WO2018197298A1 - Vorrichtung und verfahren zur elektrischen prüfung eines elektrischen bauteils - Google Patents
Vorrichtung und verfahren zur elektrischen prüfung eines elektrischen bauteils Download PDFInfo
- Publication number
- WO2018197298A1 WO2018197298A1 PCT/EP2018/059899 EP2018059899W WO2018197298A1 WO 2018197298 A1 WO2018197298 A1 WO 2018197298A1 EP 2018059899 W EP2018059899 W EP 2018059899W WO 2018197298 A1 WO2018197298 A1 WO 2018197298A1
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- WO
- WIPO (PCT)
- Prior art keywords
- interface
- controlled
- electromechanical
- electromechanical interface
- robot manipulator
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/06—Measuring leads; Measuring probes
- G01R1/067—Measuring probes
- G01R1/06794—Devices for sensing when probes are in contact, or in position to contact, with measured object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2855—Environmental, reliability or burn-in testing
- G01R31/286—External aspects, e.g. related to chambers, contacting devices or handlers
- G01R31/2865—Holding devices, e.g. chucks; Handlers or transport devices
- G01R31/2867—Handlers or transport devices, e.g. loaders, carriers, trays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2886—Features relating to contacting the IC under test, e.g. probe heads; chucks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2893—Handling, conveying or loading, e.g. belts, boats, vacuum fingers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39129—One manipulator holds one piece, other inserts, screws other piece, dexterity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39535—Measuring, test unit build into hand, end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45089—Testing robot
Definitions
- the invention relates to a device and a method for automated electrical testing of electrical components.
- the term "electrical component” covers all objects which have electrical connections, electrical lines, electrical components, electrical circuits, etc.
- complete electrical or electronic devices may also be included, for example a smartphone, a
- DE 699 12 589 T2 relates to a test device for testing electronic components.
- DE 10 201 1 1 12 532 A1 relates to a test device for a plurality of
- Battery cells in particular a vehicle battery.
- DE 203 21 782 U1 relates to a system for detecting, influencing and exploiting robot movements.
- DE 20 2014 100 803 U1 relates to a measuring device for a steering wheel in a
- DE 10 2010 012 598 A1 relates to a process module library for programming a manipulator process.
- DE 10 201 1 01 1 660 B4 relates to a mounting device which is designed to assemble a second workpiece with a first workpiece, which is arranged at a fixed position.
- the object of the invention is to provide a device and a method with which electrical tests of such electrical components can be carried out more effectively, reliably, quickly and cost-effectively.
- a first aspect of the invention relates to a device according to a first alternative to the electrical testing of an electrical component BT, which is a first
- electromechanical interface S1 wherein the electrical component BT is provided with its first electromechanical interface S1 at a desired position POS S i and a target orientation 0 S i, comprising: a force-controlled and / or
- Admittance-controlled tilting movements about the target orientation O SO H , S2 (RT) and / or rotational movements and / or translational movements of the second electromechanical interface S2 are executed until a predetermined limit condition G1 for a moment acting on the first effector and / or a predetermined limit condition G2 a force applied to the first effector is reached or exceeded, and / or a provided force moment signature and / or a position / velocity / acceleration signature is reached or exceeded at the first effector, indicating that the mechanical connection of the first and the first effector second
- electromechanical interface is successfully completed within predefined tolerances, wherein the first interface S1 and the second interface S2 each have mutually associated electrical contacts, which are electrically connected according to the successful connection of the first and second electromechanical interface, and one with the second electromechanical interface S2 connected analysis means, wherein the analysis means is designed and set up, an analysis program for electrical testing of the first and second perform electromechanical interface with the analysis means electromechanically connected electrical component BT.
- the electrical component BT is provided in this variant with its first electromechanical interface S1 at a desired position POS S i with a desired orientation 0 S i.
- the specification of desired position POS S i and a desired orientation 0 S i relates to the interface S1. Since the component and the interface S1 are advantageously firmly connected to one another, this also results in a position and orientation of the component BT.
- Translational motions are advantageous periodic motions. Depending on
- Translational movements may also be aperiodic movements or a combination of aperiodic and periodic movements.
- the tilting movements advantageously take place relative to the desired orientation O SO H , S 2 (RT) of the effector about one, two or three tilting axes, the corresponding tilting angles advantageously being in an angular range of up to ⁇ 1 °, ⁇ 2 °, ⁇ 5 °, ⁇ 7 °, ⁇ 10 °, ⁇ 12 °, ⁇ 15 ° to the target orientation O SO H , S 2 (RT).
- the tilting movements and / or the translational movements are advantageously closed movements.
- a closed translational movement is understood to mean that the trajectory or at least one projection of the trajectory results in a closed curve.
- the rotational movements take place around an axis of rotation advantageously periodically, and advantageously in a rotation angle range of ⁇ 1 °, ⁇ 2 °, ⁇ 5 °, ⁇ 7 °, ⁇ 10 °, ⁇ 12 °, ⁇ 15 °.
- Tilting / rotational movements / translational movements are advantageously carried out continuously. They are particularly advantageous when connecting or
- the first interface S1 may, for example, be an electrical socket, the second interface S2 correspondingly being an electrical plug matched to the socket.
- the first interface S1 and the second interface S2 are matched electrical plug connections or rotary plug connections.
- the first interface S1 and the second interface S2 can in particular be designed such that they connect a number n of different electrical conductors to one another, with n> 1.
- trajectory is understood herein to mean a trajectory, in particular a three-dimensional trajectory.
- signature herein describes a predetermined parameter data set with assigned values and / or interval limits and / or a predetermined time behavior of a predetermined parameter data set for identifying the successful one
- the "signature” thus describes a combination of parameters and / or their time behavior, for example a predefined force-time behavior can define the successful conclusion of the connection process
- Analysis means advantageously comprises a processor running the analysis program which controls the analysis means and enables it to perform an electronic check of the component BT according to the analysis program.
- the analysis means is preferably suitable, a quality control or a production control of the component BT
- the analysis means is advantageously connected by means of a radio link or wired to the second electro-mechanical interface.
- a force-controlled and / or impedance-controlled and / or admittance-controlled second robot manipulator is present with a second effector, which is designed and set up for picking up, handling and releasing the electrical component BT, wherein the control unit is configured and arranged to control the second robot manipulator and execute the following second control program:
- Controlling the second robot manipulator such that the second robot manipulator receives an electrical component BT to be tested provided at an interface, and the second robot manipulator the recorded component BT with its first electromechanical interface S1 at the desired position POS S i with the target orientation 0 S i stores and releases, or the second robot manipulator holds the recorded component with its first electromechanical interface S1 at the desired position POS S i with the desired orientation 0 S i and thus provides.
- the second robot manipulator essentially serves to provide the interface of the component BT at the desired position POS S i with the desired orientation 0 S i.
- a further aspect of the invention relates to a device according to the second alternative to the electrical testing of an electrical component BT, which has a first electromechanical interface S1, comprising: an interface for providing the electrical component BT to be tested, a force-controlled and / or impedance-controlled and / or admittance-controlled first Roboteremanipulator with a first effector, wherein the first effector compatible with the first interface S1 second
- electromechanical interface S2 a force-controlled and / or
- control unit being adapted and arranged to execute the following third control program: to control the second robotic manipulator to receive the electrical component provided at the interface, the first and the second
- Rotational movements and / or translational movements are carried out until respectively predetermined limit condition G3 / G4 for a torque acting on the first / second effector and / or a predetermined limit condition G5 / G6 of a force acting on the first / second effector is reached or exceeded and / or one provided Force instant signature and / or a position / speed / acceleration signature is reached or exceeded at the first / second effector, which indicates that the mechanical connection of first and second
- electromechanical interface is successfully completed within predefined tolerances, wherein the first and the second electromechanical interface each having mutually associated electrical contacts, which are electrically connected according to the successful mechanical connection of the first and second electromechanical interface, and one with the second electromechanical
- Interface S2 connected analysis means, wherein the analysis means is designed and adapted to perform an analysis program for electrical testing of the connected via the first and second electromechanical interface electrical component BT.
- the device according to the second alternative comprises the first robot manipulator and the second
- Robot manipulator which is coordinated by the control unit, in particular for the execution of the third control program, i. Dependent, controlled or regulated. In the sense of this coordinated use of the two robotic manipulators for
- the joint action of the robot manipulators must therefore be coordinated.
- the coordination advantageously comprises the formation of subtasks, the transmission to the corresponding robot manipulators and an exchange of information for the synchronization of the robot manipulators.
- various approaches are known in the art.
- a combined control behavior of the robot manipulators results advantageously by a superposition of attractive and repulsive components.
- the control unit advantageously has a coordinator C.
- each behavior of one of the robotic manipulators has a previously defined influence on the overall response of both robotic manipulators.
- the overall reaction is then advantageously limited to a maximum reaction (described by appropriate parameters). This takes into account each behavior of one of the robotic manipulators as a percentage in the overall reaction.
- a prioritized superposition is proposed in which the weighted behavioral responses of the respective robot manipulator are summed up in the sequence of the largest influencing factors. Further details on coordinated control of the robot manipulators can be found in the prior art, to which reference is made here.
- first / second / third robotic manipulator in response to the analysis program such that predetermined haptic / manual inputs are made during execution of the analysis program by the mechanical interface to the haptic / manual input interface, and / or during execution of the analysis program electrical contact K is electrically contacted with the electrical mating contact GK and is done in the electrically connected state depending on the analysis program predetermined electrical signal inputs via the contact K in the mating contact GT.
- Input interfaces Through the inputs, the electrical or logical Condition of the component BT can be influenced, furthermore, the reliability and functionality of the input interfaces can be checked accordingly.
- the contact K of the corresponding executed against contact GK are advantageously designed as multi-conductor interfaces, so that simultaneously via a plurality of electrical lines electrical signals between the component BT and the
- Analysis unit can be sent or received.
- Control unit is designed and configured such that the second control program is executed in dependence on a current program progress in the analysis program.
- An advantageous development of the device according to the first alternative or second alternative is characterized in that the control unit is designed and configured to execute the following fifth control program: after termination of the analysis program (for the electrical testing of the component BT) controlling the second robot manipulator for separating the electromechanical connection of the first and second electromechanical interface such that the second electromechanical interface S2 by executing force-controlled and / or impedance-controlled and / or admittance-controlled tilting relative to a desired orientation 0 S0 H (RA) and / or rotational movements and / or translational movements from the first
- RA desired orientation 0 S0 H
- electromechanical interface S1 is guided along a predetermined output trajectory A, wherein along the output trajectory A for locations R A of the trajectory A, the target orientation 0 S0 H (RA) of the second interface S2 is defined.
- the execution of the specified movements serves to separate the interface S2 with less effort and therefore material-friendly from the interface S1.
- control unit is designed and configured to execute the following sixth control program: after termination of the analysis program (for electrical testing of the component BT) disconnecting the first and second electromechanical interface coordinated control of the first and the second robot manipulator such that the first electromechanical interface S1 or the second electromechanical interface S2 under execution force-controlled and / or impedance-controlled and / or admittance-controlled tilting movements and / or rotational movements and / or translational movements are moved away from each other, or that the first electromechanical interface S1 and the second
- electromechanical interface S2 under the execution of coordinated force-controlled and / or impedance-controlled and / or admittance-controlled tilting movements and / or rotational movements and / or translational movements are moved away from each other.
- the execution of the specified movements serves to separate the interface S2 with less effort and therefore material-friendly from the interface S1.
- these movements of the first and the second robot manipulator take place here in a coordinated and coordinated form.
- the electrical component to be tested is a printed circuit board, a board equipped with electrical components or an electrical device.
- the data network may be the Internet, a local area network, an ad hoc data network, etc.
- An advantageous development of the device according to the first or second alternative is characterized in that the device is set up and designed to load control and regulation parameters to the control programs from the data network.
- An advantageous development of the device according to the first or second alternative is characterized in that the device is set up and designed to load control and regulation parameters to the control programs via a local input interface and / or via a "teach-in process", in which the robot manipulator is guided manually.
- An advantageous development of the device according to the first or second alternative is characterized in that the device is set up and executed, the loading of control programs and / or associated control and
- Control parameters from the data network of a remote station which also with connected to the data network to control.
- An advantageous development of the device according to the first or second alternative is characterized in that the device is set up and designed to locally present on the device control programs and / or associated
- An advantageous development of the device according to the first or second alternative is characterized in that the device is set up and executed that locally on the screwing existing control programs with the associated control and regulation parameters from a remote station, which also connected to the data network is to be started.
- An advantageous development of the invention according to the first or second alternative is characterized in that the remote station and / or the local
- Input interface has a man-machine interface for input of control programs and / or associated control and regulation parameters; and / or for selecting control programs and / or associated control and regulation parameters from a plurality of available control programs and / or associated control and regulation parameters, and
- Drag-and-drop input on a touch screen, a guided input dialog, a keyboard, a computer mouse, a haptic input interface, a virtual reality unit, an augmented reality unit of an acoustic input interface, a body tracking based on Electromyography data, based on
- Electroencephalography data via a neural interface to the brain or a combination thereof.
- An advantageous development of the invention according to the first or second alternative is characterized by the human-machine interface for outputting an auditory, visual, haptic, olfactory, tactile, electrical feedback or a
- Another aspect of the invention relates to a method according to the first alternative to the electrical testing of an electrical component BT having a first electromechanical interface S1, wherein the electrical component BT with its first
- electromechanical interface S1 at a desired position POS S i and a target orientation 0 S i comprising: a force-controlled and / or impedance-controlled and / or admittance-controlled first Roboteremanipulator with a first effector, wherein the first effector to the first interface S1 compatible second electromechanical interface S2, a control unit for controlling the first robot manipulator, wherein the control unit executes the following first control program: controlling the first Roboteremanipulators such that this second electromechanical interface S2 along a predetermined trajectory T with a predetermined target orientation O.
- SO N, S2 (RT) leads to the first electromechanical interface S1 of the provided at the position POS S i electrical component BT, whereby along the trajectory T for Type R T of the trajectory T, the target orientation O SO H, S2 (RT) of second electromechanical interface le S2 is defined, and wherein for mechanically connecting the first electromechanical interface S1 with the second
- electromechanical interface S2 by the first robot manipulator force-controlled and / or impedance-controlled and / or admittance-controlled tilting movements about the target orientation O SO II , S2 (RT) and / or rotational movements and / or translational movements of the second electromechanical interface S2 are executed until a
- predetermined limit condition G1 is reached or exceeded for a moment acting on the first effector and / or a predetermined limit condition G2 of a force acting on the first effector and / or a provided force torque signature and / or a position / speed / acceleration signature on the first effector is reached or exceeded, indicating / indexing that the mechanical connection of the first and second electromechanical interfaces within
- first interface S1 and the second interface S2 each having mutually associated electrical contacts, which after successfully connecting the first and second
- electromechanical interface are electrically connected accordingly, and with one connected to the second electromechanical interface S2
- Analysis means Performing an analysis program for electrical testing of the electrical component BT connected via the first and second electromechanical interfaces.
- An advantageous development of the method according to the first alternative is characterized in that a force-controlled and / or impedance-controlled and / or
- admittance-controlled second robot manipulator with a second effector is designed and arranged for receiving, handling and releasing the electrical component BT, wherein the control unit for controlling the second
- a further aspect of the invention relates to a method according to the second alternative to the electrical testing of an electrical component BT having a first electromechanical interface S1, comprising: an interface for providing the electrical component BT to be tested, a force-controlled and / or impedance-controlled and / or admittance-controlled first Roboteremanipulator with a first effector, wherein the first effector compatible with the first interface S1 second
- electromechanical interface S2 a force-controlled and / or
- Controlling the first and second robotic manipulators the control unit executing the third control program: controlling the second robotic manipulator to receive the electrical component provided at the interface, controlling the first and second robotic manipulators so that the first and second robotic manipulators control the first and second robotic manipulators the second electromechanical interface coordinates for the purpose of their
- Rotational movements and / or translational movements are carried out until respectively predetermined limit condition G3 / G4 for a torque acting on the first / second effector and / or a predetermined limit condition G5 / G6 of a force acting on the first / second effector is reached or exceeded and / or one provided Force instant signature and / or a position / speed / acceleration signature is reached or exceeded at the first / second effector, which indicates that the mechanical connection of first and second
- electromechanical interface is successfully completed within predefined tolerances, wherein the first and the second electromechanical interface each having mutually associated electrical contacts, which are electrically connected according to the successful mechanical connection of the first and second electromechanical interface, and one with the second
- electromechanical interface S2 connected analysis means performing an analysis program for electrical testing of the first and second
- electromechanical interface connected electrical component BT is electromechanical interface connected electrical component BT.
- Executes control program controlling the first / second / third robot manipulator depending on the analysis program such that during the execution of the analysis program by the mechanical interface in the haptic / manual input interface predetermined haptic / manual inputs are made, and / or during the execution of the analysis program, the electrical contact K is electrically contacted with the electrical mating contact GK and is electrically connected connected condition depending on the analysis program given electrical signal inputs via the contact K in the mating contact GT done.
- the analysis means is connected to the control unit, and the control unit is the second control program in
- Executes control program after completion of the analysis program controlling the second robot manipulator for disconnecting the electromechanical connection of the first and second electromechanical interface such that the second
- electromechanical interface S2 under execution of force-controlled and / or impedance-controlled and / or admittance-controlled tilting relative to a target orientation 0 S0 H (RA) and / or rotational movements and / or translational movements from the first electromechanical interface S1 along a predetermined
- Output trajectory A is performed, along the output trajectory A for locations R A of the trajectory A, the target orientation O SO II (RA) of the second interface S2 is defined.
- the control unit executes the following sixth control program: after termination of the analysis program disconnecting the first and second electromechanical interface by coordinately controlling the first and the second robot manipulator such that the first electromechanical Interface S1 or the second electromechanical interface S2 under execution of force-controlled and / or impedance-controlled and / or admittance-controlled tilting movements and / or
- electromechanical interface S2 under the execution of coordinated force-controlled and / or impedance-controlled and / or admittance-controlled tilting movements and / or rotational movements and / or translational movements are moved away from each other.
- An advantageous development of the method according to the first or second alternative is characterized in that the respective device has a data interface to a data network, and the device is set up and configured to load one or more control programs from the data network.
- An advantageous development of the method according to the first or second alternative is characterized in that the respective device control and
- Control parameters to control programs from the data network loads are characterized in that the respective device control and
- An advantageous development of the method according to the first or second alternative is characterized in that the loading of control programs and / or associated control and regulation parameters from the data network into the respective device from a remote station, which is also connected to the data network , is controlled.
- Control programs are started with the associated control and regulation parameters from a remote station, which is also connected to the data network.
- Another aspect of the invention relates to a computer system having a
- Data processing device wherein the data processing device is configured such that a method as described above, on the
- Data processing device is executed.
- Another aspect of the invention relates to a digital storage medium having electronically readable control signals, wherein the control signals may interact with a programmable computer system such that a method as described above is performed.
- Another aspect of the invention relates to a computer program product having program code stored on a machine-readable carrier for performing the method Method as described above, when the program code on a
- Data processing device is executed.
- a further aspect of the invention relates to a computer program with program codes for carrying out the method, as described above, when the program runs on a data processing device. This can be the
- Data processing device may be configured as any known from the prior art computer system. Further advantages, features and details emerge from the following
- Fig. 1 is a schematic representation of the structure of a proposed
- Fig. 2 is a schematic flowchart for a proposed method.
- Fig. 1 shows a schematic representation of the structure of a proposed
- the device for electrical testing of an electrical component BT, which has a first electromechanical interface S1, wherein the electrical component BT is provided with its first electromechanical interface S1 at a desired position POS S i and a desired orientation 0 S i.
- the device comprises a force-controlled and impedance-controlled first robot manipulator 101 with a first effector, the first effector having a second electromechanical interface S2 compatible with the first interface S1, a control unit 102 for controlling the first
- Robot manipulator 101 according to a predetermined control program.
- Control unit 102 has a processor running the control program.
- Control unit 102 is designed and configured to carry out the following first control program: controlling first electro-mechanical manipulator 101 to move the second electromechanical interface S2 along a predetermined trajectory T with a predetermined target orientation O SO II , S2 (RT) to the first electromechanical interface S1 of the provided at the position POS S i electrical component BT, wherein leads along the trajectory T for Type T R of the trajectory T, the target orientation H 0 S0, S2 (RT) of second electromechanical interface S2 is defined, wherein for mechanically connecting the first electromechanical interface S1 with the second
- electromechanical interface S2 by the first robot manipulator 101 force-controlled and / or impedance-controlled and / or admittanzgeregelte
- Tilting movements about the target orientation 0 S0 H , S2 (RT) and / or rotational movements and / or translational movements of the second electromechanical interface S2 are executed until a predetermined limit condition G1 for a torque acting on the first effector and / or a predetermined limit condition G2 the force applied to the first effector is reached or exceeded, and / or a provided force moment signature and / or a position / velocity / acceleration signature is reached or exceeded at the first effector, indicating that the mechanical connection of the first and second
- electromechanical interface is successfully completed within predefined tolerances, wherein the first interface S1 and the second interface S2 each having mutually associated electrical contacts, which are electrically connected according to the successful connection of the first and second electromechanical interface.
- the apparatus further comprises an analysis means 103 connected to the second electromechanical interface S2, wherein the analysis means 103 is designed and arranged to perform an analysis program for electrically testing the electrical component BT electromechanically connected to the analysis means 103 via the first and second electromechanical interfaces.
- FIG. 2 shows a schematic flow chart for a proposed method of electrically testing an electrical component BT, which has a first electromechanical interface S1, wherein the electrical component BT with its first electromechanical interface S1 at a desired position POS S i and a target Orientation 0 S i provided 201, comprising: a force-controlled and impedance-controlled first Robotermanipulator 101 with a first effector, wherein the first effector to the first interface S1 compatible second electromechanical interface S2, a control unit 102 for controlling the first
- Robotemanipulators 101 wherein the control unit 102 executes the following first control program: controlling 202 of the first Roboteremanipulators 101 such that it the second electromechanical interface S2 along a predetermined trajectory T with a predetermined target orientation O SO N , S2 (RT) leads to the first electromechanical interface S1 of the provided at the position POS S i electrical component BT, along the trajectory T for locations R T of the trajectory T, the target orientation 0 S0 H , S2 (RT) of the second electromechanical interface S2 is defined, and wherein for mechanically connecting the first electromechanical interface S1 with the second
- Tilting movements about the target orientation 0 S0 H , S2 (RT) and / or rotational movements and / or translational movements of the second electromechanical interface S2 are executed 203 until a predetermined limit condition G1 for a moment acting on the second effector and / or a predetermined limit condition G2 a force acting on the second effector is reached or exceeded and / or a provided force moment signature and / or a position / speed / acceleration signature is reached or exceeded at the second effector, indicating that the mechanical connection of the first and the second effector is achieved second
- electromechanical interface is successfully completed within predefined tolerances, wherein the first interface S1 and the second interface S2 each having mutually associated electrical contacts, which are electrically connected according to the successful connection of the first and second electromechanical interface, and one with the second electromechanical
- Performing interface S2 analysis means performing 204 of an analysis program for electrical testing of the connected via the first and second electromechanical interface electrical component BT.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880026458.0A CN110582381B (zh) | 2017-04-23 | 2018-04-18 | 用于对电性构件进行电性检查的装置和方法 |
US16/606,597 US20200122324A1 (en) | 2017-04-23 | 2018-04-18 | Device and method for the electrical testing of an electrical component |
KR1020197034198A KR102306909B1 (ko) | 2017-04-23 | 2018-04-18 | 전기 부품의 전기 시험 장치 및 방법 |
SG11201909828Q SG11201909828QA (en) | 2017-04-23 | 2018-04-18 | Device and method for the electrical testing of an electrical component |
JP2019557620A JP2020517477A (ja) | 2017-04-23 | 2018-04-18 | 電気部品の電気試験を行う装置および方法 |
EP18718806.5A EP3615278A1 (de) | 2017-04-23 | 2018-04-18 | Vorrichtung und verfahren zur elektrischen prüfung eines elektrischen bauteils |
Applications Claiming Priority (2)
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DE102017003900 | 2017-04-23 | ||
DE102017003900.3 | 2017-04-23 |
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WO2018197298A1 true WO2018197298A1 (de) | 2018-11-01 |
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PCT/EP2018/059899 WO2018197298A1 (de) | 2017-04-23 | 2018-04-18 | Vorrichtung und verfahren zur elektrischen prüfung eines elektrischen bauteils |
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US (1) | US20200122324A1 (de) |
EP (1) | EP3615278A1 (de) |
JP (1) | JP2020517477A (de) |
KR (1) | KR102306909B1 (de) |
CN (1) | CN110582381B (de) |
DE (1) | DE102017118980B4 (de) |
SG (1) | SG11201909828QA (de) |
WO (1) | WO2018197298A1 (de) |
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WO2024036441A1 (en) * | 2022-08-15 | 2024-02-22 | Abb Schweiz Ag | Apparatus, method and computer storage medium for product detection |
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- 2018-04-18 CN CN201880026458.0A patent/CN110582381B/zh active Active
- 2018-04-18 SG SG11201909828Q patent/SG11201909828QA/en unknown
- 2018-04-18 US US16/606,597 patent/US20200122324A1/en not_active Abandoned
- 2018-04-18 JP JP2019557620A patent/JP2020517477A/ja active Pending
- 2018-04-18 KR KR1020197034198A patent/KR102306909B1/ko active IP Right Grant
- 2018-04-18 WO PCT/EP2018/059899 patent/WO2018197298A1/de unknown
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Also Published As
Publication number | Publication date |
---|---|
DE102017118980B4 (de) | 2018-11-08 |
CN110582381A (zh) | 2019-12-17 |
KR20200003386A (ko) | 2020-01-09 |
CN110582381B (zh) | 2023-02-17 |
US20200122324A1 (en) | 2020-04-23 |
DE102017118980A1 (de) | 2018-10-25 |
SG11201909828QA (en) | 2019-11-28 |
KR102306909B1 (ko) | 2021-09-30 |
JP2020517477A (ja) | 2020-06-18 |
EP3615278A1 (de) | 2020-03-04 |
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