Grasping pliers

Abstract

An exemplary gripper may include: a base; two or more fingers attached to the base, each finger movable toward and away from one or more of the other fingers; and one or more ports on the base or on one or more of the fingers for providing suction through a vacuum.

Description

REFERENCE TO RELATED APPLICATION

[0001] Priority is hereby claimed to U.S. Provisional Application No. 62 / 056,092, filed September 26, 2015. TECHNICAL FIELD

[0002] This description generally refers to a gripper for use, for example, with an automated system such as, but not limited to, a robotic inspection system. GENERAL STATE OF THE ART

[0003] Robotic grippers can be custom-developed for specific applications. Multipurpose robotic grippers exist that mimic the human hand, use jamming technology, or utilize vacuum pickers. Mechanical, hand-like grippers and clamp grippers can sometimes be too large to pick up small objects. Vacuum pickers can be limited by the amount of smooth surface available on an object.

[0004] WO 2013 / 126 048 A1 describes systems and computer-implemented methods for automatically picking up objects or products in a material handling facility. In one example, a system comprises a first sensor; a conveyor; a robotic hand with multiple fingers, each finger having one or more suction cups attached thereto; a memory; and one or more processors, all interconnected.The memory includes program instructions executable by the one or more processors to implement a picking process component configured to: (i) receive sensed information about an article or product delivered on the conveyor from the first sensor; (ii) generate a picking plan comprising processor-executable instructions to control the robot hand to pick up the article or product; and (iii) control the robot hand to pick up the article or product from the conveyor by executing the generated picking plan while selectively activating the one or more suction cups.

[0005] US 5,050,919 A ​​describes a handheld device for holding objects that grips multiple types of objects using different gripping modes. The device comprises at least two housings with a variable spacing therebetween, first drive mechanisms for moving the housings to vary the spacing therebetween, and a first holding mechanism attached to each housing and having at least two first finger elements. The first holding mechanism opens and closes the first finger elements to clamp a first object through the movement of the housings by the first drive mechanism.The device also includes a second holding mechanism mounted on each housing for holding a second object, the second holding mechanism having second finger elements slidably guided by the first finger elements, the distal end of each second finger element serving as a holding portion for holding the second object, and second drive mechanisms housed in the housings for sliding the second finger elements.

[0006] DE 11 2010 003 290 T5 describes a humanoid robot comprising a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms extend movably from a respective one of the pair of shoulders. Each of the arms has multiple arm joints. The neck extends movably from the torso along the primary axis. The neck has at least one neck joint. The head extends movably along the primary axis from the neck. The head has at least one head joint. The shoulders are tilted relative to each other at a shoulder angle defined between the two shoulders, thus defining a workspace between the shoulders.

[0007] JP 2014-76522 A describes a robot hand comprising a finger unit including a first knuckle portion supported on a predetermined base portion and a second knuckle portion supported on the first knuckle portion; a drive portion including an externally threaded screw rotatable about a predetermined screw axis by a predetermined drive source, and an internally threaded screw screw-coupled to the externally threaded screw and moving in an axial direction of the screw axis in accordance with rotation of the externally threaded screw, the internally threaded screw and the first knuckle portion being connected to each other so that the first knuckle portion moves in conjunction with the movement of the internally threaded screw;and a connecting portion connecting the first ankle portion and the second ankle portion such that the second ankle portion moves in conjunction with the movement of the first ankle portion.;

[0008] US 2014 / 0 062 516 A1 describes an automatic test system that includes a ground connection system. The ground connection system is equipped with a universal assembly table for use with receiver and test interface modules for electronic assembly and testing of a wide variety of electronic components or units under test. The test interface module of the assembly table contains MEMS-based spring contacts that provide high-speed micro-test channels to establish a signal connection between the components or units under test and the tester, maintaining signal integrity up to 50 GHz without significant signal loss distortion.

[0009] US 2014 / 0 197 652 A1, JP 2014 - 151 371 A and JP 2008 - 207 263 describe conventional end effectors or robot hands. SUMMARY

[0010] A gripper according to the invention is defined in claims 1 and 15, and a testing device according to the invention is defined in claim 14. Advantageous developments of the present invention are the subject of the dependent claims.

[0011] Features that are part of the independent claims but are presented as optional in the following description are not optional despite this description.

[0012] An exemplary gripper comprises: a base; two or more fingers attached to the base; and one or more ports disposed on the base or on at least one of the two or more fingers to provide suction through a vacuum. The exemplary gripper may include one or more of the following features, either alone or in combination.

[0013] Each of the two or more fingers may include a plurality of parts connected to one another at and movable about one or more joints. Each of the two or more fingers may have an inner surface facing one or more other fingers and an outer surface facing away from one or more other fingers. The one or more terminals may be located on the inner surfaces of the fingers. The one or more terminals may be located on the outer surfaces of the fingers. At least one of the two or more fingers may have a tip configured to face away from the tip, and at least one of the one or more terminals may be disposed on the tip. At least one of the terminals may be located on the base.

[0014] Each of the two or more fingers may have an inner surface facing the other of the fingers, an outer surface facing away from the other of the fingers, and a tip that may be configured to face away from the base. For each of the fingers, at least one of the terminals may be located on at least two of the inner surface, the outer surface, and the tip. At least one of the terminals may also be located on the base.

[0015] The gripper may further comprise one or more vacuum sources for generating a vacuum for the one or more ports; and one or more control elements for controlling the vacuum sources to generate the vacuum. The one or more control elements may be configured (e.g., programmed or designed) to control the one or more vacuum sources to apply a vacuum to individual ports independently of one another.

[0016] The gripper may comprise a cannula disposed in the base, which can be extended from the base and retracted into the base. A port may be located on the cannula (for example, at the tip of the cannula) for providing suction through a vacuum. A cannula may be located in at least one of the fingers, which can be extended from the at least one of the fingers and retracted into the at least one of the fingers. A port on the cannula (for example, at the tip of the cannula) can provide suction through a vacuum. Each finger may be flexible toward and away from an interior space of the gripper.

[0017] Example automatic test equipment (ATE) may include one or more instruments for testing a device under test (DUT); and a gripper for grasping the DUT during movement of the DUT relative to an interface to the one or more instruments. The gripper may include a base; two or more fingers attached to the base, each finger having and being movable about one or more hinged joints; and one or more ports on the base or on one or more of the fingers for providing suction through a vacuum.

[0018] An exemplary gripper may include: a base; two or more fingers attached to the base, each finger being movable toward and away from one or more other of the fingers; and one or more ports on the base or on one or more of the fingers for providing suction through a vacuum. The exemplary gripper may include one or more of the following features, either alone or in combination.

[0019] Each of the fingers may have an inner surface facing one or more other fingers and an outer surface facing away from one or more other fingers. The one or more terminals may be located on the inner surfaces of the fingers. The one or more terminals may be located on the outer surfaces of the fingers.

[0020] At least one of the plurality of fingers may have a tip movable to face away from the tip, and at least one of the one or more terminals may be disposed on the at least one tip. The gripper may also include one or more vacuum sources for creating a vacuum for the one or more terminals and one or more control elements for independently controlling the vacuum sources.

[0021] Any two or more of the features described in this specification may be combined to form embodiments not expressly described herein.

[0022] Automated systems and methods with which the embodiments described herein, or portions thereof, may be used may be implemented as / controlled by a computer program product including instructions stored on one or more non-transitory, machine-readable storage media and executable on one or more processing devices to control (e.g., coordinate) the operations described herein. The automated systems and methods including the gripper described herein, or portions thereof, may be implemented in an apparatus, method, or electronic system that may include one or more processing devices and memory for storing executable instructions for implementing various operations.

[0023] The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features and advantages will be apparent from the description and drawings, and from the claims. DESCRIPTION OF THE DRAWINGS Fig. 1A, Fig. 1B, Fig. 1C and Fig. 1D show perspective views of exemplary vacuum grippers. Fig. 2 shows a side view of an example vice gripper. Fig. Figure 3 shows a side view of an example granular gripper being operated to grip three different types of objects. Fig. 4 is a perspective view of an exemplary machine claw. Fig. 5 is a perspective view of an exemplary gripper. Fig. Figure 6 is a perspective view of an exemplary grasping forceps with vacuum ports on both of its fingers and the base. Fig. 7 is a perspective view of an exemplary gripper showing a different number and configuration of vacuum ports than those shown in Fig. 6 shown. Fig. Figure 8 is a perspective view of an exemplary grasping tong showing a finger folded over to expose a rear vacuum port. Fig. 9 is a perspective view of an exemplary grasping forceps showing a cannula extending from the base of the grasping forceps. Fig. 10 is a perspective view of an exemplary grasping forceps showing a cannula extending from a fingertip of the grasping forceps. Fig. 11 is a perspective view of an exemplary robot in an inspection system utilizing a gripper of the type described herein.

[0024] The same reference numerals in different figures indicate the same elements. DETAILED DESCRIPTION

[0025] Robotic grippers, also known as end-of-arm tooling (EOAT) or end effectors, can be used to pick up objects for transport or assembly. For example, in automatic test equipment (ATE), a robotic gripper can pick up a device under test (DUT), and a robotic arm to which the gripper is attached can move the DUT between a loading station and a test slot or test head. At this point, the gripper can release the object, and the arm can move the gripper to another device. Grippers can be customized and specifically designed for the object to be moved. For example, a gripper can be designed both in structure and size to pick up a DUT in an ATE.

[0026] Although the grippers illustrated herein are described in the context of testing and ATE, the grippers described herein may be used in any suitable robotic or automated process, including non-testing applications.

[0027] A vacuum gripper can use a vacuum to lift an object. The object being lifted typically has a smooth surface against which a vacuum is applied. Fig. 1A, Fig. 1B, Fig. 1C and Fig. 1D shows example vacuum grippers 10, 11, 12, and 13, respectively, which can be used to pick up small items, such as electronic components, or flat objects, such as small pieces of sheet metal, glass, or paper. For a vacuum gripper, the weight of an object that can be lifted by a vacuum may be limited by the difference between the negative pressure and the ambient atmospheric pressure, divided by the area to which the negative pressure can be applied. For example, a 100-gram object at sea level requires a minimum force of approximately 0.981 N to be lifted. With a nominal atmospheric pressure at sea level of 101.325 Pa, a minimum area of ​​0.981 / 101.325 = 9.68 x 10-6 m 2 or 9.68 mm 2required to lift the object with a perfect vacuum and without acceleration. Due to imperfections in vacuums and vacuum seals, large-area conventional vacuum grippers have limitations. For example, vacuum gripping has so far been best applied to lightweight objects, such as electronic components, or objects with large and smooth surfaces, such as glass panes. Conventional vacuum grippers are not always well suited for picking up flexible objects, porous objects, objects with a rough surface, objects with a high aspect ratio, heavy objects with small surface areas, or objects with unpredictable shapes.

[0028] A multi-purpose mechanical gripper can use a grasping or pinching motion to grasp an object. A mechanical gripper utilizes friction to maintain a grip on an object. The use of elastic materials, such as rubber, on a contact surface of the mechanical gripper (e.g., the surface that comes into contact with the object being picked up) can allow some conformance of the contact surface to the shape of the object being picked up, thereby increasing friction. A vise gripper is an example of a mechanical gripper.

[0029] The vice gripper 15 from Fig. 2 functions like a bench vise. Two movable jaws 16, 17 (or one movable and one fixed jaw) open and close by electric or pneumatic actuation. The object to be gripped (not shown) fits between the two jaws and is able to withstand the force exerted on its (possibly small) contact area. The type of object that can be gripped may be limited by the extent to which the jaws can open and the degree to which the jaws can fully close (known as the jaw stroke). A basic vise gripper may be unable to grip objects that have an insufficient contact area relative to their weight (such as a steel ball), objects that can be damaged by the force necessary to achieve sufficient friction (such as a piece of coral), or objects with low friction (such as an oily part).In addition, a vise gripper, like a human hand, may have difficulty gripping very thin or delicate objects, or objects of varying sizes. It can be difficult to sufficiently surround a relatively thin object with the tips of the jaws to achieve sufficient frictional force, especially if the vise gripper is also capable of gripping very large objects.

[0030] Referring to Fig. 3, a granular gripper 19 uses a granular substance within a flexible membrane 18 to pick up an object. When forced into contact with an object 20, 21, or 22, the granular gripper 19 conforms to the size of the object, particularly if the internal granular substance is loosely packed. The granules are wedged by reducing their volume, applying a vacuum, or by mechanical displacement. The clamped gripper hardens and exerts sufficient force on the side of an object to lift it by friction. The object can also be lifted by surrounding elements on the object or by forming a region of reduced air pressure above the object.

[0031] Granular grippers may require the object to be thick enough to have a side where some frictional force can be exerted, or to have a protrusion that the gripper can largely surround. Granular grippers may also require the object to be large relative to the granules, allowing the granules to flow when not clamped. Granular grippers may also require the gripper to be significantly wider than the object to be gripped, allowing the gripper membrane and granules to surround the object on at least two sides. Therefore, granular grippers may not be suitable for picking up relatively small objects (e.g., small screws, small electronic components), objects of varying sizes, or flat objects (e.g., sheet metal, paper).Finally, granular grippers can, in some cases, generate electrostatic discharge (ESD) due to the large volume of air generally used for clamping and release and the triboelectric charge transfer between the grains as they rub against each other.

[0032] Fig. Figure 4 shows an exemplary machine claw 25, which is a gripper that can grip using less friction and can be used to lift an object by surrounding (and possibly compressing) the object. A sufficiently powerful machine claw can lift an object that a vise gripper, such as the one shown in Fig. 3. Furthermore, such a gripper can pick up objects with relatively low friction or delicate objects if it is possible to surround the object from below. However, if it is not possible to surround an object, for example, a thin piece of metal or a small electronic component, the machine claw may not be able to grasp the object.

[0033] The use of elastic materials to increase friction can also be problematic. These materials can wear out and require replacement. They can also limit the agility of a gripper. For example, a gripper with an elastic pad may not be able to grasp a relatively small or thin object. The part may become embedded (stuck) in the pad, or the pad may deform too much before sufficient friction is achieved to effect lifting.

[0034] An example gripper 26 is shown in Fig. 5. The grasping tongs 26 are configured to have a structure and function based on (and in some cases similar to) the structure and function of a human hand. The exemplary grasping tongs of Fig. 5 has three fingers 27, 28, 29, which act against each other (e.g., opposite each other) or against a fixed base 30 to which the fingers are attached. Although in Fig. 5, only three fingers are shown, the grasping tongs 26 may include any number of two or more such fingers. For example, the grasping tongs 26 may include a number of two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, and so on.

[0035] In the example of Fig. 5, each of the fingers includes several parts that are connected to one another via one or more finger joints and are movable about these. For example, finger 27 includes parts 31, 32, 33. Parts 31 and 32 are connected at joint 35, and parts 32 and 33 are connected at joint 36. In the example of Fig. 5, there are three parts and two joints per finger. However, in some embodiments, there may be more or fewer than three parts per finger and more or fewer than two joints per finger. For example, in some embodiments, there may be two parts and one joint per finger; four parts and three joints per finger; five parts and four joints per finger; six parts and five joints per finger; seven parts and six joints per finger; eight parts and seven joints per finger; and so on. In some embodiments, each finger may include a single part and no joints, for example, each finger may be a single rigid part. In some embodiments, one or more fingers may be integral parts of the base and immovable relative to one or more other fingers. For example, a finger may be a rigid structure extending from the base and opposing the other, movable fingers.Such a finger can act as a counter-holder, which is grasped by one or more other, actuated fingers and cannot be actuated itself.

[0036] In the example of Fig. 5, each finger has the same number of parts and the same number of joints, resulting in a substantially identical configuration for each finger. In some embodiments, different fingers may have a different number of parts and joints, resulting in different configurations for each finger. In some embodiments, the gripper may have one or more fingers on one side 38 of the base 30 (two fingers 27, 28 are shown in Fig. 5) and one or more other fingers on the other side 39 of the base 30 (one finger 29 is shown in Fig. 5). In some embodiments, a finger may resemble a human thumb and be opposite all other fingers, although this may not be the case in all embodiments. In some embodiments, the finger that resembles the human thumb may have a fewer number of parts and joints than the other fingers. For example, the finger that resembles the human thumb may have two parts and one joint, while the other fingers in such an embodiment may each have three parts and two joints (or any other suitable number of parts and joints).

[0037] In the example of Fig. 5, the base 30 is rectangular and rigid; however, in other embodiments, the base 30 may have a different shape. For example, the base 30 may be square, oval, round, pentagonal, hexagonal, heptagonal, octagonal, or any other shape suitable for accommodating a plurality of fingers, such as those described herein, and optionally the electronics, hydraulics, pneumatics, or other elements used to control the fingers. In some embodiments, such as those shown in Fig. 5, the fingers may be the same length or approximately the same length. In some embodiments, different fingers may have different lengths. For example, one finger may be longer or shorter than the other fingers; two fingers may be longer or shorter than the other fingers; three fingers may be longer or shorter than the other fingers; four fingers may be longer or shorter than the other fingers; and so on.

[0038] As in the example in Fig. 5, the grasping forceps includes two or more fingers that act against each other (e.g., opposite each other) or against the fixed base. That is, in some embodiments, the fingers can each move toward each other in a manner similar to the action of the human hand. The individual parts can be controllable along the joints to move and fold inward toward the other fingers and / or rotate about a corresponding joint. When interacting in this manner, two or more of the fingers can contact each other and conform to the shape of an object to be picked up and moved. By contacting opposing or substantially opposing fingers against an object, a frictional force can be generated to grasp and, in some cases, pick up (or lift) the object. In some embodiments, as discussed further below with respect to Fig. 6. Vacuum ports can be integrated into the fingers to expand the range of objects that can be picked up by the gripper.

[0039] Thus, as discussed above, the fingers may have a rigid shape, or they may be articulated. The gripper may be actuated electrically, hydraulically, pneumatically, or by any other suitable mechanism or mechanisms. For example, two or more (e.g., all) of the fingers may be controlled individually or collectively to generate movement suitable for grasping and picking up an object. As described herein, each finger portion may be controlled to pivot and / or rotate its corresponding joint to implement the movements described herein. In some embodiments, each finger portion is individually controllable. As previously mentioned, in some embodiments, the control of the portions may be coordinated to achieve a desired configuration.The control may be implemented via one or more computer programs (consisting of instructions / code) executable on one or more computers external to the gripper, or via one or more computer programs executable on one or more control elements or other processing devices located locally on the gripper itself, on a robot arm to which the gripper is attached, or on a robot to which the gripper is attached. The control signals from the computer(s) or other processing devices may be sent to the gripper (or portions thereof) via wired or wireless connections, or a combination of wired and wireless connections.

[0040] In operation, the grasping tong 26 picks up objects through friction created between two or more fingers, e.g., by surrounding the object with the fingers and clamping the object. In some embodiments, an entire finger or an individual part or parts thereof may be bent back, e.g., away from the base. For example, the part 31 may be bent back along the direction of arrow 40 so that the part 31 is substantially parallel to the base 30, or bent back beyond that position. In some embodiments, various parts of the grasping tong may be controllable to bend back in this manner. For example, each finger may be bent to be parallel or substantially parallel to base 30, thereby resembling an open hand in which the palm / base is exposed.

[0041] Fig. 6 shows an exemplary gripper 41 of the Fig. 5, where vacuum connections are integrated on one or more of the fingers and / or on the base. In this example, the gripper closes Fig. 6 the overall structure and function of the gripper of Fig. 5, including the various embodiments described herein. However, this may not be the case in all embodiments.

[0042] In the example of Fig. 6, one or more vacuum ports are integrated into the tips of the fingers 44, 45, 46 (e.g., an exemplary vacuum port 42 is shown), one or more vacuum ports 47 are integrated into the base 49, one or more vacuum ports are integrated into the backs of the fingers (an exemplary vacuum port 50 is shown), one or more vacuum ports are integrated into one or more (e.g., all) parts of the fingers (examples are shown in Fig. 7) and / or one or more vacuum ports are integrated into the uppermost pads (the front surfaces) of the fingers (exemplary vacuum ports 51 and 52 are shown). The vacuum force generated by these vacuum ports can be used to pick up objects, either for movement as is or to be later grasped by mechanical actuation of the gripper. The amount of vacuum force generated for each port may vary, if desired, based on the level of force required to pick up an object or to contribute to the picking up of the object (with the remaining force generated by gripping achieved by mechanical actuation of the gripper, e.g., by force exerted by contact with the fingers).

[0043] Fig. Figure 7 shows an embodiment of a gripper 55 of the type described here, wherein the number and configuration of the vacuum connections differ from those in Fig. 6 shown. In Fig. 7, each circle represents a vacuum port. The number, sizes, shapes, and arrangements of vacuum ports on a gripper may vary and are not limited to the examples shown here.

[0044] The vacuum force is analogous to a human picking up an object by moistening their fingers to create surface tension before grasping the object by pressing against a second finger or the palm of the hand for subsequent movement under higher acceleration. Here, vacuum is used instead of surface tension. In some embodiments, the subsequent grasping may not be necessary if the object is light enough and the vacuum force is large enough. However, in some embodiments, the subsequent grasping may be necessary if the object is not light enough and / or the vacuum force is not large enough. The vacuum force can be a function of the size of the object and the gripping force exerted by the fingers.For example, assuming an object of the same size, a larger vacuum force is required when no gripping force is used, while a smaller vacuum force can be used when gripping force is also used. In this regard, the terms "large" and "small" used here do not have specific numerical meanings, but rather are used to denote relative size.

[0045] By folding multiple fingers out of the way, a single vacuum port on a fingertip can be used to selectively lift an object from a tight space or when surrounded by other objects. In this example, "out of the way" may refer, for example, to bending a finger away from a finger performing the lifting. In this example, only vacuum force is used to generate sufficient force to pick up an object; grasping by opposing fingers is not used. In some embodiments, depending on the structure of the grasper, different portions of each finger can be operated in this manner to pick up objects.For example, in some embodiments, two or more fingertips may be moved relative to an object to allow the vacuum ports on those fingertips to cooperate and collectively generate sufficient force to lift the object in the absence of gripping force.

[0046] If the gripper is used for non-vacuum-assisted gripping, the vacuum connections at the fingertips (e.g. connection 42 of Fig. 6) not be in contact with the grasped object, so that the terminals may have protruding elastic material, which may be small or large, without hindering gripping or wearing out the elastic material. This may not apply to vacuum terminals on a finger pad or base. That is, as described herein, the vacuum force on the front surfaces of one or more parts of the fingers may enhance the gripping force achieved by the contact between the object and the fingers. In the example from Fig. 6, the front part of each finger has a vacuum port, examples of which are the vacuum ports 51 and 52 (the vacuum port on the front part of the fingers 44 is shown in Fig. 6 (not visible due to the angle of this finger). Those parts of the fingers can also be used to grasp an object in this example. A vacuum force generated by the one or more vacuum ports on each front side can supplement the gripping force, and these together can achieve sufficient force to lift and move / accelerate an object. The amount of force required to lift an object is the total force required; however, the relative amounts of force generated by gripping and the vacuum ports can be arbitrarily controlled based on the achievable ranges of gripping forces and the achievable ranges of vacuum force.

[0047] In some embodiments, the fingers can be folded out of the way (rotated so that they are in the plane of the base or beyond). In this configuration, a flat object can be lifted from a surface by vacuum force generated by the one or more vacuum ports on the base. The fingers can then be folded around the object for subsequent movement under higher acceleration. Just as fingers on a human hand can be extended to expose the open palm for contacting a surface, the fingers of the grasping tongs can be controlled to allow the base 59, and thus one or more vacuum ports (e.g., 47) on the base, to make contact with a surface.

[0048] For standard, non-vacuum-assisted gripping, vacuum ports are available on the back of the fingers (e.g. port 50 of finger 44 in Fig. 6) may not be in contact with the grasped object, so the terminals may have protruding elastic material, which may be small or large without hindering gripping or wearing down the elastic material. The back of the fingers may include a cannula that extends beyond the body of the finger to allow greater selectivity in locating an object to be picked up. Objects picked up by terminals on the back of one finger may not be graspable by the other fingers unless one of the opposing fingers is longer and able to fold over the terminal. For example, as in Fig. As shown in Figure 8, the finger 44 can fold over to allow a vacuum port 50 to contact an object and lift the object using appropriate vacuum force. For example, if the finger 45 is long enough to contact the object, the gripping force can supplement the vacuum force.

[0049] Some embodiments of the gripping tongs described herein may include one or more of the following features, either alone or in combination. Some embodiments of the gripping tongs described herein may also include one or more features of the Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1D, Fig. 2, Fig. 3 and / or Fig. 4 include the gripper shown.

[0050] In some embodiments, the vacuum ports can be individually actuated, or a single actuation can be performed to control the vacuum force generated by the vacuum ports. For example, all vacuum ports can be connected to a single vacuum source to achieve vacuum force through the ports. The sizes of the ports can affect the amount of vacuum force achieved. In some embodiments, different vacuum sources can be connected to the different vacuum ports, allowing different vacuum ports of the same size to generate different vacuum forces. Different control methods can be used to disable suction at ports that are not in contact with an object.In cases of separately controllable vacuum sources, the one or more sources at different ports can, for example, be turned off or have their suction reduced. In some embodiments, including, for example, those using a single vacuum source, electromechanical switches can be controlled to open or close the vacuum ports individually and independently of each other.

[0051] One or more of the vacuum ports may include a cannula that can be selectively extended and retracted to provide improved selectivity and clearance when extended, and to provide improved protection and flexibility when retracted. The cannula may include a tube or the like that is extendable, hollow, and includes a port at a tip thereof to allow vacuum force to be generated at the end of the cannula. As a result, the cannula can be used in confined spaces to pick up objects using vacuum force and then retracted when not needed. For example, a cannula can extend from the base of the hand to pick up a flat object and then retracted while the object is being carried, with the fingers closing around the object.In some embodiments, a relatively small cannula can be extended from the tip of a finger to allow for greater selectivity in a confined space without the limitations of finger size. Each cannula and the vacuum force generated thereby can be separately and individually controlled by one or more computer programs, as described herein.

[0052] Fig. Figure 9 shows an example of a cannula 58 extending from the base 49 of the grasping forceps 41; and Fig. 10 shows an example of a cannula 59 extending from a tip of finger 45. In some embodiments, each finger and the base may include an extendable and retractable cannula. In some embodiments, an extendable and retractable cannula may be included only in a subset of the fingers or the base. In some embodiments, there may be more than one cannula per base or finger.

[0053] Different sizes and shapes of vacuum ports can be used in different parts of the gripper. The sizes and shapes of the vacuum ports can depend on the size of the gripper and the size of the object(s) the gripper is intended to pick up. Generally, for the same amount of vacuum suction, a larger port will produce less vacuum force than a smaller port. In this regard, the terms "large" and "small" used herein do not have specific numerical meanings, but rather are used to denote relative sizes.

[0054] The vacuum connections and associated features described herein may also be used in a vice-like gripper, such as those described in Fig. 2. For example, vacuum connections can be integrated into the sides of the vice-like gripper 15 ( Fig. 2). Therefore, this gripper can be used to hold small objects by vacuum alone or, optionally, by a combination of vacuum force and gripping force. In some embodiments, vacuum connectors of the type described herein and their associated features can optionally be incorporated in any of the Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1D, Fig. 2, Fig. 3 and / or Fig. 4 shown grippers can be integrated.

[0055] In some embodiments, a single gripper of the type described herein may be capable of lifting large objects (e.g., a standard-sized brick), small objects (e.g., a 0603 resistor), porous objects (e.g., a square of cotton fabric), irregular and delicate objects (e.g., a piece of coral), and / or thin objects (e.g., a 100 x 50 mm piece of 0.15 mm thick aluminum). Grippers of different sizes and shapes may be used to lift objects of different sizes and shapes.

[0056] The gripper described herein can be used in any suitable factory or warehouse application, including, but not limited to, testing applications such as automatic test equipment (ATE) used to test various components that need to be grasped and moved. Fig. Figure 11 shows an example of a robot 60 which is part of a testing system (e.g. ATE) and which has a gripper 61 of the type described here (e.g. the one shown in Fig. 5 to 10 shown).

[0057] Devices tested by such ATE may include any suitable semiconductors or other testable devices that can be contacted and lifted by the gripper described herein. The devices may include, but are not limited to, integrated circuit (IC) package-level devices used in various applications, such as solid-state drives. A solid-state drive (SSD) is a data storage device that uses read-only memory to store persistent data. The gripper described herein may be used to lift a device to be tested by the system, as described herein.

[0058] Referring to Fig.11, robot 60 includes a robot arm, such as arm 62, and a gripper 61 disposed at a distal end of the robot arm. The robot arm and gripper are controllable to lift a DUT 70 that has not yet been tested and transport the DUT to a test station, test bench, or other suitable test facility. The robot arm and gripper are also controllable to remove a device that has already been tested from the test station, test bench, or other suitable test facility.

[0059] In some embodiments, the test system also includes at least one computer in communication with the robot 60. The computer may include one or more processing devices (e.g., multiple computers or devices) and may be configured to provide inventory control of the test objects and / or an automation interface to control the device test system, including robot 60. Test electronics that are part of the test system may include one or more processing devices to perform test processes and monitor the status (e.g., temperature, power, etc.) of the test objects.

[0060] The exemplary grippers described herein, or automated systems employing these grippers, may be controlled using hardware or a combination of hardware and software. For example, a system including the gripper described herein may include various control elements and / or processing devices located at various locations. A central computer may coordinate operation among the various control elements or processing devices. The central computer, control elements, and processing devices may execute various software routines to effect control and coordination of the system's operation.

[0061] The operation of the system, including the gripper, may be controlled at least in part by means of one or more computer program products, for example one or more computer programs that are accessibly accommodated on one or more information carriers, such as one or more non-transitory, machine-readable media, for execution by one or more data processing devices or for controlling the operation thereof, e.g. a programmable processor, a computer, multiple computers and / or programmable logic components.

[0062] A computer program may be written in any form of programming language, including compiled or interpreted languages, and the program may be implemented in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may be configured to run on one computer, or on multiple computers at one location, or on multiple computers distributed across multiple locations and connected by a network.

[0063] Actions associated with implementing all or part of the testing and calibration may be performed by one or more programmable processors executing one or more computer programs to perform the functions described herein. All or part of the testing or calibration may be implemented using dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0064] Processors suitable for executing a computer program include, for example, both general-purpose and dedicated microprocessors, as well as all types of one or more processors of any type of digital computer. Typically, a processor receives instructions and data from a read-only memory area or a random-access memory area, or both. Elements of a computer (including a server) include one or more processors for executing instructions and one or more memory area devices for storing instructions and data. Generally, a computer also includes, or is operatively connected to, one or more machine-readable storage media, such as mass-produced PCBs for storing data, e.g., magnetic, magneto-optical, or optical disks, for receiving data or transmitting data, or both.Machine-readable storage media suitable for containing computer program instructions and data include all forms of non-volatile memory areas, including, for example, semiconductor memory area devices such as EPROM, EEPROM, and flash memory area devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM drives.

[0065] Any "electrical connection" as used herein can mean a direct physical connection or a connection that includes intermediate components but still allows electrical signals (including wireless signals) to flow between the connected components. Any suitable "connection" that includes an electrical circuit mentioned herein, unless otherwise noted, is an electrical connection and not necessarily a direct physical connection, regardless of whether the word "electrical" is used to further describe "connection."

[0066] Elements of various embodiments described herein may be combined to form other embodiments not separately set forth above. Elements may be omitted from the structures described herein without affecting their operation. Furthermore, various separate elements may be combined into one or more individual elements to perform the functions described herein.

Claims

[1] Gripper, comprising: a base; two or more fingers attached to the base; Cannulas in the fingers, each of which can be extended from the fingers and retracted into the fingers; a cannula disposed in the base and extendable from and retractable into the base; and one or more terminals arranged on the base or on at least one of the two or more fingers to provide a suction effect by means of a vacuum, wherein each of the two or more fingers has an inner surface facing one or more other of the fingers and an outer surface facing away from one or more other of the fingers; and wherein the one or more terminals are located on the inner surfaces and the outer surfaces of the fingers. [2] A gripper according to claim 1, wherein each of the two or more fingers comprises a plurality of parts connected to one another at one or more joints and movable thereabout. [3] The gripper of claim 1, wherein at least one of the two or more fingers has a tip that can be configured to face away from the socket, with at least one of the one or more terminals located at the tip. [4] Gripper according to claim 1 or 3, wherein at least one of the terminals is located on the base. [5] The gripper of claim 1, wherein each of the two or more fingers has an inner surface facing the other of the fingers, an outer surface facing the other of the fingers, and a tip that can be configured to face away from the base; and wherein for each of the fingers, at least one of the terminals is located on at least two of the inner surface, the outer surface, and the tip. [6] Gripper according to claim 5, wherein at least one of the terminals is also located on the base. [7] Gripper according to claim 1, further comprising: one or more vacuum sources for generating vacuum for the one or more terminals; and one or more controls to control the vacuum sources to create the vacuum. [8] Gripper according to claim 7, wherein the one or more control elements are configured to control the one or more vacuum sources to apply a vacuum to individual ports independently of one another. [9] Gripper according to claim 1, further comprising: a connection on the cannula to provide suction through a vacuum. [10] The gripper of claim 9, wherein the connector is located at a tip of the cannula. [11] Gripper according to claim 1, further comprising: a connection on the cannula to provide suction through a vacuum. [12] The gripper of claim 11, wherein the connector is located at a tip of the cannula. [13] The gripper of claim 1, wherein each finger is bendable toward and away from an interior of the gripper. [14] Automatic testing device (ATE), comprising: one or more instruments to test a device under test (DUT); and a gripper to grip the DUT during movement of the DUT relative to an interface to the one or more instruments, the gripper comprising: a base; two or more fingers attached to the base, each finger being connected by one or more joints and movable around these joints; Cannulas in the fingers, each of which can be extended from the fingers and retracted into the fingers; a cannula disposed in the base and extendable from and retractable into the base; and one or more terminals on the base or on one or more of the fingers to provide suction by a vacuum, wherein each of the two or more fingers has an inner surface facing one or more other of the fingers and an outer surface facing away from one or more other of the fingers; and wherein the one or more terminals are located on the inner surfaces and the outer surfaces of the fingers. [15] Gripper, comprising: a base; fingers attached to the base, each finger being movable towards and away from one or more of the other fingers; Cannulas in the fingers, each of which can be extended from the fingers and retracted into the fingers; a cannula disposed in the base and extendable from and retractable into the base; and one or more terminals on the base or on one or more of the fingers to provide suction by a vacuum, wherein each of the two or more fingers has an inner surface facing one or more other of the fingers and an outer surface facing away from one or more other of the fingers; and wherein the one or more terminals are located on the inner surfaces and the outer surfaces of the fingers. [16] The gripper of claim 15, wherein each of the fingers has an inner surface facing one or more other of the fingers and an outer surface facing away from one or more other of the fingers; and wherein the one or more terminals are located on the inner surfaces of the fingers. [17] The gripper of claim 15, wherein at least one of the fingers has a tip movable to be turned away from the socket; wherein at least one of the one or more terminals is located on at least one tip. [18] Gripper according to claim 15, further comprising: one or more vacuum sources for generating vacuum for the one or more terminals; and one or more controls to control the vacuum sources independently.

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