Robotic arm for optical module insertion testing

Abstract

A robotic arm for optical module insertion testing. The robotic arm comprises a multi-dimensional robotic arm (11), a robotic gripper (12) and a six-dimensional force sensor (13), wherein the robotic gripper is mounted at one end of the multi-dimensional robotic arm and comprises a first pickup member and a second pickup member, which are configured to pick up optical modules; the robotic gripper is adapted to pick up at the same time optical modules at different test stages on the basis of the first pickup member and the second pickup member; and the six-dimensional force sensor is mounted between the robotic gripper and the multi-dimensional robotic arm and configured to measure a force applied to the robotic gripper, and the robotic arm for optical module insertion testing controls the operation of the robotic gripper on the basis of the feedback from the six-dimensional force sensor. The robotic arm can automatically move and load / unload optical modules between test stations, thereby avoiding manual operation errors, facilitating the reduction of labor costs, and further ensuring the reliability of batch test results.

Description

Robotic arm for optical module insertion testing Technical Field

[0001] This invention relates to the field of optical module testing, and in particular to a robotic arm for optical module insertion testing. Background Technology

[0002] An optical module is an optoelectronic device that performs photoelectric and electro-optical conversion. The transmitting end of the optical module converts electrical signals into optical signals, which are then transmitted through the fiber optic connector. The receiving end then converts the optical signals back into electrical signals. The optical module is a core component of an optical communication network, and its performance directly determines the speed and stability of the optical communication link. To ensure that the optical modules leaving the factory meet the corresponding performance standards, they must undergo a series of rigorous tests before leaving the factory.

[0003] The existing optical module testing method mainly involves manually inserting test modules into the optical module to perform performance testing. In other words, the test operator manually operates the test instrument to complete the testing process of a single optical module step by step.

[0004] In this testing method, the optical module and test module are manually plugged in and out. The force applied is difficult to control precisely, and the accuracy of manual plugging and unplugging is affected by the worker's subjective skill. Without precise control of the force and accuracy, damage to the optical module or test module is easily caused, resulting in significant human error. Furthermore, the subjective influence of the test operators' methods leads to variations in operating habits and experience, resulting in non-standardized testing procedures and inconsistent test results, thus compromising product quality. The repetitive testing steps for optical modules can cause operator fatigue, increasing the risk of errors. Moreover, due to the numerous testing items for optical modules, and the relative independence between different test items and instruments, a single operator can only operate or observe one instrument and perform one testing step at a time. This results in low testing efficiency, failing to meet the demands of mass production. Existing optical module manufacturers have to invest heavily in manpower to increase testing capacity, leading to high labor costs. Summary of the Invention

[0005] One object of the present invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm for optical module insertion testing can automatically move and load / unload optical modules between various testing stations, thereby avoiding human operation errors and reducing labor costs, and also ensuring the reliability of batch testing results.

[0006] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm for optical module insertion testing is capable of picking up at least two optical modules at different testing stages at the same time, thereby enabling the simultaneous execution of the testing process of at least two optical modules in the corresponding test, thereby improving test throughput and efficiency.

[0007] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm for optical module insertion testing can measure the force and torque applied during operation in real time, achieve high-precision control and feedback, effectively avoid damage to the optical module, and thus avoid the risk of damage to the optical module during manual operation.

[0008] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm for optical module insertion testing can adjust the insertion and removal force of the optical module based on the perception of the applied force, thereby achieving force-controlled insertion and removal and avoiding damage to the optical module.

[0009] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm for optical module insertion testing includes a multi-dimensional robotic arm and a mechanical gripper mounted on one end of the multi-dimensional robotic arm. Based on the multi-dimensional robotic arm driving the mechanical gripper to move in multiple dimensions such as up, down, forward, backward, left, and right, the robotic arm can pick up and transfer optical modules, thereby realizing the automated transfer of optical modules.

[0010] Another object of the present invention is to provide a robotic arm for interleaving testing of optical modules, wherein the robotic gripper includes a first picking member and a second picking member, wherein the first picking member and the second picking member are used to pick up optical modules, and wherein the robotic arm can pick up two optical modules with different testing progress at the same time based on the first picking member and the second picking member, so as to improve the transfer efficiency of optical modules and facilitate the interleaving execution of optical module testing procedures.

[0011] Another object of the present invention is to provide a robotic arm for interleaving testing of optical modules, wherein the robotic gripper is positioned before the optical module that has completed testing is delivered to the unloading area based on the second pick-up member, and the optical module to be tested is inserted into the tester based on the first pick-up member, so as to interleave the movement of optical modules at different testing stages and realize the interleaved execution of the optical module testing process.

[0012] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the first picking component is selected as a first clamping fixture, and the second picking component is selected as a second clamping fixture or a negative pressure adsorption fixture. The first clamping fixture picks up the optical module by clamping both sides of the optical module, the second clamping fixture picks up the optical module by clamping the heat dissipation fins on the top of the optical module, and the negative pressure adsorption fixture picks up the optical module by adsorbing the top of the optical module. In this way, by selecting and combining different fixtures, the picking needs of different optical modules can be met.

[0013] Another objective of this invention is to provide a robotic arm for optical module insertion testing, wherein the robotic arm includes a six-dimensional force sensor, wherein the six-dimensional force sensor is installed between the robotic gripper and the multi-dimensional robotic arm, and based on the sensing of the lateral force on the robotic gripper, the insertion or removal force of the robotic gripper to insert or remove the optical module from the tester is controlled, thereby realizing force-controlled insertion and removal of the optical module, effectively avoiding the situation of violent insertion and removal of the optical module, and reducing the risk of damage to the optical module.

[0014] According to one aspect of the present invention, a robotic arm for optical module insertion testing is provided, wherein the robotic arm for optical module insertion testing comprises:

[0015] Multidimensional robotic arm;

[0016] A mechanical gripper, wherein the mechanical gripper is mounted on one end of the multi-dimensional robotic arm and includes a base and a first pickup and a second pickup disposed on the base, wherein the first pickup and the second pickup are used to pick up optical modules, the mechanical gripper is positioned before delivering the tested optical modules to the unloading area based on the second pickup, and inserting the optical modules to be tested into a tester based on the first pickup; and

[0017] A six-dimensional force sensor is installed between the mechanical gripper and the multi-dimensional robotic arm, and based on the perception of the lateral force on the mechanical gripper, the insertion or removal force of the mechanical gripper to insert or remove the optical module from the tester is controlled.

[0018] In one embodiment, the first pickup component is selected as a first clamping fixture, and the second pickup component is selected as a second clamping fixture or a negative pressure adsorption fixture. The first clamping fixture picks up the optical module by clamping both sides of the optical module, the second clamping fixture picks up the optical module by clamping the heat dissipation fins on the top of the optical module, and the negative pressure adsorption fixture picks up the optical module by adsorbing the top of the optical module.

[0019] In one embodiment, the first pickup and the second pickup are vertically and retractably disposed on different sides of the base, and the six-dimensional force sensor is mounted on the top surface of the base.

[0020] In one embodiment, the mechanical gripper includes a visual positioning sensor, wherein the visual positioning sensor and the first and second picking claws are disposed on different sides of the base.

[0021] In one embodiment, the mechanical gripper includes a third pickup element, wherein the third pickup element is selected as one of the second clamping fixture and the negative pressure adsorption fixture, and the second pickup element is selected as the other of the second clamping fixture and the negative pressure adsorption fixture, wherein the visual positioning sensor, the first pickup element, the second pickup claw, and the third pickup claw are disposed on different sides of the base.

[0022] In one embodiment, the mechanical gripper includes an adsorption device disposed at the bottom of the base and used to adsorb a corresponding tray.

[0023] In one embodiment, the first clamping fixture includes a first lifting device and a first gripper, wherein the first lifting device is mounted on the base, and the first gripper is mounted on the first lifting device and adapted to be driven by the first lifting device to move up and down relative to the base, wherein the first gripper includes two opposing gripping fingers. The second clamping fixture includes a second lifting device and a second gripper, wherein the second lifting device is mounted on the base, and the second gripper is mounted on the second lifting device and adapted to be driven by the second lifting device to move up and down relative to the base, wherein the second gripper includes two opposing sheet-like gripping fingers, the opening and closing range of the two sheet-like gripping fingers being smaller than the opening and closing range of the two gripping fingers. The negative pressure suction fixture includes a third lifting device and a pair of suction cups, wherein the third lifting device is mounted on the base, and the suction cups are mounted on the third lifting device and adapted to be driven by the third lifting device to move up and down relative to the base.

[0024] In one embodiment, the opposite sides of the two clamping fingers are respectively provided with buffer pads.

[0025] In one embodiment, the negative pressure adsorption fixture includes a suction cup bracket, wherein the suction cup bracket is mounted on the third lifting device and is adapted to be driven by the third lifting device to move up and down relative to the base, wherein the suction cup bracket includes a mounting groove in which two suction cups are movably mounted.

[0026] In one embodiment, the visual positioning sensor includes a CCD camera and a ring light source, wherein the ring light source is disposed below the CCD camera and has a through hole in its center, and the lens of the CCD camera is positioned facing the through hole of the ring light source.

[0027] The further objects and advantages of the invention will become fully apparent from the following description and accompanying drawings. Attached Figure Description

[0028] Figure 1 is a schematic diagram of a robotic arm for optical module insertion testing according to an embodiment of the present invention.

[0029] Figure 2 is a schematic diagram of the structure of the robotic arm for optical module insertion testing according to the above embodiment of the present invention from another perspective.

[0030] Figure 3 is a schematic diagram of the mechanical gripper of the robotic arm used for optical module insertion testing according to the above embodiment of the present invention.

[0031] Figure 4 is a structural schematic diagram of the mechanical gripper of the robotic arm for optical module insertion testing according to the above embodiment of the present invention from another perspective.

[0032] Figure 5 is a schematic diagram of the application of the robotic arm for optical module insertion testing according to the above embodiment of the present invention. Detailed Implementation

[0033] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0034] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0035] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0036] Referring to Figures 1 to 4 of the accompanying drawings of this invention, a robotic arm 10 for optical module insertion testing according to an embodiment of the present invention is illustrated. The robotic arm 10 includes a multi-dimensional robotic arm 11, a mechanical gripper 12, and a six-dimensional force sensor 13. The mechanical gripper 12 is mounted on one end of the multi-dimensional robotic arm 11 and is used to automatically pick up the optical module, thereby enabling it to move in multiple dimensions (up, down, forward, backward, left, and right) driven by the multi-dimensional robotic arm 11, thus automatically moving the optical module between various testing stations. The loading and unloading process avoids human error and reduces labor costs, while also ensuring the reliability of batch testing results. The six-dimensional force sensor 13 is installed between the multi-dimensional robotic arm 11 and the mechanical gripper 12 to sense the force on the mechanical gripper 12. The robotic arm 10 for optical module insertion testing controls the operation of the mechanical gripper 12 based on the feedback from the six-dimensional force sensor 13 to achieve force-controlled picking and insertion of the optical module, effectively avoiding damage to the optical module and thus mitigating the risk of damage to the optical module during manual operation.

[0037] It is worth mentioning that the mechanical gripper 12 includes a base 121 and a first pickup and a second pickup disposed on the base 121. The first pickup and the second pickup are used to pick up optical modules. The mechanical gripper 12 is adapted to pick up optical modules with different test progress at the same time based on the first pickup and the second pickup, so as to execute the test process of at least two optical modules simultaneously in the corresponding test, thereby improving the test throughput and efficiency.

[0038] Specifically, the mechanical gripper 122 is positioned before the optical module that has completed the test is delivered to the unloading area based on the second pick-up member, wherein the first pick-up member inserts the optical module to be tested into the tester, thereby realizing the movement of optical modules at different test progresses in an intermittent manner, and realizing the intermittent execution of the optical module test process.

[0039] Specifically, referring to Figure 5, the robotic arm 10 is applied to an optical module testing station, which includes a machine base 80 and a loading area 20, a barcode scanning station 30, an end-of-line inspection device 40, a tester 50, a fiber optic insertion / removal station 60, and an unloading area 70 disposed on the machine base 80. The robotic arm 10 is mounted on the machine base 80 and is used to transfer optical modules between the loading area 20, the barcode scanning station 30, the end-of-line inspection device 40, the tester 50, the fiber optic insertion / removal station 60, and the unloading area 70 to automate the optical module testing process. The robotic arm 10 can transfer optical modules by means of the following steps, based on the ability of the first and second pickup components to simultaneously pick up optical modules at different testing stages:

[0040] A. The first or second picking component of the robotic arm 10 picks up a first optical module;

[0041] B. The robotic arm 10 places the first optical module on the end-face inspection device 40, and the end-face inspection device 40 performs end-face inspection on the first optical module.

[0042] C. The robotic arm 10 pulls out a second optical module that has completed testing from the tester 50 and places the second optical module in the fiber optic insertion / removal station 60. After the fiber optic head on the second optical module is pulled out, the robotic arm 10 picks up the second optical module through one of the first and second picking components.

[0043] D. The robotic arm 10 places the first optical module in the fiber optic insertion station 60 through the first picking member and another picking member of the second picking member, and inserts the first optical module into the tester 50 after the fiber optic head is inserted into the first optical module.

[0044] E. The robotic arm 10 places the second optical module in the unloading area 70 and returns to step A.

[0045] In other words, the robotic arm 10, through the cooperation of the first and second picking components, picks up two optical modules with different testing progresses within a certain testing time, enabling each station on the optical module testing platform to take turns executing the optical module testing process, thus allowing the optical module testing to be performed intermittently, thereby effectively improving the testing efficiency of the optical modules and the testing throughput of the optical module testing platform.

[0046] Furthermore, the first pickup and the second pickup are disposed on different sides of the base 121. The first clamping fixture 123 is selected, and the second pickup is selected as either the second clamping fixture 124 or the negative pressure adsorption fixture 125. The first clamping fixture 123 picks up the optical module by clamping both sides of the optical module, the second clamping fixture 124 picks up the optical module by clamping the heat dissipation fins on the top of the optical module, and the negative pressure adsorption fixture 125 picks up the optical module by adsorbing the top of the optical module. In this way, the pickup needs of different optical modules can be met by selecting and combining different fixtures.

[0047] Specifically, the first clamping fixture 123 includes a first lifting device 1231 and a first gripper 1232, wherein the first lifting device 1231 is mounted on the base 121, and the first gripper 1232 is mounted on the first lifting device 1231 and adapted to be driven by the first lifting device 1231 to move up and down relative to the base 121, wherein the first gripper 1232 includes two opposing gripping fingers 12321. The second clamping fixture 124 includes a second lifting device 1241 and a second gripper 1242, wherein the second lifting device 1241 is mounted on the base 121, and the second gripper 1242 is mounted on the base 121. The second lifting device 1241 is described and adapted to be driven by the second lifting device 1241 to move up and down relative to the base 121. The second gripper 1242 includes two opposing plate-shaped gripping fingers 12421, the opening and closing range of the two plate-shaped gripping fingers 12421 being smaller than the opening and closing range of the two gripping fingers 12321. The negative pressure adsorption fixture 125 includes a third lifting device 1251 and a pair of suction cups 1252. The third lifting device 1251 is mounted on the base 121, and the suction cups 1252 are mounted on the third lifting device 1251 and adapted to be driven by the third lifting device 1251 to move up and down relative to the base 121.

[0048] Preferably, in this embodiment of the invention, the mechanical gripper 12 includes a third pickup element, wherein the third pickup element is selected from one of the second clamping fixture 124 and the negative pressure adsorption fixture 125, and the second pickup element is selected from the other of the second clamping fixture 124 and the negative pressure adsorption fixture 125. That is, the mechanical gripper 12 is simultaneously equipped with the first clamping fixture 123, the second clamping fixture 124, and the negative pressure adsorption fixture 125, so as to adapt to different shapes of optical modules and different processes by using different models or types of pickup elements. To meet the needs of automated production, for example, the second clamping fixture 124 clamps the optical module with heat dissipation fins on the top of the loading area 10 and places the optical module with heat dissipation fins on the top of the loading area 70. The negative pressure adsorption fixture 125 adsorbs the optical module with a flat top of the loading area 10 and places the optical module with a flat top of the loading area 70, thereby facilitating the removal of optical modules from a group of neatly arranged optical modules and the neat arrangement of optical modules for loading. The first clamping fixture 123 clamps both sides of the optical module to allow the optical module to be inserted into or removed from the tester 50. It is understood that in some embodiments, the mechanical gripper 10 may also select one of the second clamping fixture 124 and the negative pressure adsorption fixture 125 for more practical optical module picking needs, or configure two second clamping fixtures 124, two negative pressure adsorption fixtures 125, or two first clamping fixtures 123.

[0049] It is worth mentioning that the negative pressure adsorption fixture 125 includes a suction cup bracket 1253, wherein the suction cup bracket 1253 is installed on the third lifting device 1251 and is adapted to be driven by the third lifting device 1251 to move up and down relative to the base 121. The suction cup bracket 1253 includes a mounting groove 12531, and two suction cups 1252 are movably installed in the two mounting grooves 12531, so that the relative distance between the two suction cups 1252 can be adjusted, thereby adapting to more products of different specifications.

[0050] Specifically, the six-dimensional force sensor 13 is disposed on the top of the base 121. The six-dimensional force sensor 13 measures the force and torque experienced by the mechanical gripper 12 during operation. Based on the lateral force perceived by the six-dimensional force sensor 13, the insertion and removal force of the mechanical gripper 12 to insert or remove the optical module from the tester is controlled, thereby realizing force-controlled insertion and removal of the optical module, effectively avoiding the situation of violent insertion and removal of the optical module, and reducing the risk of damage to the optical module.

[0051] Furthermore, when using the second clamping fixture 124 to clamp the heat sink fins on the top of the optical module, if the sheet-shaped clamping finger 12421 cannot accurately enter between the heat sink fins due to reasons such as optical module position deviation or heat sink structure problems, the sheet-shaped clamping finger 12421 may press against the heat sink fins. At this time, the six-dimensional force sensor 13 will quickly detect the reaction force and adjust the second clamping fixture 124 in time to prevent the second gripper 1242 from continuing to descend and damage the optical module, thus playing a good protective role for the optical module and reducing material loss.

[0052] It is worth mentioning that the two clamping fingers 12321 are respectively provided with buffer pads 12322 on their opposite sides. The buffer pads 12322 are made of soft material, such as rubber blocks, which can buffer the clamping force of the two clamping fingers 12321 and avoid damaging the optical module.

[0053] In particular, the two buffer pads 12322 have anti-slip textures on their opposite sides, which helps to increase the friction between the clamping fingers 12321 and the optical module, so that the two clamping fingers 12321 can clamp the optical module more firmly, preventing the optical module from sliding or falling off during the clamping process, and improving the stability and reliability of the clamping.

[0054] Furthermore, the mechanical gripper 12 includes a visual positioning sensor 122, which is disposed on different sides of the base 121 along with the first pickup, the second pickup, and the third pickup. The visual positioning sensor 122 performs positioning by image recognition, such as determining the relative position of the optical module and the pickup, the size and angle of the optical module, and the positions of the loading area 20, the barcode scanning station 30, the end-of-line inspection device 40, the testing device 50, the fiber optic insertion and removal station 60, and the unloading area 70, providing a basis for the mechanical gripper 12 to accurately grasp and move the optical module.

[0055] Specifically, the visual positioning sensor 122 includes a CCD camera 1221 and a ring light source 1222. The ring light source 1222 is positioned below the CCD camera 1221 and has a through hole in its center. The CCD camera 1221 is positioned with its lens facing the through hole of the ring light source 1222. The CCD camera 1221 has high resolution and high sensitivity, thereby enabling accurate positioning. The ring light source 1222 can effectively avoid shadows and reflections caused by uneven lighting, ensuring the clarity and contrast of the image acquired by the CCD camera 1221, further guaranteeing positioning accuracy.

[0056] It is worth mentioning that the mechanical gripper 12 further includes an adsorption device 126, which is disposed at the bottom of the base 121 and used to adsorb corresponding trays for placing optical modules. That is, the robotic arm 10 can adsorb trays onto and unload them from the machine platform 80, thereby achieving automated loading and unloading. In actual production, raw materials are loaded onto the machine platform 80 by an automated transport vehicle. The robotic arm 10 uses the adsorption device 126 to adsorb trays containing untested optical modules from the automated transport vehicle onto the machine platform 80. When a tray is full of tested optical modules, the optical module testing platform calls the automated transport vehicle, and the robotic arm 10 uses the adsorption device 126 to adsorb trays containing tested optical modules onto the automated transport vehicle, thus achieving automated loading and unloading.

[0057] Specifically, the base 121 is composed of multiple metal plates spliced ​​together. The base 121 includes a top plate, a bottom plate, a left side plate, a right side plate, a front side plate, and a rear side plate. The top plate is a rectangular plate. The six-dimensional force sensor 13 is installed on the top surface of the top plate. The bottom perimeter of the lamp plate is connected to the left side plate, the front side plate, the right side plate, and the rear side plate, respectively. The visual positioning sensor 122, the first pickup, the second pickup, and the third pickup are respectively disposed on the left side plate, the front side plate, the rear side plate, and the right side plate. The second pickup and the third pickup are disposed on opposite side plates to facilitate close cooperation with the first pickup. The bottom plate is disposed at the bottom of the left side plate, the front side plate, the right side plate, and the rear side plate. The adsorption device 126 is installed on the bottom surface of the bottom plate.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0059] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and any modifications or variations of the embodiments of the present invention may be made without departing from the stated principles.

Claims

1. A robotic arm for optical module insertion testing, characterized in that, include: Multidimensional robotic arm; A mechanical gripper, wherein the mechanical gripper is mounted on one end of the multidimensional robotic arm and includes a base and a first pickup and a second pickup disposed on the base, wherein the first pickup and the second pickup are used to pick up optical modules, the mechanical gripper is positioned before the optical modules that have completed testing are sent to the unloading area based on the second pickup, and the optical modules to be tested are inserted into the tester based on the first pickup; as well as A six-dimensional force sensor is installed between the mechanical gripper and the multi-dimensional robotic arm, and based on the perception of the lateral force on the mechanical gripper, the insertion or removal force of the mechanical gripper to insert or remove the optical module from the tester is controlled.

2. The robotic arm for optical module insertion testing according to claim 1, wherein the first picking member is selected as a first clamping fixture, the second picking member is selected as a second clamping fixture or a negative pressure adsorption fixture, wherein the first clamping fixture picks up the optical module by clamping both sides of the optical module, the second clamping fixture picks up the optical module by clamping the heat dissipation fins on the top of the optical module, and the negative pressure adsorption fixture picks up the optical module by adsorbing the top of the optical module.

3. The robotic arm for optical module insertion testing according to claim 2, wherein the first pickup and the second pickup are vertically and retractably disposed on different sides of the base, wherein the six-dimensional force sensor is mounted on the top surface of the base.

4. The robotic arm for optical module insertion testing according to claim 3, wherein the robotic gripper includes a visual positioning sensor, wherein the visual positioning sensor and the first and second picking claws are disposed on different sides of the base.

5. The robotic arm for optical module insertion testing according to claim 4, wherein the robotic gripper includes a third picking member, wherein the third picking member is selected as one of the second clamping fixture and the negative pressure adsorption fixture, the second picking member is selected as the other of the second clamping fixture and the negative pressure adsorption fixture, wherein the visual positioning sensor, the first picking member, the second picking claw and the third picking claw are disposed on different sides of the base.

6. The robotic arm for optical module insertion testing according to claim 5, wherein the robotic gripper includes an adsorption device, wherein the adsorption device is disposed at the bottom of the base and is used to adsorb the corresponding tray.

7. The robotic arm for optical module insertion testing according to claim 3, wherein the first clamping fixture includes a first lifting device and a first gripper, wherein the first lifting device is mounted on the base, the first gripper is mounted on the first lifting device and adapted to be driven by the first lifting device to move up and down relative to the base, wherein the first gripper includes two opposing gripping fingers, wherein the second clamping fixture includes a second lifting device and a second gripper, wherein the second lifting device is mounted on the base, the second gripper is mounted on the second lifting device and adapted to be driven by the second lifting device to move up and down relative to the base, wherein the second gripper includes two opposing sheet-like gripping fingers, the opening and closing range of the two sheet-like gripping fingers being smaller than the opening and closing range of the two gripping fingers, wherein the negative pressure adsorption fixture includes a third lifting device and a pair of suction cups, wherein the third lifting device is mounted on the base, the suction cups are mounted on the third lifting device and adapted to be driven by the third lifting device to move up and down relative to the base.

8. The robotic arm for optical module insertion testing according to claim 7, wherein the opposite sides of the two gripping fingers are respectively provided with buffer pads.

9. The robotic arm for optical module insertion testing according to claim 7, wherein the negative pressure adsorption fixture includes a suction cup bracket, wherein the suction cup bracket is mounted on the third lifting device and adapted to be driven by the third lifting device to move up and down relative to the base, wherein the suction cup bracket includes a mounting groove, and two suction cups are movably mounted in the mounting groove.

10. The robotic arm for optical module insertion testing according to claim 4, wherein the visual positioning sensor includes a CCD camera and a ring light source, wherein the ring light source is disposed below the CCD camera and has a through hole in its center, and the lens of the CCD camera is disposed facing the through hole of the ring light source.

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