US 12,030,198 B2
Method and automated motion system for controlling a component handler
Herve Staempfli, Oye-et-Pallet (FR)
Assigned to ETEL S.A., Motiers (CH)
Appl. No. 17/617,599
Filed by ETEL S.A., Motiers (CH)
PCT Filed Jun. 17, 2020, PCT No. PCT/EP2020/066731
§ 371(c)(1), (2) Date Dec. 9, 2021,
PCT Pub. No. WO2020/260087, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 19182653 (EP), filed on Jun. 26, 2019.
Prior Publication US 2022/0234205 A1, Jul. 28, 2022
Int. Cl. B25J 15/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); G01R 19/00 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/10 (2013.01); G01R 19/0092 (2013.01); B25J 15/0057 (2013.01); B25J 15/0616 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method of controlling a component handler of an automated motion system, for picking up a component from a pick-up position, the component handler comprising a calibrated actuator comprising a stationary part, a movable part, one or more coils, a permanent magnet and an actuating member, and a component holder comprising a distal end and an elastic member, wherein the component holder is arranged to be actuated from a resting position to an extended position by the actuating member of the actuator and from the extended position to the resting position by the elastic member, the method comprising:
a) acquiring, by a processor, calibration data of the component holder by:
bringing the actuating member into contact with an actuable portion of the component holder,
moving the component holder in at least one position within the resting and extended position,
measuring, using the processor or another processor, a required current in the one or more coils to maintain or move the component holder in the at least one position, and
determining, by the processor or another processor, the calibration data from the current; and
b) using the calibration data to control the actuator for moving the component holder such that the distal end applies a predetermined force on the component in the pick-up position.