Side gripping mechanism and device handlers having same

Abstract

An apparatus comprises a cavity coupled to a pneumatic controller configured to control pressure in the cavity; a piston configured to be pulled into the cavity when pressure in the cavity is below atmospheric pressure and to be pushed outward when pressure in the cavity is greater than atmospheric pressure; and a gripper arm mechanically coupled to the piston. The gripper arm may be configured to support a device under test. The gripper arm may be coupled to the piston through a pusher bar. The apparatus may further comprise a pneumatic control port; and a pneumatic bleed port. The pneumatic control port is coupled to the cavity, and the pneumatic bleed port is configured to bleed pneumatic pressure to atmosphere if the piston over-travels a predetermined position.

1 .- 6 . (canceled) 
     
     
         7 . A method comprising:
 providing an apparatus comprising at least one gripper arm configured to grip a device,   gripping the device with the at least one gripper arm by generating a vacuum that moves the at least one gripper arm in a first direction towards the device,   releasing the device by generating a pressure greater than atmospheric pressure that moves the at least one gripper arm in a second direction away from the device.   
     
     
         8 . The method of  claim 7 , wherein the apparatus includes at least four of the gripper arms including at least two gripper arms corresponding to each of two opposing sides of the device. 
     
     
         9 . The method of  claim 7 , wherein the device is an electronic component. 
     
     
         10 . The method of  claim 9 , wherein the apparatus further comprises a thermal head configured to contact the electronic component while the electronic component is gripped by the at least one gripper arm. 
     
     
         11 . The method of  claim 7 ,
 wherein the apparatus further comprises:
 a housing, 
 a cavity formed in the housing, and 
 at least one piston operatively coupled to the at least one gripper arm, and 
   wherein the device is gripped by generating the vacuum in the cavity so as to move the at least one piston in the first direction, and   wherein the device is released by generating the pressure greater than atmospheric pressure in the cavity so as to move the at least one piston in the second direction.   
     
     
         12 . The method of  claim 11 ,
 wherein the apparatus includes at least two of the gripper arms, the at least two gripper arms being coupled by a pusher bar, and   wherein the at least one piston is operatively coupled to the at least two gripper arms via the pusher bar.   
     
     
         13 . The method of  claim 12 ,
 wherein the apparatus further comprises at least two spiral springs, one for each gripper arm, the spiral springs being configured to provide independent flotation of each gripper arm.   
     
     
         14 . The method of  claim 7 ,
 wherein the device is an electronic component, and   wherein the method further comprises, after gripping the electronic component and before releasing the electronic component, moving the electronic component to an electrical tester for testing while maintaining the vacuum.   
     
     
         15 . The method of  claim 7 , wherein the at least one gripper arm includes a ledge configured such that, if vacuum in the cavity fails, the at least one gripper arm still provides support for the device. 
     
     
         16 . A method comprising:
 providing an apparatus comprising:
 a housing, 
 a cavity formed in the housing, 
 at least one gripper arm, 
 at least one piston operatively coupled to the at least one gripper arm, and 
 a pneumatic control port coupled to the cavity; 
   providing a pneumatic controller configured to (i) generate a pressure in the cavity via the pneumatic control port to thereby move the piston and the at least one gripper arm, and (ii) detect the pressure in vacuum cavity portion; and   determining, when a pressure is generated in the vacuum cavity portion, whether a device is held by the gripper arm, based on the pressure detected by the pneumatic controller.   
     
     
         17 . The method of  claim 16 ,
 wherein the apparatus further comprises a pneumatic bleed port coupled to the cavity, the pneumatic bleed port being configured such that the cavity bleeds pressure through the pneumatic bleed port when the piston travels past a predetermined position in the cavity, and   wherein the determination of whether a device is held by the gripper arm is determined based on whether the piston travels past the predetermined position, thereby causing a change in pressure in the cavity.   
     
     
         18 . The method of  claim 16 , wherein the apparatus includes at least four of the gripper arms including at least two gripper arms corresponding to each of two opposing sides of the device. 
     
     
         19 . The method of  claim 16 , wherein the device is an electronic component. 
     
     
         20 . The method of  claim 16 , wherein the apparatus further comprises a thermal head configured to contact the electronic component while the electronic component is gripped by the at least one gripper arm. 
     
     
         21 . The method of  claim 16 ,
 wherein the apparatus includes at least two of the gripper arms, the at least two gripper arms being coupled by a pusher bar, and   wherein the at least one piston is operatively coupled to the at least two gripper arms via the pusher bar.   
     
     
         22 . An apparatus comprising:
 a housing,   a cavity formed in the housing,   at least two gripper arms coupled to one another via a pusher bar, and   at least one piston disposed in the cavity and coupled to the pusher bar such that movement of the piston causes movement of the at least two gripper arms.   
     
     
         23 . The apparatus of  claim 22 , wherein the pusher bar extends through an opening formed in each of the at least two gripper arms. 
     
     
         24 . The apparatus of  claim 22 , wherein the at least one piston is coupled to the pusher bar via a groove formed in the at least one piston. 
     
     
         25 . The apparatus of  claim 22 , wherein the at least one piston comprises a plurality of pistons that are coupled to the pusher bar. 
     
     
         26 . An apparatus comprising:
 at least one gripper arm configured to grip a side surface of an electronic device,   wherein the at least one gripper arm includes a serrated edge on a surface of the at least one gripper arm that is configured to contact the side surface of the electronic device.