Jig bearing device and test equipment
By having the grippers of the fixture support device abut against the side of the test fixture, the problems of fixture tipping and positional displacement are solved, enabling the robotic arm to pick up the fixture efficiently and accurately, thus avoiding the use of vision positioning components.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING XIAOMI MOBILE SOFTWARE CO LTD
- Filing Date
- 2025-02-20
- Publication Date
- 2026-04-17
AI Technical Summary
In existing technologies, when electronic products need to be transferred multiple times during testing, the test fixture is prone to tipping over and shifting, leading to docking failure of the robotic arm. Furthermore, the use of vision positioning components restricts the movement of the robotic arm and increases errors.
A fixture carrying device is provided, wherein the gripper of the positioning part moves vertically and abuts against the side of the test fixture to ensure that the fixture has a preset position, thereby avoiding the use of visual positioning components and improving picking accuracy and efficiency.
By applying pressure to the side of the test fixture using grippers, the fixture is ensured to be in the correct position when docked with the robotic arm, reducing visual positioning errors of the robotic arm, improving picking accuracy and efficiency, and avoiding limitations of visual positioning components.
Smart Images
Figure CN224137329U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of electronic equipment testing technology, and in particular to a fixture support device and testing equipment. Background Technology
[0002] Electronic products undergo multiple testing processes during manufacturing, requiring several transfers during these tests. Currently, electronic products are typically placed in specific fixtures and transferred using robotic arms that grip the fixtures. Utility Model Content
[0003] To overcome the problems existing in the related technologies, this disclosure provides a fixture support device and a testing equipment.
[0004] According to a first aspect of the present disclosure, a jig carrying device is provided, including at least one positioning part, each positioning part having at least one gripper, the gripper being movable along a first direction, the first direction being perpendicular to the direction of loading and / or unloading samples in the jig carrying device;
[0005] When the gripper moves along the first direction to the first preset position, it can abut against at least a portion of the side of the test fixture, so that the test fixture has a preset posture.
[0006] In some embodiments, the positioning part includes two grippers, which are facing each other and disposed on both sides of the test fixture in the first direction.
[0007] In some embodiments, the positioning part includes at least one first gripper and at least two second grippers. Along the first direction, the first gripper and the second grippers are respectively disposed on both sides of the test fixture. The at least two second grippers are arranged along a second direction, which is parallel to the direction in which the test fixture is assembled into the fixture support device.
[0008] The projections of the first gripper and the second gripper on a preset plane are offset, and the preset plane is a plane perpendicular to the first direction.
[0009] In some embodiments, the surface of the gripper that faces the test fixture is the clamping surface;
[0010] The clamping surface extends along a second direction, which is parallel to the direction in which the test fixture is assembled into the fixture support device.
[0011] In some embodiments, the fixture support device further includes a support portion, which includes two brackets;
[0012] The two brackets are arranged along a third direction, and each bracket has at least one positioning part on its side wall. The grippers of the positioning part are located on opposite sides of the two brackets, and the first direction is perpendicular to the third direction.
[0013] In the third direction, the distance between the two supports is greater than the size of the test fixture.
[0014] In some embodiments, the support further includes a base connected to the bottom end of the bracket and located between the two brackets;
[0015] The top surface of the base is provided with a receiving groove, and in the first direction, the size of the receiving groove is larger than the size of the test fixture.
[0016] In some embodiments, the bracket extends along a second direction, wherein the first direction, the second direction, and the third direction are mutually perpendicular;
[0017] In the second direction, the positioning part is disposed at the end of the bracket away from the base.
[0018] A second aspect of this disclosure provides a testing device including a fixture support device as described in the first aspect.
[0019] In some embodiments, the testing equipment further includes a robotic arm configured to transport a test fixture to place the test fixture into the fixture carrier and / or remove the test fixture from the fixture carrier.
[0020] In some embodiments, the testing device further includes a drive unit connected to the positioning unit of the fixture support device, the drive unit being used to provide power to the positioning unit for the movement of the grippers.
[0021] In some embodiments, the drive unit is also connected to the robotic arm, and when the free end of the robotic arm is facing the test fixture, the drive unit is used to create a negative pressure environment between the free end and the test fixture.
[0022] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: the gripper of the positioning part can apply pressure to the side of the test fixture. When the gripping surface of the gripper is in contact with the side of the test fixture, the test fixture can have a preset posture, ensuring that the structure on the test fixture used to connect with the robotic arm is in the correct picking position. Thus, the robotic arm does not need to determine the position of the test fixture through visual positioning, which helps to improve the picking accuracy and efficiency.
[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description
[0024] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.
[0025] Figure 1 This is a schematic diagram illustrating the assembly state of a fixture support device and a test fixture according to an exemplary embodiment.
[0026] Figure 2 This is a schematic diagram illustrating the assembly state of a fixture support device and a test fixture according to an exemplary embodiment.
[0027] Figure 3 This is a schematic diagram illustrating the separated state of a fixture support device and a test fixture according to an exemplary embodiment.
[0028] Figure 4 This is a top view of a fixture support device and a test fixture according to an exemplary embodiment.
[0029] Figure 5 This is a schematic diagram of a jig support device according to an exemplary embodiment.
[0030] Figure 6 This is a schematic diagram of a jig support device according to an exemplary embodiment.
[0031] Figure 7 This is a schematic diagram illustrating a fixture support device and a test fixture according to an exemplary embodiment.
[0032] Figure 8 This is a schematic diagram of a jig support device according to another exemplary embodiment.
[0033] Figure 9 This is a schematic diagram of a jig support device according to yet another exemplary embodiment. Detailed Implementation
[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.
[0035] The structure used to support the test fixture in related technologies is relatively simple, and the test fixture may tip over when stored on the supporting structure (see...). Figure 7 As shown in the m direction), this results in a positional inconvenience for the structure of the test fixture used to dock with the robotic arm. Therefore, the robotic arm in related technologies is usually equipped with visual positioning components (such as cameras and supplementary lights).
[0036] Understandably, if a camera and supplementary lighting are installed, wiring needs to be installed on the robotic arm to power them. This wiring will restrict the movement and rotation of the robotic arm; for example, after the robotic arm rotates forward a certain number of times, it must be reversed to reset the wiring and prevent severe twisting that could cause damage. Furthermore, visual positioning may also lead to misjudgments, causing the robotic arm to fail to grasp the test fixture, resulting in damage to the test fixture or the robotic arm itself.
[0037] To address the problems existing in related technologies, this disclosure provides a fixture carrying device and a testing equipment. The fixture carrying device includes at least one positioning part, each positioning part having at least one gripper. The gripper is movable along a first direction. When the gripper moves along the first direction to a first preset position, it can abut against at least a portion of the side of the testing fixture, causing the testing fixture to have a preset posture. In this disclosure, the gripper of the positioning part can apply pressure to the side of the testing fixture. When the gripping surface of the gripper is in contact with the side of the testing fixture, the testing fixture can have a preset posture, ensuring that the structure on the testing fixture for connection with the robotic arm is in the correct picking position. Therefore, the robotic arm does not need to determine the position of the testing fixture through visual positioning, which helps to improve picking accuracy and efficiency.
[0038] According to exemplary embodiments of this disclosure, such as Figures 1 to 9 As shown, this embodiment of the present disclosure provides a fixture support device 100, which is used to fix and temporarily store a test fixture 200. The test fixture 200 is an auxiliary tool for improving productivity, repeating specific actions, or making work more accurate. The test fixture 200 provided in this embodiment can be applied to the testing process of electronic products such as smartphones, laptops, and tablets.
[0039] like Figure 1 As shown, the jig support device 100 includes at least one positioning part 10, the positioning part 10 having a gripper 11, and the gripper 11 being movable in a first direction. When the gripper 11 moves along the first direction ( Figure 1When the gripper 11 moves to the first preset position (in the x-direction shown), it can abut against at least a portion of the side of the test fixture 200, so that the test fixture 200 has a preset posture. The positioning part 10 can be an electric gripper 11 module, a pneumatic gripper 11 module, etc., which are mature technologies in related fields, and are not limited in this disclosure. The first direction is the direction of loading (placing in the test fixture) and unloading (removing from the test fixture) in the fixture carrying device 100. Figure 1 The z-direction shown is perpendicular to the z-direction.
[0040] It should be noted that whether the test fixture 200 is placed into the fixture support device 100 or taken out of the fixture support device 100, the gripper 11 of the positioning part 10 will move along the first direction to the second preset position, so that a gap is formed between the gripping surface of the gripper 11 and the test fixture 200.
[0041] See Figure 1 The method of test fixture 200 is shown, wherein the thickness direction of test fixture 200 is perpendicular to the first direction ( Figure 1 As shown in the x-direction, when a gap is formed between the side of the test fixture 200 and the gripper 11, due to the relatively thin thickness of the test fixture 200, it is prone to tipping over when it is not held and limited by the gripper 11 (see...). Figure 7 In cases where the direction of m is the tilting direction, the structure of the test fixture 200 used to dock with the robotic arm (described in detail below) (vacuum connection structure 201, described in detail below) becomes offset, which is not conducive to the alignment of the robotic arm and the test fixture 200, resulting in problems such as testing risks and low testing efficiency as described in related technologies.
[0042] In the fixture testing device provided in this embodiment, the positioning part 10 can provide a squeezing force to the side of the test fixture 200. When the clamping surface of the gripper 11 is in contact with the side of the test fixture 200, the test fixture 200 has a preset posture, ensuring that the structure of the test fixture 200 for docking with the robotic arm is in the specified position (i.e., the correct picking position), so that there is no need to set the visual positioning component in the related technology on the robotic arm, and avoid the problems in the related technology.
[0043] In this embodiment of the present disclosure, the gripper of the positioning part can apply pressure to the side of the test fixture. When the gripping surface of the gripper is in contact with the side of the test fixture, the test fixture can have a preset position, ensuring that the structure on the test fixture used to connect with the robotic arm is in the correct picking position. Thus, the robotic arm does not need to determine the position of the test fixture through visual positioning, which helps to improve the picking accuracy and efficiency.
[0044] In one exemplary embodiment, such as Figure 1As shown, this disclosure provides a fixture support device 100 and a testing device. The fixture support device 100 includes at least one positioning part 10. Each positioning part 10 has at least one gripper 11. The gripper 11 can move along a first direction. When the gripper 11 moves along the first direction to a first preset position, it can abut against at least a portion of the side of the test fixture 200, so that the test fixture 200 has a preset posture.
[0045] In some embodiments, such as Figure 5 As shown, the positioning part 10 includes two grippers 11. In the first direction, the two grippers 11 are arranged opposite each other and are located on both sides of the test fixture 200. When the two grippers 11 approach each other until the distance is equal to the thickness of the test fixture 200, the two grippers 11 can clamp the test fixture 200 so that the test fixture 200 has a preset position.
[0046] In other embodiments, such as Figure 8 As shown, the positioning part 10 includes at least one first gripper 11a and at least two second grippers 11b, in a first direction ( Figure 1 In the x-direction shown, the first gripper 11a and the second gripper 11b are respectively disposed on both sides of the test fixture 200. (See reference...) Figure 8 At least two second grippers 11b located on the same side of the test fixture 200 along the second direction ( Figure 1 The arrangement is shown in the z-direction, and the opposite direction of the second direction is where the test fixture 200 is assembled (e.g., the test fixture 200 is made of...). Figure 3 Exercise to Figure 2 The position of the fixture support device 100 is such that the projections of the first gripper 11a and the second gripper 11b on the preset plane are staggered, and the projection of the first gripper 11a is located between the second grippers 11b. The preset plane is a plane perpendicular to the first direction. (See reference...) Figure 8 It can be determined that the first gripper 11a and the two second grippers 11b can abut against three different positions of the test fixture 200. The three positions form a triangle, which helps to improve the gripping reliability.
[0047] In some other embodiments, such as Figure 9 As shown, the positioning part 10 includes a gripper 11, and the fixture carrying device 100 also includes a support part 20 (described in detail below). The side wall of the support part 20 is provided with a protruding structure 211, and the side of the protruding structure 211 facing the test fixture 200 is parallel to the side of the test fixture 200. Along the first direction ( Figure 1As shown in the x-direction, the gripper 11 and the protrusion structure 211 are respectively disposed on both sides of the test fixture 200. When the gripper 11 of the positioning part 10 moves towards the protrusion structure 211 along the first direction, the test fixture 200 can be clamped and fixed so that the test fixture 200 has a preset posture when the distance between the gripper 11 and the protrusion structure 211 is equal to the thickness of the test fixture 200. In this embodiment, the shape and position of the protrusion structure 211 are not limited too much; it is only necessary to ensure that the gripper 11 can be aligned with a part of the structure of the protrusion structure 211 in the first direction.
[0048] Among them, see Figures 1 to 6 The surface of the gripper that faces the test fixture is the clamping surface, and the clamping surface is along the second direction ( Figure 1 The second direction extends along the z-direction shown in the diagram, and is parallel to the direction in which the test fixture is assembled into the fixture support device. For example, the clamping surface of the gripper is rectangular, with the long side of the rectangle parallel to the second direction. In this embodiment, by setting the clamping surface of the gripper to extend along the assembly direction of the test fixture, the contact area between the gripper and the test fixture in the assembly direction is increased, which helps to enhance clamping reliability and ensure that the test fixture is in a preset position when clamped by the gripper.
[0049] In one exemplary embodiment, such as Figure 1 As shown, this embodiment of the present disclosure provides a fixture support device 100 and a testing device. The fixture support device 100 includes at least one positioning part 10, each positioning part 10 having at least one gripper 11. The gripper 11 is movable along a first direction. When the gripper 11 moves along the first direction to a first preset position, it can abut against at least a portion of the side surface of the testing fixture 200, so that the testing fixture 200 has a preset posture. The fixture support device 100 provided in this embodiment may include any structure provided in the foregoing embodiments of this disclosure.
[0050] like Figure 1 As shown, the fixture support device 100 also includes a support portion 20, which includes two brackets 21, the two brackets 21 being aligned along a third direction ( Figure 1 As shown in the y-direction, the two supports 21 are arranged such that the distance between them is greater than the size of the test fixture 200 in the third direction, which is perpendicular to the first direction. In this embodiment, by setting the distance between the two supports 21 to be greater than the size of the test fixture 200 to facilitate the placement of the test fixture 200, and since each support 21 is provided with at least one positioning part 10, and the gripper 11 of the positioning part 10 is located on the opposite side of the two supports 21, the positioning part 10 can clamp and fix at least a portion of the side of the test fixture 200.
[0051] In one example, see Figure 1 and Figure 4 In third-party ( Figure 1In the y-direction shown, the distance between the two supports 21 is 2mm larger than the size of the test fixture 200.
[0052] Among them, such as Figure 1 As shown, the support 20 also includes a base 22, which is connected to the bottom end of the bracket 21 and located between the two brackets 21. The base 22 provides support for the bottom surface of the test fixture 200. See also [reference needed] for one example. Figure 1 The base 22 comprises two independent parts, which are respectively connected to two supports 21. Each support 21 and the base 22 connected to it form a whole. It can be understood that the distance between the two supports 21 can be adjusted along the third direction according to the size of the test fixture 200 in the third direction, thereby improving the application scenarios of the fixture bearing device 100.
[0053] See Figure 1 and Figure 5 The top surface of the base 22 is provided with a receiving groove 221, in the first direction ( Figure 1 In the x-direction shown, the size of the receiving slot 221 is larger than the size of the test fixture 200. (See also...) Figure 1 It can be determined that the base 22 is used to provide support for the test fixture 200 in the direction of gravity. By providing a receiving groove 221 on the base 22, the side wall of the receiving groove 221 can limit the test fixture 200 to prevent the test fixture 200 from tilting severely if it is not clamped by the positioning part 10.
[0054] Among them, such as Figure 1 As shown, the bracket 21 is along the second direction ( Figure 1 Extending in the z-direction shown, the first direction ( Figure 1 The x-direction, the second direction, and the third direction are shown in the diagram. Figure 1 As shown in the diagram (y-direction), the two supports are perpendicular to each other, meaning that the bracket 21 and the base 22 are arranged in an L-shape. (See attached diagram) Figure 1 In the second direction, the positioning part 10 is disposed at the end of the bracket 21 away from the base 22. It can be determined that when the grippers 11 of the positioning part 10 move away from each other, the grippers 11 and the receiving groove 221 on the base 22 limit the top and bottom ends of the test fixture 200 respectively.
[0055] According to an exemplary embodiment of the present disclosure, this embodiment provides a testing device, which includes a control unit, a robotic arm, and a fixture support device 100 provided in any of the foregoing embodiments of the present disclosure. The control unit is electrically connected to the robotic arm and the fixture support device 100. The fixture support device 100 is used to temporarily store the test fixture 200. According to the actual scenario requirements, the robotic arm can be configured to take out the electronic product to be tested and the test fixture 200, or to put the tested electronic product and the test fixture 200 into the fixture support device 100.
[0056] Since the testing equipment is equipped with the fixture support device 100 provided in this embodiment, there is no need to install a vision positioning component on the robotic arm, thus avoiding the influence of the wiring of the vision positioning component on the movement of the robotic arm, and also avoiding the situation where the robotic arm does not move in place due to vision positioning error.
[0057] In some embodiments, the testing equipment further includes a drive unit connected to the positioning part 10 of the fixture support device 100 and electrically connected to the control unit. The drive unit can provide power to the positioning part 10 for the movement of the gripper 11 under the action of the control unit. The drive unit can be, for example, an air pump or a hydraulic pump.
[0058] The drive unit is also connected to the free end of the robotic arm. When the free end of the robotic arm is aligned with the vacuum connection structure 201 on the test fixture 200, the drive unit can draw a negative pressure between the free end and the vacuum connection structure 201 to form a negative pressure environment, so that the robotic arm and the test fixture 200 form an adsorption connection. In this embodiment, the drive unit is connected to the positioning unit 10 and the robotic arm through two air supply channels. At most one of the first and second air supply channels can be in a conductive state at the same time. Therefore, when the drive unit applies negative pressure to the robotic arm to form an adsorption connection between the robotic arm and the test fixture 200, the grippers 11 of the positioning unit 10 are not holding the test fixture 200, so there is a large gap between the grippers 11, which is beneficial for the robotic arm to take the test fixture 200 from the fixture carrying device 100 or put the test fixture 200 into the fixture carrying device 100. When the drive unit applies negative pressure to the positioning unit 10 to clamp the test fixture 200 with the grippers 11, the adsorption connection between the robotic arm and the test fixture 200 is broken. After the robotic arm places the test fixture 200 in the fixture holding device, it can be raised to perform other actions.
[0059] As can be seen from the above, in the testing equipment provided in this embodiment, the drive unit can only provide negative pressure to one of the robotic arm and the positioning unit 10 at the same time, which can avoid the robotic arm pulling the testing fixture 200 when the positioning unit 10 clamps the testing fixture 200, thus preventing damage to the testing fixture 200.
[0060] The testing equipment provided in this embodiment first requires alignment and calibration. A sample fixture (identical in shape to the test fixture) is placed in the fixture carrier, and the grippers of the positioning unit clamp the sample fixture, giving it a preset pose, thus positioning the vacuum connection structure on the sample fixture in a preset position. Next, the free end of the unloaded robotic arm is moved to the preset position. The operator can then calibrate the free end to ensure it is aligned with the vacuum connection structure and record the six-axis parameters (x, y, z, rx, ry, rz) of the free end. Here, x, y, and z represent the position coordinates of the free end in three-dimensional space, and rx, ry, and rz represent the angular parameters of the free end's rotation around the x, y, and z axes, respectively. Then, based on the determined six-axis parameters (x, y, z, rx, ry, rz), the robotic arm can be controlled to move and pick up or place the test fixture at the preset position.
[0061] The working principle is as follows:
[0062] When the robotic arm needs to pick up the test fixture clamped by the positioning part in the fixture carrier device: First, the control unit controls the free end of the robotic arm to move to a preset position so that the free end is aligned with the vacuum connection structure of the test fixture. Then, the control unit controls the drive unit to stop providing negative pressure to the positioning part, so that the gripper of the positioning part moves away from the test fixture in the first direction. Then, the control unit drives the drive unit to provide negative pressure to the free end of the robotic arm, so that the robotic arm is adsorbed and connected to the test fixture. Finally, the control unit controls the free end to rise in height and move in the horizontal direction.
[0063] When the robotic arm needs to place the test fixture into the fixture carrier: First, the control unit controls the drive unit to generate negative pressure at the free end of the robotic arm to ensure that the robotic arm and the test fixture are adsorbed and connected, and the grippers of the fixture carrier move away from each other. Then, the control unit controls the free end of the robotic arm to move to a preset position so that the test fixture enters the fixture carrier. Then, the control unit controls the drive unit to stop providing negative pressure to the robotic arm and controls the drive unit to provide negative pressure to the positioning unit so that the grippers of the positioning unit move in the first direction to clamp the test fixture. Finally, the control unit controls the free end to rise in height and move in the horizontal direction.
[0064] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.
[0065] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.
Claims
1. A tool carrier apparatus, characterized by, It includes at least one positioning part, each positioning part having at least one gripper, the gripper being movable along a first direction, the first direction being perpendicular to the direction of loading and / or unloading samples in the fixture carrying device; When the gripper moves along the first direction to the first preset position, it can abut against at least a portion of the side of the test fixture, so that the test fixture has a preset posture.
2. The tool carrier apparatus of claim 1, wherein, The positioning part includes two grippers, which are facing each other and located on both sides of the test fixture in the first direction.
3. The tool carrier apparatus of claim 1, wherein, The positioning part includes at least one first gripper and at least two second grippers. Along the first direction, the first gripper and the second gripper are respectively disposed on both sides of the test fixture. The at least two second grippers are arranged along the second direction, which is parallel to the direction in which the test fixture is assembled into the fixture support device. The projections of the first gripper and the second gripper on a preset plane are offset, and the preset plane is a plane perpendicular to the first direction.
4. The tool carrier apparatus of claim 1, wherein, The surface of the gripper that faces the test fixture is the clamping surface; The clamping surface extends along a second direction, which is parallel to the direction in which the test fixture is assembled into the fixture support device.
5. The jig support device according to any one of claims 1-4, characterized in that, The fixture support device further includes a support portion, which comprises two brackets; The two brackets are arranged along a third direction, and each bracket has at least one positioning part on its side wall. The grippers of the positioning part are located on opposite sides of the two brackets, and the first direction is perpendicular to the third direction. In the third direction, the distance between the two supports is greater than the size of the test fixture.
6. The tool carrier apparatus of claim 5, wherein, The support also includes a base, which is connected to the bottom end of the bracket and is located between the two brackets; The top surface of the base is provided with a receiving groove, and in the first direction, the size of the receiving groove is larger than the size of the test fixture.
7. The tool carrier apparatus of claim 6, wherein, The bracket extends along a second direction, and the first direction, the second direction, and the third direction are mutually perpendicular to each other; In the second direction, the positioning part is disposed at the end of the bracket away from the base.
8. A test apparatus, characterized by, Includes the fixture support device as described in any one of claims 1-7.
9. The test apparatus of claim 8, wherein, The testing equipment also includes a robotic arm configured to transport test fixtures to place the test fixtures into the fixture carrier and / or remove the test fixtures from the fixture carrier.
10. The test apparatus of claim 9, wherein, The testing equipment also includes a drive unit, which is connected to the positioning unit of the fixture support device. The drive unit is used to provide power to the positioning unit for the movement of the grippers.
11. The test apparatus of claim 10, wherein, The drive unit is also connected to the robotic arm. When the free end of the robotic arm is facing the test fixture, the drive unit is used to create a negative pressure environment between the free end and the test fixture.