Device and method for the electrical testing of an electrical component

Patent metadata

Field	Value
Publication number	US-11845185-B2
Application number	US-201816606831-A
Country	US
Kind code	B2
Filing date	Apr 18, 2018
Priority date	Apr 23, 2017
Publication date	Dec 19, 2023
Grant date	Dec 19, 2023

Abstract

A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.

First claim

The invention claimed is:

1. A device for electrical testing of an electrical component, wherein the electrical component comprises at least one electrical contact point, the device comprising:
an interface to provide the electrical component;
a first robot manipulator having an effector, the effector configured and constructed to pick up, handle, and release the electrical component;
a mechanical receiving interface into which the electrical component is insertable;
a contacting device having at least one electrical counter contact, the contacting device being positioned in a first state in such a manner that space is available for the first robot manipulator to be able to insert the electrical component into or remove the electrical component from the receiving interface, and the contacting device being positioned in a second state in such a manner that the at least one counter contact is connected to the at least one contact point of the electrical component which has been inserted into the receiving interface;
an analysis unit connected to the at least one counter contact, the analysis unit being configured and constructed to perform electrical testing of the electrical component using electrical connection of the at least one counter contact and the at least one contact point in the second state and to provide and/or output a test result; and
a control unit for automated control of the first robot manipulator and the contacting device.

2. The device according to claim 1 , wherein the control unit is designed as a variant selected from the following list:
as a central control unit for control or regulation of the first robot manipulator and the contacting device and the analysis unit;
as a first sub-control unit for control or regulation of the first robot manipulator and a second sub-control unit for coordinated control or regulation of the contacting device and the analysis unit; and
as a first sub-control unit for control or regulation of the first robot manipulator and a third sub-control unit for coordinated control or regulation of the contacting device and a fourth sub-control unit for the control or regulation of the analysis unit.

3. The device according to claim 1 , wherein the control unit is configured and constructed to execute one or more control programs to perform operations comprising:
controlling the first robot manipulator in the first state such that the first robot manipulator picks up the electrical component from the interface using the effector and carries the electrical component along a predefined trajectory with a target orientation O soll (R T ) to the receiving interface, wherein the target orientation O soll (R T ) is defined for the electrical component along the trajectory T for positions R T of the trajectory T; and
performing force controlled and/or impedance controlled and/or admittance controlled rotational movement and/or tilting movements and/or translational movement patterns and/or desired force screw patterns for the insertion of the electrical component into the receiving interface by the first robot manipulator, until a predefined limit value state G1 for a torque acting on the effector and/or a predefined limit value state G2 for a force acting on the effector is reached or exceeded, and/or an allocated force/torque signature and/or a position/speed/acceleration signature is reached or exceeded on the effector, indicating that the insertion of the electrical component into the receiving interface ( 103 ) within predefined tolerances has been successfully completed.

4. The device according to claim 3 , wherein the operations further comprise:
controlling the first robot manipulator in the first state such that the electrical component is released by the effector after successful completion of insertion of the electrical component into the receiving interface, and the effector is moved away from the receiving interface by the first robot manipulator along the predefined end trajectory A.

5. The device according to claim 4 , wherein the operations further comprise:
controlling the first robot manipulator such that the first robot manipulator causes the effector to make force controlled and/or impedance controlled and/or admittance controlled rotational and/or tiling movement and/or translational movement patterns after releasing the electrical component.

6. The device according to claim 3 , wherein the operations further comprise:
controlling the first robot manipulator to make the tilting movements of the electrical component relative to its target orientation O soll (R T ) on one, two or three tilt axes, wherein a tilt angle is in an angle range of up to ±1°, ±2°, ±5°, ±7°, ±10°, ±12°, ±15° to a target orientation O soll ({right arrow over (R)} T ).

7. The device according to claim 1 , wherein the control unit is configured and constructed to execute one or more control programs to perform operations comprising:
controlling the first robot manipulator in the first state such that the electrical component inserted into the receiving interface is picked up by the effector after completion of electrical testing of the electrical component in the second state, and carried from the receiving interface along a predefined end trajectory B to a predefined set-down position by the first robot manipulator and released there.

8. The device according to claim 1 , wherein the contacting device comprises a second robot manipulator that is force controlled and/or impedance controlled and/or admittance controlled, wherein the at least one electrical counter contact is arranged on a second effector of the second robot manipulator.

9. The device according to claim 1 , wherein the analysis unit is configured and constructed to measure electrical signals from the electrical component via the electrical connection between the at least one counter contact and the at least one contact point, to compare the electrical signals with predefined target information, and to provide and/or output a comparison result thus achieved as the test result.

10. The device according to claim 1 , wherein the device comprises a data interface to a data network, and the device is configured and constructed to load control programs from the data network.

11. The device according to claim 1 , wherein the device is configured and constructed to load control and regulation parameters for control programs from the data network.

12. A method of electrical testing of an electrical component, wherein the electrical component comprises at least one electrical contact point, the method comprising:
providing the electrical component at an interface;
picking-up the electrical component at the interface using an effector of a first robot manipulator;
carrying the component using the first robot manipulator along a predefined trajectory to a receiving interface, wherein a target orientation O soll (R T ) is defined for the electrical component along a trajectory T for positions R T of the trajectory T;
inserting the electrical component into the receiving interface using the first robot manipulator, wherein the first robot manipulator makes force controlled and/or impedance controlled and/or admittance controlled rotational and/or tilting movements of the electrical component and/or translational movement patterns and/or desired force screw patterns of the electrical component during insertion of the electrical component into the receiving interface, until a predefined limit value state G1 for a torque acting on the effector of the first robot manipulator and/or a predefined limit value state G2 for a force acting on the effector is reached or exceeded, and/or until an allo

Assignees

• Franka Emika Gmbh

Inventors

• Ende Tobias
• Haas Michael
• Golz Saskia
• Parusel Sven
• Haddadin Simon

Classifications

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1679 Primary

  characterised by the tasks executed · CPC title

• G05B2219/39129

  One manipulator holds one piece, other inserts, screws other piece, dexterity · CPC title

• G05B2219/40082

  Docking, align object on end effector with target · CPC title

• G05B2219/45089

  Testing robot · CPC title