly position the manifold along the longitudinal length of the machining tool, using a rotatable linkage mechanism, actuators, linear actuators, lead screws, linear transmissions, and / or any other suitable type of motion stage that can move the manifold in a direction parallel to the longitudinal axis of the machining tool when positioned in the system.

[0046]

[0053] The manifolds or fluid distribution systems described herein may be suitable for use with any of various types of machining tools. For example, in some embodiments, the machining tool is a cutting tool. Some non-limiting examples of machining tools that may be used are milling systems, turning machines, drills (e.g., handheld drills or robotic drills), computer numerical control (CNC) systems implementing the above, and / or any other suitable type of machining system for which it would be desirable to provide machining fluid to the machining interface with the part. In some embodiments, the disclosure covers machining systems comprising multiple machining tools, where the machining tools can be switched between different operations.

[0047]

[0054] A tool for a machining system may include a tool body extending from the proximal end portion of the tool to the distal end of the tool, configured to be housed in a tool holder. A tool holder for a machining system includes a tool holder body having a tool housing area at a first end and a mounting interface at a second end opposite to the first end. The tool housing area is constructed and positioned to house a tool and secure the tool to the tool holder body. The mounting interface is constructed and positioned to secure the tool holder to the machining system. The tool holder may be configured to rotate during the machining process (for example, so that a tool fixed within the tool holder rotates during machining). In some embodiments, the machining system includes a spindle constructed and positioned to house a tool holder.

[0048]

[0055] A machining system may include only one tool holder, or, as the disclosure is not limited thereto, it may include two or more tool holders. In some embodiments, a tool change in a machining system with multiple tool holders may involve removing a first tool holder from its machining position (e.g., holding the first machining tool) and moving a second tool holder to its machining position (e.g., holding the second machining tool), so that it may occur when switching between different tools of a CNC machine between different parts of the machining process of a part. However, in some embodiments, it is not necessary to remove the first tool holder and insert the second tool holder during a tool change, and the tool change may be achieved by removing the first machining tool from the first tool holder and inserting the second machining tool into the first tool holder. In some embodiments, the use of multiple tool holders in a machining system may increase the total number of machining tools that can be used in the machining system (e.g., by providing compatibility with tools of different sizes or shapes).

[0049]

[0056] Specific non-limiting embodiments will be described in further detail with reference to the drawings. Since this disclosure is not limited to the specific embodiments described herein, it should be understood that the various systems, components, features, and methods described in relation to these embodiments may be used individually and / or in any desired combination.

[0050]

[0057] Figures 1A and 1B show schematic perspective views of a manifold 105 according to some embodiments. The manifold includes a body that partially extends around an internal opening 111. As shown in Figure 1A, the manifold body defines part of the boundary of the internal opening (e.g., the curved portion of the internal opening 111), while the other parts of the boundary (e.g., the flat top, bottom, and sides of the internal opening 111) are open. The internal opening may extend from a first surface of the manifold to a second surface of the manifold. For example, the internal opening 111 in Figure 1A extends from the first surface 107 of the manifold 105 to the second surface 109 of the manifold 105, which is opposite the first surface, such that a line segment 115 between the first surface 107 and the second surface 109 passes through the internal opening 111. The internal opening may also extend from a first top surface to a second bottom surface opposite the first top surface, such that the manifold body partially extends around the internal opening. While a curved manifold body and a curved internal opening are shown, it should be understood that other manifold body shapes may be used, as will be further detailed below.

[0051]

[0058] As described above, the manifold may be configured to cool the machining tool by directing one or more flows of supercritical machining fluid toward the machining interface. Thus, in some embodiments, the internal opening 111 of the manifold may be configured to receive the machining tool (for example, it may be appropriately sized and molded to allow at least a portion of the machining tool to pass through the internal opening). Furthermore, the manifold 105 may include a gap formed in part of the manifold body (for example, a gap defined by the flat rectangular side of the internal opening 111), through which the machining tool can pass in the short direction and enter the internal opening 111 of the manifold from outside the manifold. In some embodiments, the gap may extend from a first top surface of the manifold body to a second bottom surface of the manifold body.

[0052]

[0059] The manifold may have a longitudinal axis perpendicular to the two orthogonal transverse dimensions of the manifold. In some embodiments, the manifold is configured to at least partially enclose a machining tool in a plane defined by the short-axis dimensions. The manifold may be configured such that the machining tool extends in a direction substantially parallel to the longitudinal axis of the manifold when the manifold is in an extension configuration and the machining tool is positioned within an internal opening of the manifold (for example, the machining tool extends in a direction within 20°, 10°, 5°, 2°, or 1° of the direction of the longitudinal axis of the manifold).

[0053]

[0060] The nozzles of a manifold can be at least partially oriented downstream parallel to the longitudinal axis of the manifold when the manifold is in an extension configuration. For example, Figure 1B provides a schematic perspective view of a manifold 105, showing the longitudinal axis 121 and the downstream direction 123 of the manifold 105. As shown, the nozzle 131 of the manifold 105 is configured to discharge a machining fluid 151 (e.g., this may be a supercritical machining fluid or an expanding supercritical machining fluid) in a direction at least partially oriented downstream 123 toward the machining interface 141 (for visual clarity, the cutting tool that would define the machining interface 141 is not shown). As shown, the downstream direction 123 is not necessarily parallel to the direction of the machining fluid 151 discharged from the nozzle 131, and the machining fluid may be discharged in a direction that is at least partially longitudinal relative to the manifold (e.g., radially inward from the corresponding position on the manifold body toward the machining tool and / or machining interface). However, other suitable orientations of machining fluid flow in different directions and / or configurations are also considered.

[0054]

[0061] In some embodiments, the manifold is configured to allow a machining tool to enter its interior portion in the short-range direction (for example, perpendicular to the tool's axis of rotation). For example, the gap may be sized and shaped so that a machining tool can enter the interior portion of the manifold 105 in the short-range direction when the manifold is moved between an extended configuration and a retracted configuration. Such a manifold configuration may be advantageous for quickly changing the configuration of the manifold between an extended configuration and a retracted configuration (for example, removing a machining tool from its interior portion does not require the manifold to traverse the entire length of the machining tool when the machining tool passes through the gap in the short-range direction).

[0055]

[0062] One or more nozzles may be arranged on the manifold. For example, manifold 105 includes a nozzle 131 as shown in Figure 1B. The nozzles may be arranged at any of various suitable locations on the surface of the manifold (e.g., on the bottom surface oriented toward the machining interface, and / or on the side surface of the manifold located between the top surface and the bottom surface of the manifold opposite the top surface). Any of various suitable numbers of nozzles may be used. In some embodiments, one or more, two or more, three or more, four or more, five or more, eight or more, ten or more, fifteen or more, or more nozzles may be arranged on the manifold. In some embodiments, 20 or fewer, 15 or fewer, 10 or fewer, eight or fewer, five or fewer, four or fewer, three or fewer, or two or fewer nozzles may be arranged on the manifold. These ranges can be combined. For example, in some embodiments, one to 20 nozzles may be arranged on the manifold. The disclosure is not so limited, and other ranges, whether higher or lower than those described above, are also possible.

[0056]

[0063] One or more nozzles may be configured to direct the flow of machining fluid (e.g., supercritical machining fluid) toward the machining interface of the workpiece and / or toward the machining tool. For example, one or more nozzles may be configured to direct the machining fluid toward the cutting tool and / or toward the machining interface formed by the interaction between the machining tool and the workpiece when the manifold surrounds the machining tool at least partially. Some or all of the nozzles may be configured to discharge the supercritical machining fluid downstream of the manifold, as described above. The nozzles may also be distributed along the periphery of the internal opening so that separate flows of machining fluid can be directed toward the machining interface and / or the machining tool from different orientations, providing improved coverage and lubrication of the machining interface and / or tool. Such a configuration can advantageously ensure that the machining fluid is properly directed toward the workpiece when the machining system and fluid distribution system are in use. However, the disclosure is not so limited, and embodiments are also conceivable in which one or more nozzles direct a machining fluid in a non-downstream direction (e.g., purely in the short direction toward the machining tool) to lubricate a machining tool.

[0057]

[0064] The manifold may partially extend around the internal opening within the short-side plane of the manifold. In some embodiments, the manifold extends 10%, 25%, 50%, 75%, or more of the distance along the perimeter of the internal opening. In some embodiments, the manifold extends 95%, 90%, 75%, 50%, 25%, or less of the distance around the internal opening. These ranges can be combined. For example, in some embodiments, the manifold body may extend 10% to 95% of the distance along the perimeter of the internal opening, with the remainder of the perimeter corresponding to a gap formed in the manifold body. In some embodiments, this percentage may be 50% to 95%. The disclosure is not so limited, and other ranges, whether higher or lower than those described above, are also possible. As described above, in some embodiments, the manifold may also be used in a contracted configuration that extends 0% of the distance along the perimeter of the internal opening. Naturally, when positioned in an extended configuration (i.e., when the manifold is positioned adjacent to a tool or tool holder), embodiments in which the manifold does not partially extend around the tool are also intended.

[0058]

[0065] The manifold may have any of a variety of suitable geometries. In some embodiments, the manifold has a curved shape that extends along the periphery of an internal opening of the manifold. For example, the manifold may have a curved shape that extends in the short direction along the periphery of the opening. In some embodiments, the manifold is curved to have an arc shape, or to have a horseshoe shape or a C shape. For example, the manifold 105 in Figures 1A and 1B has a curved C shape that extends in the short direction along the periphery of an internal opening 111. In some embodiments, the manifold is not curved. For example, the manifold may have a polygonal shape and a polygonal internal opening. In some embodiments, the manifold may have a partially curved and partially straight shape. For example, the manifold may have a U shape, in which case the manifold is straight at each end and curved in the middle. The disclosure is not limited in this way, and it should be understood that the manifold body and internal openings may have any suitable shape, including but not limited to curved, C-shaped, U-shaped, polygonal, oval, circular, semicircular, combinations of the foregoing, and / or any suitable shape.

[0059]

[0066] Figures 2A and 2B show schematic side views of parts of a non-limiting fluid distribution system 201 and a non-limiting machining system 225, where the fluid distribution is configured to distribute fluid to the machining system. Figure 2A shows the fluid distribution system 201 in a retracted configuration, where the manifold 205 is separated from the machining tool 271 and does not surround it. In addition to the manifold 205, the fluid distribution system 201 includes a rotatable linkage mechanism 217 or other suitable motion stage, which can move the manifold between a retracted configuration and an extended configuration using any suitable motion, including rotation as indicated by the curved arrow 218. Figure 2B shows the same parts of the fluid distribution system 201 and the machining system 225, where the manifold 205 is in an extended configuration, and the machining tool is positioned at least partially within and passing through an internal opening (not shown) of the machining tool 271. This may include allowing a machining tool to pass through a gap formed in the manifold body when the manifold is moved at least partially in the transverse direction relative to the longitudinal axis or other moving axis of the machining system.

[0060]

[0067] Naturally, it should be understood that modifying the manifold configuration can be achieved by using any suitable motion stage or combination of motion stages to provide the desired movement. For example, a fluid distribution system may have multiple rotatable linkage mechanisms. Multiple rotatable linkage mechanisms may include rotatable linkage mechanisms that rotate independently and / or rotatable linkage mechanisms that are mechanically connected to rotate together. Examples of such rotatable linkage mechanisms are shown in more detail below with reference to Figure 4.

[0061]

[0068] As shown in Figure 2A, the rotatable linkage mechanism 217 connects the manifold 205 to the actuator 203. The actuator may be configured to change the vertical and / or horizontal position of the manifold. For example, the actuator 203 may be configured to move the manifold 205 in an arc, thereby simultaneously changing the vertical and horizontal position of the manifold 205 with respect to the longitudinal axis of the machining tool. Any of a variety of suitable actuators may be used. For example, the actuator 203 may be a motor configured to rotate the rotatable linkage mechanism. Any of a variety of suitable motors may be used as the actuator. For example, the motor may be a shunt motor, a reluctance motor, a stepping motor, an AC motor, a universal motor, a servo motor, a DC motor (e.g., a permanent magnet DC motor (PMDC)), or a compound-wound motor. The disclosure is not so limited, and the actuator may be mechanically connected to the rotatable linkage mechanism by any of a variety of suitable transmissions.

[0062]

[0069] As shown in Figures 2A and 2B, the fluid distribution system may further include a vertical motion stage 214 configured to move the manifold in a vertical direction 220 parallel to the longitudinal axis of the machining tool when the manifold is in an extension configuration. The use of a motion actuation stage may be advantageous for any of the following reasons. For example, in some embodiments, the illustrated motion stage advantageously allows adjustment of the manifold position along the length of the machining tool and / or the vertical position of the manifold relative to the machining interface when the manifold is in an extension configuration. Such adjustment of the vertical position of the manifold can improve control over the focal position of separate flows of machining fluid configured to be discharged from the manifold during operation toward the machining interface to be lubricated and / or cooled during operation.

[0063]

[0070] The disclosure is not so limited, and the vertical motion stage may be configured to generate vertical motion by any of a variety of suitable methods. For example, in Figures 2A and 2B, actuator 203 is mounted on a linear motion stage 214 which is actuated by actuator 204. However, the disclosure is not so limited, and other configurations are possible. For example, any other suitable type of motion stage disclosed herein that can provide vertical motion of a manifold may be used, such as a linear actuator, a series of linkages having separate actuators on separate couplings, a complex arrangement of linkages having multiple actuators, and / or a manifold. The disclosure is not so limited.

[0064]

[0071] In some embodiments, the fluid distribution system may include a controller comprising one or more processors and associated non-temporary computer-readable memory, which, when executed, causes the actuators, valves, pumps, and / or other parts of the fluid distribution system to perform any of the methods disclosed herein. For example, the fluid distribution system 201 includes a controller 285 operably coupled to an actuator 203 by connection 297, so that one or more processors in the controller 285 actuate the actuator 203, thereby changing the configuration of the manifold 205 between the retracted configuration in Figure 2A and the extended configuration in Figure 2B. Similarly, as shown in Figures 2A and 2B, the controller 285 may be configured to actuate an actuator 204 by connection 298 to control a vertical motion stage and change the vertical position of the manifold 205. Optionally, the controller 285 may be used to control a machining system 225, as indicated by the dashed connection 299. In some embodiments, the controller may be configured to control the fluid distribution within the fluid distribution system. For example, the controller can activate a valve connecting the machining fluid supply unit to the manifold, thereby selectively allowing or preventing the flow of machining fluid from the nozzles of the manifold.

[0065]

[0072] In some embodiments, the fluid distribution system is configured to move the manifold closer to the machining interface when the manifold is in an extended configuration. For example, in Figure 2B, the fluid distribution system 201 may be configured to maintain a predetermined distance between the nozzle of the manifold 205 and the machining interface of the machining tool 225 disposed in the internal opening of the manifold 205. Proximity between the manifold and the machining interface can provide any of several advantages, and may be particularly useful for distributing supercritical machining fluids if proximity to the machining tool reduces the loss of machining fluid and improves the machining process. In some embodiments, the predetermined distance between the machining interface and the nozzle of the manifold in an extended configuration is 10 cm or less, 7.5 cm or less, 5 cm or less, 3 cm or less, 1 cm or less, 0.5 cm or less, or less. In some embodiments, the predetermined distance between the machining interface and the nozzle of the manifold in an extended configuration is 0.1 cm or more, 0.5 cm or more, 1 cm or more, 3 cm or more, 5 cm or more, 7.5 cm or more, or greater. These ranges can be combined. For example, in some embodiments, a predetermined distance between the machining interface and the manifold nozzle in the extension configuration is greater than 0.1 cm and less than or equal to 10 cm. The disclosure is not so limited, and other ranges, whether higher or lower than those described above, are also possible.

[0066]

[0073] Figure 3 shows a schematic side view of a portion of a fluid distribution system 301 that distributes machining fluid 351 to a portion of a machining system 325 at the machining interface 341 of a workpiece 391. The fluid distribution system 301 is similar to the fluid distribution 201 described with reference to Figures 2A and 2B. As shown in Figure 3, the fluid distribution system 301 may use a manifold 305 to supply machining fluid 351 (e.g., supercritical machining fluid) to the machining interface and / or machining tool 371 of the machining system 325. The manifold 305 may be mechanically connected to one or more actuators 303 by a rotatable linkage mechanism 317 or other suitable motion stage. Furthermore, the fluid distribution system 301 may include a controller 385 configured to control the operation of various components of the illustrated system.

[0067]

[0074] As shown in Figure 3, the manifold 305 may include an inlet 329 according to some embodiments. Any of a variety of suitable inlets may be used for the manifold. For example, the inlet may be a supercritical machining fluid inlet and / or may be equipped with fittings or couplings suitable for delivering supercritical fluid into the manifold 305 without leakage or pressure loss. Thus, in some embodiments, the inlet 329 is connected to a machining fluid supply unit 383 by a fluid coupling 327. During operation, the machining fluid supply unit may be configured to deliver supercritical machining fluid (e.g., scCO2) to the manifold 305. According to some embodiments, the inlet is configured for conventional machining fluid (i.e., non-supercritical machining fluid). As shown in Figure 3, the controller 385 may also be operably connected to one or more valves 322, thereby allowing the controller to control (i.e., selectively allow or prevent) the flow of machining fluid to one or more nozzles of the manifold, as previously described. For example, the controller may control the flow of machining fluid to one or more nozzles in the manifold in response to input from a sensor or a machining tool.

[0068]

[0075] Although Figure 3 shows only one fluid supply unit, it should be understood that in some embodiments, multiple fluid supply units may be used to supply fluid to the manifold independently. For example, the fluid distribution system may include a first supercritical machining fluid supply unit and a second non-supercritical machining fluid supply unit. The manifold may have multiple inlets configured to receive machining fluid independently from different machining fluid supply units. In some embodiments, the fluid distribution system is configured to deliver machining fluid from two or more machining fluid supply units to the manifold through the same inlet. For example, the fluid distribution system may be configured to deliver machining fluid sequentially from different machining fluid supply units, or the machining fluids from multiple machining fluid supply units may be pre-mixed to form a mixed machining fluid, which is then passed through the inlets. The fluid flow from multiple machining fluid supply units may be controlled independently by a controller. For example, each machining fluid supply unit may be controlled using an independent valve, such as valve 322. In some embodiments, the valve 322 may be a multi-way valve (e.g., a three-way valve, a four-way valve) that fluidically connects the manifold 305 to a plurality of machining fluid supplies and selectively controls the flow of fluid from each of the connected fluid supplies. Although the valve 322 is shown as being incorporated into a fluid coupling 327, the disclosure is not so limited, and it should be understood that the valve may generally be located in any of a variety of suitable locations within the fluid distribution system at any point along a flow path extending between the machining fluid supplies 383 or the manifold 305.

[0069]

[0076] In some embodiments, such as the embodiment shown in Figure 3, the fluid distribution system includes a sensor. The sensor may be configured to sense the location of the machining interface. Alternatively, the sensor may sense, or otherwise acquire, the length of a tool that is positioned in or will be positioned in the machining system, and determine the location of the machining interface based on the length of the tool used during the machining process. For example, in one embodiment, the fluid distribution system 301 includes a sensor 312, which is configured to determine the location and / or properties of the machining interface 341 optically and / or by any other method. In general, any of the various sensors may be used. Thus, in some embodiments, the sensor may be an optical sensor (e.g., a camera) configured to directly measure the length of the cutting tool and / or the location of the interface. In other embodiments, the sensor may be configured to acquire the length of the tool to be detected by detecting a label on the machining tool. For example, sensor 312 may be a radio frequency identification (RFID) sensor configured to detect an RFID tag on the machining tool. Tool length or location of the machining interface may be acquired using reliable identification of a tool with known dimensions. In yet another embodiment, the sensor is a position sensor or proximity sensor (e.g., a laser sensor or an infrared distance sensor) configured to measure the distance between a known location on the system and the machining interface. Other suitable sensors may include, but are not limited to, pyrometers, thermocouples, distance sensors (e.g., LiDAR, ultrasonic sensors, RFtoF sensors), sensors in the machining system (e.g., torque sensors, draw sensors, vibration sensors, or acoustic emission sensors), inductance / capacitance sensors, or phase shift sensors, and / or any other suitable type of sensor capable of sensing the location and / or properties of the machining interface of a part or other suitable part. Alternatively, the location and / or tool length of the machining interface may be known by the use of a commanded tool in the automated system.Thus, it should be understood that the length of the machine tool and / or the position of the machining interface can be obtained by some means, using the sensor 312 as shown in Figure 3 or another suitable method for providing it to the controller 385. The controller can, at least in part, control the operation of the system to properly position the manifold relative to the machining interface during operation based on this information.

[0070]

[0077] In some embodiments, the sensor is a temperature sensor. The temperature sensor may be a thermocouple or another thermometer (e.g., an optical thermometer). In some embodiments, the temperature sensor is located inside the workpiece or machining tool. According to some embodiments, the temperature sensor is configured to sense temperature remotely. The temperature sensor may be a thermal imaging system configured to image the ambient temperature distribution (e.g., of the machining interface and / or the machining tool). According to some embodiments, the sensor is configured to detect local temperature. For example, a thermocouple or thermometer may be configured to detect local temperature. Similarly, a thermal imaging system may be configured to measure local temperature by identifying and determining the temperature, for example, within a predefined target location or at any location within the machining interface that has the highest temperature of the machining interface.

[0071]

[0078] The sensor may be configured to determine the properties of the machining fluid at the machining interface. For example, the sensor may be a camera configured to visually identify the degree of expansion of the supercritical fluid after it has flowed out of the nozzle. In some embodiments, the sensor is a temperature sensor and / or pressure sensor configured to identify the temperature and / or pressure of the machining fluid in the vicinity of the machining interface. In some embodiments, the sensor is configured to detect the concentration of dry ice in the expanding supercritical fluid.

[0072]

[0079] In some embodiments, the sensor is configured to determine the cutting angle or cutting force of a machining tool at the machining interface. For example, the cutting angle may be determined by visual inspection, LiDAR, contact sensing, acoustic emission, and / or vibration analysis. In some embodiments, the cutting force is determined using a force sensor (e.g., a dynamometer) and / or a power sensor (e.g., a sensor configured to determine the horsepower of a machining tool), or vibration analysis. According to some embodiments, the sensor is configured to measure the condition (e.g., size, shape) of the chip removed from the workpiece.

[0073]

[0080] The sensor may have any of a variety of suitable arrangements with respect to the fluid distribution system, machining system, and / or workpiece. For example, the sensor may be attached to the fluid distribution system, machining system, or workpiece. In some embodiments, the sensor is freestanding. For example, the sensor may be fixed to a stand or mount. According to some embodiments, the sensor may be configured to maintain a fixed position during machining. In some embodiments, the sensor is configured to move during machining (for example, to clear a path for tool change operations).

[0074]

[0081] While a single sensor is shown in the embodiments described above, it should be understood that two or more sensors may be used depending on the embodiment. For example, in some embodiments, a position sensor may be combined with an RFID reader to acquire, for example, both the pre-measured geometry of the tool (e.g., tool length) and the measured position of the sensor and / or the tool relative to the machining interface in motion.

[0075]

[0082] As described above, in some embodiments, when delivering the machining fluid 351, particularly when the machining fluid 351 comprises a supercritical machining fluid, it is advantageous for the manifold 305 to be positioned close to the machining interface 341. However, to avoid damage that may arise from the machining process (e.g., damage that may arise from collisions between the machined material and the manifold or nozzles disposed on the manifold), it may also be advantageous to keep the manifold 305 at a sufficient distance from the machining interface 341. In some embodiments, the minimum distance between the machining interface and the manifold in the extended configuration is 50 cm or less, 25 cm or less, 10 cm or less, 7.5 cm or less, 5 cm or less, 3 cm or less, 1 cm or less, or less. In some embodiments, the minimum distance between the machining interface and the manifold in the extended configuration is 0.5 cm or more, 1 cm or more, 3 cm or more, 5 cm or more, 7.5 cm or more, 10 cm or more, 25 cm or more, or greater. These ranges can be combined. For example, in some embodiments, the minimum distance between the machining interface and the manifold in the extension configuration is greater than 0 cm and less than or equal to 50 cm. The disclosure is not limited in this way, and other ranges, whether higher or lower than those described above, are also possible.

[0076]

[0083] While the embodiments shown in Figures 2A, 2B, and 3 present a fluid distribution system having only a single rotatable link mechanism, it should be understood that, naturally, two or more rotatable link mechanisms and / or different types of motion stages may be used to provide short-range and / or longitudinal (i.e., horizontal and / or vertical) motion. Figure 4 shows schematic side views of a portion of an unrestricted fluid distribution system 401 and a portion of an unrestricted machining system 425, where the fluid distribution is configured to distribute fluid to the machining system. The fluid distribution system 401 comprises two rotatable link mechanisms 417 and 419 connected via a coupling 453. Rotatable link mechanism 417 is also connected to an actuator 403 via the coupling 451, and the fluid distribution system may be configured such that the actuator 403 acts on the coupling 451 to rotate the rotatable link mechanism 417. According to some embodiments, the actuator 403 may also be configured to act on the coupling 453 to rotate the rotatable link mechanism 419. In some embodiments, joint 453 is operably connected to joint 451 so that joints 451 and 453 act together (for example, joints 451 and 453 may be operably connected so that a rotatable link mechanism 417 is driven by a rotatable link mechanism 419). However, in some embodiments, joint 453 is configured to act independently of joint 451. For example, in some embodiments, actuator 403 may actuate joints 451 and 453 independently. According to some embodiments, the fluid distribution system includes one or more additional actuators (not shown) configured to actuate the rotation of joint 453 independently of the actuation of joint 451 by actuator 403.

[0077]

[0084] The rotatable link mechanism 419 is connected to the manifold 405 via a coupling 455 configured to rotate the manifold 405. Similar to coupling 453, in some embodiments, coupling 455 is configured to act independently of coupling 451. For example, coupling 455 may be configured to be actuated by actuator 403 or by another actuator (not shown). According to some embodiments, coupling 455 is operably connected to coupling 451, so that the actuation of coupling 451 actsuated coupling 455. For example, in some embodiments, the manifold 405 may be driven by the rotatable link mechanism 419 and / or the rotatable link mechanism 417.

[0078]

[0085] Figure 4 shows the fluid distribution system 401 in an extended configuration, with the manifold 405 at least partially surrounding the machining tool 471 of the machining system 425. However, the fluid distribution system 401 can be moved from the extended configuration to a retracted configuration by acting on the joints 415, 453, and / or 455, thereby rotating the rotatable link mechanisms 417 and 419 to pull out the manifold 405. One advantage of a fluid distribution system with multiple rotatable link mechanisms is that, according to some embodiments, the rotatable link mechanisms can be used to retract or extend a portion of the manifold of the fluid distribution system attached to the machining system.

[0079]

[0086] According to some embodiments, the use of multiple rotatable linkage mechanisms offers certain advantages over the use of a single rotatable linkage mechanism. For example, in some embodiments, the horizontal and vertical positions of the manifold can be controlled independently using multiple rotatable linkage mechanisms.

[0080]

[0087] In a fluid distribution system comprising multiple rotatable link mechanisms, some rotatable link mechanisms may operate independently of other connected rotatable link mechanisms, which can help provide a complex combination of horizontal and / or vertical motion of the associated end effector (i.e., the disclosed manifold). In some embodiments, a flexible fluid coupling (not shown) may be supported on and optionally extend along at least a portion of the length of one or more rotatable link mechanisms of the fluid distribution system, thereby enabling the flexible fluid coupling to be connected to a manifold mounted on the illustrated system. The flexible fluid coupling can bend to accommodate changes in the relative positions of the rotatable link mechanisms, which may be particularly advantageous in the context of a fluid distribution system such as fluid distribution system 401.

[0081]

[0088] In some embodiments, at least a portion of the fluid distribution system is configured to be attached to a machining system. For example, Figure 4 shows a fluid distribution system 401 attached to a machining system 425 by an actuator 403, which is rigidly coupled to the machining system 425 so that the actuator 403 maintains a fixed position relative to the machining tool 471. Attaching part or all of the fluid distribution system to the machining system can offer several advantages. For example, in some embodiments, attaching part of the fluid distribution system to the machining system can reduce the complexity of aligning the fluid distribution system's manifold with the machining interface by linking the movement of the fluid distribution system to the movement of the machining system. However, there may be other reasons for which a separately attached fluid distribution system is preferable, such as when it is not necessary to link the fluid distribution system to the machining system. For example, an unattached fluid distribution system may be used with an existing machining system without requiring modification of the existing machining system to accommodate the fluid distribution system.

[0082]

[0089] Figures 5A and 5B provide non-limiting schematic diagrams of a manifold 505 on which nozzles 531a, 531b, 532a, 532b, 533a, and 533b are arranged. Multiple nozzles arranged on the manifold may share a common focal point toward which all of the nozzles are configured to discharge a machining fluid (e.g., supercritical machining fluid). However, as mentioned above and as shown in the figures, in some embodiments, the multiple nozzles comprise multiple nozzle groups, with the first group of nozzles directed toward a first focal point and the second group of nozzles directed toward a second focal point. For example, Figure 5A shows a schematic bottom view of the manifold 505, which includes the first group of nozzles 531a, 532a, and 533a and the second group of nozzles 531b, 532b, and 533b. Shading of the nozzles in Figure 5A is used to distinguish between different groups of nozzles. Naturally, the nozzles in different groups may be of the same type or different types, and it should be understood that the shading does not indicate any particular type of nozzle. Figure 5B shows a schematic side view of the manifold 505, illustrating how the machining fluid may be directed from the first nozzle group toward the first focal point 539 (the direction of flow from the first nozzle group is indicated by a solid arrow 544) and from the second nozzle group toward the second focal point 538 (the direction of flow from the second nozzle group is indicated by a dashed arrow 542) during operation. The second focal point 538 is offset from the first focal point 538 in a direction parallel to the longitudinal axis of the internal opening and / or the machining tool when the manifold is in an extension configuration and the machining tool is positioned within the internal opening.

[0083]

[0090] In Figure 5A, the first group of nozzles 531a, 532a, and 533a are not fluidically connected to the second group of nozzles 531b, 532b, and 533b. In such an embodiment, the first group of nozzles may be fluidically connected to a first inlet that allows machining fluid to pass to the first group of nozzles, and the second group of nozzles may be fluidically connected to a second inlet. For example, in Figure 5A, the first group of nozzles 531a, 532a, and 533a are fluidically connected to inlet 529a, and the second group of nozzles 531b, 532b, and 533b are fluidically connected to a second inlet 529b. Similar to the shading of the nozzles themselves, the shading of the inlets is used to distinguish the inlets based on their association with a particular group of nozzles, rather than as an indication of the difference between inlets 529a and inlet 529b. Also note that a manifold containing multiple groups of nozzles does not necessarily require multiple inlets. For example, in some embodiments, the manifold includes a valve (e.g., a valve operably coupled to a controller) configured to control the flow of fluid from a single inlet of the manifold to one or more nozzle groups. Depending on the embodiment and the arrangement of the one or more valves, separate nozzle groups may be connected to either separate fluid supplies or the same fluid supply. The use of multiple nozzle groups may offer several advantages. For example, in some embodiments, instead of adjusting the vertical position of the manifold to change the focal points of separate flows of machining fluid (e.g., after a tool change or a change in the location of the machining interface), the fluid may be rerouted from a first nozzle group oriented toward a first focal point to a second nozzle group oriented toward a second focal point having a different vertical position than the vertical position of the first focal point. As another example, in some embodiments, the first nozzle group may be configured to deliver a first machining fluid to a machining tool, while the second nozzle group is configured to deliver a second machining fluid to the machining interface. The disclosure is not so limited, and other advantageous configurations of nozzle groups are also possible.

[0084]

[0091] Figure 6 provides a non-limiting schematic diagram of a machining method according to some embodiments. While the machining method 601 can be implemented under any of the various conditions during machining, it may be particularly useful during tool changes. For example, method 601 may be a method for controlling the flow of supercritical machining fluid for better compatibility with replacement machining tools. However, the disclosure is not limited to such embodiments, and method 601 may be used under other conditions (e.g., during active machining) if desired.

[0085]

[0092] Method 601 comprises a first step 603 of obtaining the location of a machining interface. The location of the machining interface may be determined by any of a variety of methods. For example, the location of the machining interface may be obtained using a sensor, a commanded tool change, or other suitable method as described in more detail above. In some embodiments, obtaining the location of a machining interface includes obtaining the length of a machining tool. For example, the length of a machining tool may be obtained by identifying the machining tool (e.g., using an RFID reader) and using a predetermined length of the machining tool to determine the corresponding location of a machining interface or other location to be lubricated. A predetermined length of a machining tool may be retrieved from a database, for example, once the tool is identified. As another example, the length of a machining tool may be determined by sensing the length of the tool (e.g., using an optical sensor configured to detect the length of a machining tool). For example, in some embodiments, the length of a machining tool is obtained using a proximity sensor or a camera system. In some embodiments, the length of a machining tool may be used to determine the location of a machining interface (e.g., by calculating the location of a machining interface based on the length of the machining tool). Alternatively, the location of the machining interface can be obtained directly. For example, in some embodiments, the method comprises directly sensing the location of the machining interface (e.g., using a camera system). According to some embodiments, the method comprises obtaining the location of the machining interface from a machining plan.

[0086]

[0093] Method 601 further comprises step 605, which modifies the trajectory of one or more flows of supercritical machining fluid (e.g., flows discharged from one or more nozzles of a manifold) based at least partially on the location of the machining interface obtained in step 603. The trajectory of the supercritical machining fluid may be modified by any of the various suitable techniques described herein. For example, in some embodiments, modifying the trajectory comprises moving at least a portion of the fluid distribution system (e.g., the manifold of the fluid distribution system) in a direction substantially parallel to the longitudinal axis of the machining tool. For example, modifying the trajectory may comprise moving the manifold vertically to focus the supercritical machining fluid flow onto the machining interface. The motion of a portion of the fluid distribution system (e.g., the motion of the manifold) may be carried out using any of the various suitable methods. For example, part or all of the fluid distribution system may be mounted on a vertical operating stage, as described in more detail above. As another example, the method may comprise modifying the angular orientation of one or more flows of supercritical machining fluid discharged from the manifold. The angular orientation of one or more flows can be altered, for example, by flowing supercritical machining fluid through different groups of nozzles in a manifold, or by reorienting one or more nozzles in a manifold to focus on different focal positions. This may be done by selectively allowing or preventing the flow of machining fluid to different groups of nozzles using one or more associated valves, as detailed above. One advantage of the systems and methods described herein is that they can facilitate rapid tool changes in the machining system during the machining process.

[0087]

[0094] Figure 7A provides a non-limiting schematic diagram of a machining method according to some embodiments. While the machining method 701 can be implemented under any of the various conditions during machining, it may be particularly useful during active machining. For example, method 701 can facilitate improved control of workpiece temperature and / or machining fluid flow, thereby reducing the risk of thermal damage to the workpiece, improving workpiece lubrication, improving workpiece cooling, and / or reducing the amount of machining fluid used during machining. However, the disclosure is not limited to such embodiments, and method 601 may be used under other circumstances (e.g., outside of active machining) if desired.

[0088]

[0095] Method 701 comprises a first step 703 of obtaining the properties of the machining interface. The properties of the machining interface may be the location of the machining interface, as described above with reference to Figure 6. According to some embodiments, the properties of the machining interface are the thermal properties of the machining interface (e.g., the temperature of the machining interface or the spatial temperature distribution of the machining interface). In some embodiments, the properties of the machining interface are the properties of the machining fluid (e.g., a supercritical fluid) at the machining interface. According to some embodiments, the properties of the machining interface are the cutting direction (e.g., which side of the cutting benefits the most from the additional machining fluid). In some embodiments, the properties of the machining interface are the cutting intensity (e.g., the force or stress imposed on the workpiece by the cutting tool).

[0089]

[0096] Machining interface properties may be determined by any of the following methods. For example, the location of the machining interface may be obtained using sensors, commanded tool changes, or other suitable methods as described in more detail above. As another example, thermal properties of the machining interface, such as mean temperature, local temperature, or ambient temperature distribution, may be determined using sensors as described in more detail above. Similarly, machining interface properties relating to the properties of the machining fluid at the machining interface may be determined using sensors as described in more detail above. Likewise, machining interface properties such as cutting direction may be determined using sensors as described in more detail above, and / or interface properties may correspond to commanded properties implemented by the system during the machining process. For example, in some embodiments, a commanded tool path during machining of a part may be used.

[0090]

[0097] Method 701 further comprises the steps of: modifying the flow parameters of one or more flows of supercritical machining fluid (e.g., flows discharged from one or more nozzles of a manifold); and modifying the machining speed of a machining tool that comes into contact with one or more flows of supercritical machining fluid. Method 701 comprises performing one or both of steps 705 and 706 at least in part on the machining interface properties obtained in step 703.

[0091]

[0098] The flow properties of the supercritical machining fluid may be modified by any of the various suitable methods described herein. For example, the trajectory of the supercritical machining fluid may be modified as described above. As another example, the flow rate of the supercritical machining fluid may be modified by any of the various suitable methods. For example, the pressure of the supercritical machining fluid may be modified. As yet another example, an upstream valve of the manifold may be actuated to control the flow rate of the supercritical machining fluid. Similarly, the machining speed may be modified by any of the various suitable methods. For example, the rotational speed of the machining tool may be modified. As yet another example, the feed rate of the machining tool to the machining interface of the workpiece may be modified. In some embodiments, the machining speed may be modified by reducing the machining speed to zero, for example, as part of a tool change. Thus, the acquired machining interface characteristics can be used to determine whether the machining tool has become unsuitable or should be replaced with another tool as part of the machining process. The disclosure is not so limited, and other embodiments are possible.

[0092]

[0099] Method 701 may be implemented as part of a closed-loop method, thereby acquiring machining interface properties iteratively and using them as a basis for improving the machining process. For example, Method 701 may be part of a method comprising multiple iterations of step 703 and either or both of steps 705 and 706. Figure 7A shows the possibility of using Method 701 as part of a closed-loop method by dashed arrows 711 and 712 indicating optional iterations of step 703 after implementation of either step 705 or step 706. Optional iterations of step 703 and either or both of steps 705 and 706 may be implemented continuously during active machining or discontinuously during active machining (e.g., toggled by the user).

[0093]

[0100] In some embodiments, Method 701 is used to control a fluid distribution system (for example, to perform a closed-loop machining method using a fluid distribution system). For example, Figure 7B shows one embodiment of Method 701 in which step 705 is always performed to control one or more flow parameters of a supercritical fluid. Using Method 701 shown in Figure 7B, a closed-loop method can be performed using a fluid distribution system. In some embodiments, Method 701 is used to control a machining system (for example, to perform a closed-loop machining method using a machining system). For example, Figure 7C shows one embodiment of Method 701 in which step 706 is always performed to control one or more flow parameters of a supercritical fluid. Using Method 701 shown in Figure 7C, a closed-loop method can be performed using a machining system. Of course, Figures 7B through 7C should not be understood as limiting Method 701, and as shown in Figure 7A, Method 701 can be used to control both a fluid distribution system and a machining system. For example, a closed-loop method may be used to control both a fluid distribution system and a machining system as part of a closed-loop machining method involving both systems. As another example, independent closed-loop methods, such as those shown in Figures 7B and 7C, may be used simultaneously and independently to control the flow parameters of the machining and / or supercritical machining fluid flow.

[0094]

[0101] In some embodiments, the above method is implemented by one or more processors, associated with a non-temporary computer-readable memory containing processor-executable instructions that cause a system to perform the method disclosed above when implemented by one or more processors.

[0095]

[0102] While the above diagram illustrates the use of a single manifold, it should be understood that in some embodiments, two or more manifolds may be used. For example, Figure 8 shows schematic side views of a portion of an unrestricted fluid distribution system 801 and a portion of an unrestricted machining system 825, the fluid distribution system being configured to distribute fluid to the machining system. As shown, the fluid distribution system 801 includes a first actuator 803 configured to change the configuration of a first manifold 805 by rotating a rotatable link mechanism 817, and a second actuator 833 configured to change the configuration of a first manifold 835 by rotating a rotatable link mechanism 847. Manifolds 805 and 835 are each shown in an extended configuration, at least partially surrounding the machining tool 871 of the machining system 825. However, in some embodiments, actuators 803 and 833 can be used to retract manifolds 805 and 835 into an extended configuration, respectively. Although only two manifolds are shown in Figure 8, the disclosure is not so limited, and it should be understood that, depending on the embodiment, any number of manifolds (e.g., three, four, five, six, or more) may be used in the fluid distribution system. In some embodiments, the use of two or more manifolds can, advantageously, facilitate a better distributed distribution of the supercritical fluid without delaying tool changes. Although Figure 8 shows all manifolds of the fluid distribution system 801 being used simultaneously, it should be understood that, of course, in some embodiments, only a subset of the manifolds of the fluid distribution system may be used. Thus, the use of multiple manifolds can be customized for specific machining tools.In some embodiments, it may be advantageous to use two manifolds when machining with a first machining tool (e.g., a relatively large machining tool) and only one manifold when machining with a second machining tool (e.g., a relatively small machining tool).

[0096]

[0103] The embodiments of the technology described herein can be implemented in any of a number of ways. For example, the embodiments may be implemented using hardware, software, or a combination thereof. When implemented in software, the software code can be executed on any suitable processor or set of processors, whether provided on a single computing device or distributed among multiple computing devices. Such processors may be implemented as integrated circuits having one or more processors on integrated circuit components, including commercially available integrated circuit components known in the art by names such as CPU chips, GPU chips, microprocessors, microcontrollers, or coprocessors. Alternatively, the processor may be implemented in custom circuits such as ASICs, or semi-custom circuits resulting from the configuration of programmable logic devices. Yet another alternative is that the processor may be part of a larger circuit or semiconductor device, whether commercial, semi-custom, or custom. As a specific example, some commercial microprocessors have multiple cores, and therefore one or a subset of those cores may constitute a processor. However, the processor may be implemented using any suitable format of circuit.

[0097]

[0104] Furthermore, it should be understood that computing devices can be embodied in any of the following forms, such as rack-mount computers, desktop computers, laptop computers, or tablet computers. In addition, computing devices may be incorporated into devices that are not generally considered computing devices but possess sufficient processing power, including personal digital assistants (PDAs), smartphones, tablets, or any other suitable portable or fixed electronic devices.

[0098]

[0105] Furthermore, a computing device may have one or more input and output devices. These devices may, among other things, be used to present a user interface. Examples of output devices that can be used to provide a user interface include a display screen for visual presentation of the output and a speaker or other sound-generating device for audible presentation of the output. Examples of input devices that can be used for a user interface include a keyboard, individual buttons, and pointing devices such as a mouse, touchpad, and digitizer tablet. As another example, a computing device may receive input information through speech recognition or in other audible formats.

[0099]

[0106] Such computing devices may be interconnected by one or more networks of any suitable form, including local area networks or wide area networks, such as corporate networks or the Internet. Such networks may be based on any suitable technology, may operate according to any suitable protocol, and may include wireless networks, wired networks, or fiber optic networks.

[0100]

[0107] Furthermore, the various methods or processes outlined herein may be coded as software executable on one or more processors employing any one of various operating systems or platforms. Moreover, such software may be written using any of several suitable programming languages ​​and / or programming tools or scripting tools, and may be compiled as executable machine code or intermediate code that runs on a framework or virtual machine.

[0101]

[0108] In this regard, the embodiments described herein may be embodied as one or more computer-readable storage media (or more computer-readable media) (e.g., computer memory, one or more floppy disks, compact disks (CDs), optical disks, digital video disks (DVDs), magnetic tape, flash memory, RAM, ROM, EEPROM, field-programmable gate arrays or circuit configurations in other semiconductor devices, or other tangible computer storage media) encoded in one or more programs that, when executed on one or more computers or other processors, implement the methods for implementing the various embodiments described above. As is evident from the examples above, computer-readable storage media may retain information for a sufficient amount of time to provide computer-executable instructions in a non-temporary form. Such one or more computer-readable storage media may be portable, and therefore, one or more programs stored therein may be loaded onto one or more different computing devices or other processors to implement the various aspects of the disclosure as described above. As used herein, the term “computer-readable storage media” includes only non-temporary computer-readable media that can be considered to be a manufacture (i.e., a product) or machine. Alternatively or additionally, the Disclosure may be embodied in a computer-readable medium other than a computer-readable storage medium, such as a propagating signal.

[0102]

[0109] The terms “program” or “software” are used herein in a general sense to refer to any type of computer code or set of computer-executable instructions that may be employed to program a computing device or other processor to implement the various aspects of the present disclosure described above. Furthermore, it should be understood that, according to one aspect of this embodiment, one or more computer programs that, when executed, implement the methods of the present disclosure do not need to reside on a single computing device or processor, but may be modularly distributed across several different computers or processors to implement the various aspects of the present disclosure.

[0103]

[0110] Computer-executable instructions can take many forms, such as program modules, and can be executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. Typically, the functionality of program modules may be combined or distributed as desired in various embodiments.

[0104]

[0111] The embodiments described herein can be embodied as methods, and an example thereof is provided. The actions performed as part of the method can be ordered in any suitable manner. Thus, embodiments may be constructed such that the actions are performed in a different order than those exemplified, which may include performing some actions simultaneously, even if they are shown as consecutive actions in the exemplified embodiments.

[0105]

[0112] Furthermore, some actions are described as being performed by a “user.” It should be understood that the “user” does not necessarily have to be a single individual; in some embodiments, actions attributed to a “user” may be performed by a team of multiple individuals and / or by a single individual in combination with computer-aided tools or other mechanisms.

[0106]

[0113] While this instruction has been described in conjunction with various embodiments and examples, it is not intended to be limited to such embodiments or examples. Rather, this instruction encompasses various alternatives, modifications, and equivalents, as will be understood by those skilled in the art. Accordingly, the foregoing description and drawings are merely illustrative.

[0107]

[0114] While some embodiments of the present invention have been described and illustrated herein, those skilled in the art will readily imagine various other means and / or structures for carrying out the functions described herein and / or obtaining one or more of the results and / or advantages, and each of such variations and / or modifications will be deemed to fall within the scope of the present invention. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials and configurations described herein should be illustrative, and that the actual parameters, dimensions, materials and / or configurations will depend on the specific one or more applications in which the teachings of the present invention are used. Those skilled in the art will be able to recognize or confirm many equivalents of the specific embodiments of the present invention described herein by means of ordinary experimentation alone. Thus, it should be understood that the embodiments described herein are presented merely as examples, and that the present invention may be carried out in ways different from those specifically described and claimed, within the scope of the appended claims and their equivalents. The present invention covers the individual features, systems, articles, materials, kits and / or methods described herein. Furthermore, any combination of two or more such features, systems, articles, materials, kits, and / or methods is included within the scope of the present invention, provided that such features, systems, articles, materials, kits, and / or methods do not conflict with each other.

Claims

1. A manifold that partially surrounds an internal opening of a manifold, the internal opening extending from a first surface of the manifold to a second opposing surface of the manifold, the internal opening configured to receive a machining tool positioned therein, the manifold including a gap through which the machining tool can enter the internal opening of the manifold in a short direction, at least partially perpendicular to the longitudinal axis of the internal opening, One or more actuators configured to move the manifold between a first retraction configuration and a second extension configuration, One or more nozzles arranged on the manifold, The machining fluid inlet of the manifold, which is in fluid communication with one or more nozzles, A vertical motion stage configured to change the vertical position of the manifold, A fluid distribution system equipped with the following features.

2. The fluid distribution system according to claim 1, wherein the vertical motion stage is configured to change the vertical position of the manifold while the manifold is in the retracted position.

3. A manifold that partially surrounds an internal opening of a manifold, wherein the internal opening extends from a first surface of the manifold to a second opposing surface of the manifold, and the internal opening is configured to receive a machining tool positioned therein, One or more nozzles arranged on the manifold, The machining fluid inlet of the manifold, which is in fluid communication with one or more nozzles, It is equipped with, A fluid distribution system comprising one or more nozzles, each including a first group of nozzles directed toward a first focal position and a second group of nozzles directed toward a second focal position different from the first focal position.

4. The fluid distribution system of claim 3, wherein the manifold includes a gap through which the machining tool can enter the internal opening of the manifold in a short direction, in a direction at least partially perpendicular to the longitudinal axis of the internal opening.

5. A fluid distribution system according to any one of claims 3 to 4, further comprising one or more actuators configured to move the manifold between a first retraction configuration and a second extension configuration.

6. A fluid distribution system according to any of the preceding claims, wherein one or more nozzles are configured to be directed toward the machining interface of the machining tool when the machining tool is positioned within the internal opening.

7. The fluid distribution system according to any one of claims 3 to 6, further comprising one or more valves configured to selectively control the flow of machining fluid to the first group of nozzles and the second group of nozzles.

8. The fluid distribution system according to any of the preceding claims, wherein the manifold has a curved shape extending along the periphery of the opening.

9. A fluid distribution system according to any of the preceding claims, further comprising a separate actuator configured to operate the vertical motion stage.

10. A fluid distribution system according to any of the preceding claims, further comprising one or more rotatable linkage mechanisms connected to the manifold and one or more actuators.

11. The fluid distribution system according to any of the preceding claims, wherein the fluid distribution system is constructed and arranged such that the machining tool passes through the gap in the short direction when the manifold moves from the first retracted configuration to the second extended configuration.

12. The fluid distribution system of any of the preceding claims, wherein the manifold is configured to at least partially surround the machining tool when the manifold is in the second extended configuration.

13. A fluid distribution system according to any of the prior claims, One or more tool holders, including a first tool holder configured to hold the aforementioned machining tool, A machining system equipped with the following features.

14. The machining system according to the preceding claim, further comprising a supercritical machining fluid supply unit configured to supply a supercritical machining fluid to the machining fluid inlet.

15. A fluid distribution system according to any of the preceding claims, further comprising a fluid coupling that fluidly connects the manifold to the supercritical machining fluid supply unit.

16. The fluid distribution system according to any of the preceding claims, wherein the fluid coupling is a flexible fluid coupling.

17. The supercritical machining fluid supply unit is the first machining fluid supply unit, The machining system according to any one of claims 14 to 16, further comprising a second machining fluid supply unit constructed and arranged to deliver a second machining fluid to the machining fluid inlet.

18. The machining system according to claim 17, wherein the second machining fluid is a non-supercritical machining fluid.

19. The aforementioned machining tool is a first machining tool, The machining system is a machining system according to any of the preceding claims, comprising a plurality of machining tools, including the first machining tool.

20. The machining system according to claim 19, wherein the machining system is configured to switch the first machining tool to a second machining tool among the plurality of machining tools while the manifold is in the first retraction configuration.

21. The fluid distribution system according to any of the preceding claims, wherein the manifold is configured to surround at least 50% of the cross-section of the machining tool when the manifold is in the second extended configuration.

22. A fluid distribution system according to any of the preceding claims, wherein when the manifold is in the second extension configuration, the distance between the manifold and the machining interface is 10 cm or less.

23. A method of machining, Moving a manifold equipped with one or more nozzles from a first retraction configuration spaced apart from a first machining tool to a second extension configuration, wherein moving the manifold from the first retraction configuration to the second extension configuration includes moving the manifold in the short direction relative to the longitudinal axis of the first machining tool. As the manifold is moved from the first retracted configuration to the second extended configuration, the first machining tool is inserted into the internal opening of the manifold through a gap formed in the manifold, so that when the manifold is in the second extended configuration, the first machining tool extends through the internal opening of the manifold. When the manifold is in the extended configuration, the manifold is moved in a direction at least partially parallel to the longitudinal axis of the machining tool, A method that includes [a certain feature].

24. A method of machining, Moving a manifold equipped with one or more nozzles from a first contraction configuration separated from a first machining tool toward a second extension configuration, As the manifold is moved from the first retracted configuration to the second extended configuration, the first machining tool is inserted into the internal opening of the manifold through a gap formed in the manifold, so that when the manifold is in the second extended configuration, the first machining tool extends through the internal opening of the manifold. The method involves directing a supercritical fluid to a machining interface through one or more nozzles of the manifold, wherein the one or more nozzles comprise a plurality of nozzles including a first group of nozzles directed toward a first focal position and a second group of nozzles directed toward a second focal position different from the first focal position. A method that includes [a certain feature].

25. The machining method of claim 24, wherein moving the manifold from the first retracted configuration to the second extended configuration includes moving the manifold in the short direction with respect to the longitudinal axis of the first machining tool.

26. The method of any of the preceding claims, wherein the manifold at least partially surrounds the machining tool when the manifold is in the second extension configuration.

27. The method of any of the preceding claims, wherein the manifold surrounds at least 50% of the cross-section of the machining tool when the manifold is in the second extension configuration.

28. The method of any of the preceding claims, further comprising delivering a supercritical machining fluid to the manifold when the manifold is in the second extension configuration, and discharging one or more flows of the supercritical machining fluid from one or more nozzles of the manifold toward the first machining tool and / or machining interface.

29. The fluid distribution system or method according to any of the preceding claims, wherein the one or more nozzles include three or more nozzles distributed along the periphery of the internal opening.

30. Obtaining the location of the machining interface, The trajectory of one or more flows of supercritical machining fluid directed from the manifold toward the location of the machining interface is altered, at least partially based on the location of the machining interface. A method that includes [a certain feature].

31. The method of claim 30, further comprising discharging one or more flows of the supercritical machining fluid from the manifold toward the machining interface.

32. The method of any one of claims 30 to 31, wherein changing the trajectory of one or more flows of the supercritical machining fluid comprises changing the vertical location of a manifold from which one or more flows of the supercritical machining fluid are discharged relative to the machining interface.

33. The method according to any one of claims 30 to 32, wherein changing the trajectory of one or more flows of the supercritical machining fluid comprises changing the angular orientation of one or more flows of the supercritical machining fluid discharged from the manifold.

34. The method according to any one of claims 30 to 33, wherein changing the angular orientation of one or more flows of the supercritical machining fluid discharged from the manifold includes controlling the flow of the supercritical machining fluid through separate groups of nozzles oriented toward different focal positions.

35. The method according to any one of claims 30 to 34, wherein obtaining the location of the machining interface includes obtaining the length of the machining tool.

36. The method of claim 35, wherein obtaining the length of the machining tool comprises identifying a machining tool and identifying a predetermined machining tool length of the identified machining tool.

37. The method according to any one of claims 30 to 36, wherein obtaining the location of the machining interface includes sensing the location of the machining interface.

38. The method according to any one of claims 30 to 37, wherein obtaining the location of the machining interface includes obtaining a predetermined location of the machining interface from a machining plan.

39. The method according to any one of claims 30 to 38, wherein the method is performed during a change from the use of a first machining tool to a second machining tool.

40. At least one non-temporary computer-readable storage medium for storing programming instructions, A non-temporary computer-readable storage medium that, when executed by at least one processor, causes the at least one processor to perform any one of the methods of claims 30 to 39.

41. Manifold and, One or more nozzles arranged on the manifold, One or more actuators configured to control the position of the manifold relative to a machining tool holder configured to hold a machining tool inside, At least one processor configured to carry out any one of the methods of claims C to C8, A fluid distribution system equipped with the following features.

42. The fluid distribution system according to claim 41, further comprising a sensor configured to sense the location of the machining interface.

43. Directing one or more flows of supercritical machining fluid from the manifold towards the machining interface, To obtain the properties of the aforementioned machining interface, Controlling one or more flow parameters of the supercritical machining fluid based at least partially on the properties of the machining interface, A method that includes [a certain feature].

44. Directing one or more flows of supercritical machining fluid from the manifold towards the machining interface, To obtain the properties of the aforementioned machining interface, Controlling the machining of the machining interface based at least partially on the properties of the machining interface, A method that includes [a certain feature].

45. The method of any of the preceding claims, wherein the property of the machining interface is the location or thermal properties of the machining interface.

46. The method according to any of the preceding claims, wherein the temperature is a spatially averaged temperature or a local temperature.

47. The method of any of the preceding claims, wherein the property is the spatial temperature distribution of the workpiece adjacent to the machining interface.

48. The method of any of the preceding claims, wherein the flow parameter is at least one selected from the trajectories of one or more flows or the flow rates of one or more flows.

49. The method of any of the preceding claims, wherein controlling the machining process includes changing the feed rate of the machining tool, changing the cutting depth of the machining tool, changing the rotational speed of the machining tool, or performing a tool change.

50. A method of any of the preceding claims, further comprising repeating the steps of obtaining the properties of the machining interface and changing the flow parameters.

51. A method of any of the preceding claims, further comprising repeating the steps of obtaining the properties of the machining interface and modifying the machining.

52. A non-temporary computer-readable storage medium for storing programming instructions, wherein, when executed by at least one processor, causes the at least one processor to perform any one of the methods of claims 43 to 51.

53. Manifold and, One or more nozzles are disposed on the manifold and configured to direct one or more flows of supercritical machining fluid from the manifold toward the machining interface, One or more sensors configured to sense the properties of the machining interface, At least one processor configured to control the operation of the manifold and one or more nozzles in order to carry out any one of the methods of claims 43 to 51, A fluid distribution system equipped with the following features.

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