# US 9,517,566 B2 · Test gripper and test method using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,566 B2 - Document ID: US9517566B2 - Status: Granted - Kind: B2 - Application number: 14/716,277 - Filed: 2015-05-19 - Published: 2016-06-02 - Granted: 2016-12-13 - Earliest claimed: 2014-11-28 - Assignees: Hyundai Motor Company - Applicants: Hyundai Motor Company - Inventors: Jung Whan Yeum - Web page: https://patentgrep.com/patent/US9517566B2 ## CPC - B25J 15/009: {with pins for accurately positioning the object on the gripping head} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A test gripper is provided that decreases an equipment cost and increases a test precision by integrating and simplifying a jig and a test apparatus into the gripper. The test gripper is configured to align and test a component and includes a frame that has a mounting part installed on a robot arm. In addition, a plurality of pins are installed on the frame and are fitted into apertures of the component to align the component and the test gripper. A measuring sensor is also installed on the frame and is configured to test a precision of the component. ## Claims ### Claim 1 A test gripper aligning and testing a component, comprising: a frame including a mounting part installed on a robot arm; a plurality of pins installed on the frame and fitted into apertures of the component to align the component and the test gripper; a measuring sensor installed on the frame and configured to test a precision of the component; a pin module arm is installed in the frame, the plurality of pins are installed on the pin module arm, and the number of pins is two or more; wherein the plurality of pins are installed to be movable in a lengthwise direction of the pin module arm along a rail installed on the pin module arm; and wherein the plurality of pins are installed on a moving part to be moved along the rail by a transfer apparatus. ### Claim 2 (depends on 1) The test gripper according to claim 1, wherein an apparatus vertically moving the pin is installed on the moving part. ### Claim 3 (depends on 1) The test gripper according to claim 1, wherein a measuring module arm is installed on the frame and the measuring sensor is installed on the measuring module. ### Claim 4 (depends on 3) The test gripper according to claim 3, wherein the measuring module arm is installed to be rotatable with respect to the frame. ### Claim 5 (depends on 4) The test gripper according to claim 4, wherein the measuring module arm is rotated by a motor installed in the frame. ### Claim 6 (depends on 4) The test gripper according to claim 4, wherein a vertical rail is installed on the measuring module arm in a direction perpendicular to a lengthwise direction of the measuring module arm and is in parallel with a rotation axis of the measuring module arm, and the measuring sensor is transferred along the vertical rail by a vertical transfer apparatus. ### Claim 7 (depends on 6) The test gripper according to claim 6, wherein a horizontal rail is installed in the lengthwise direction of the measuring module arm, and the vertical rail is moved along the horizontal rail by a horizontal transfer apparatus. ### Claim 8 (depends on 3) The test gripper according to claim 3, wherein a horizontal rail is installed at the measuring module arm in a lengthwise direction of the measuring module arm, and the measuring sensor is moved by a horizontal transfer apparatus along the horizontal rail. ### Claim 9 (depends on 1) A component test method using the test gripper according to claim 1, comprising: allowing the test gripper to approach a fixed component; fitting the pin into the aperture of the component to align the component and the test gripper; and testing a precision of the component using the measuring sensor. ### Claim 10 (depends on 9) The component test method according to claim 9, wherein the method includes lowering the pin with respect to the gripper to fit the pin into the aperture. ### Claim 11 (depends on 9) The component test method according to claim 9, wherein the method includes installing a measuring module arm on the frame and the measuring sensor on the measuring module. ### Claim 12 (depends on 11) The component test method according to claim 11, wherein the method includes adjusting a position of the measuring sensor based on rotation of the measuring module arm. ### Claim 13 (depends on 12) The component test method according to claim 12, wherein the method includes adjusting the position of the measuring sensor based on movement in a vertical direction perpendicular to a lengthwise direction of the measuring module arm and a lengthwise direction of a measuring direction. ### Claim 14 (depends on 9) The component test method according to claim 9, wherein the method includes installing a pin module arm in the frame, two or more pins on the pin module arm. ### Claim 15 A test gripper aligning and testing a component, comprising: a frame including a mounting part installed on a robot arm; a plurality of pins installed on the frame and fitted into apertures of the component to align the component and the test gripper; a measuring sensor installed on the frame and configured to test a precision of the component; a pin module arm is installed in the frame, the plurality of pins are installed on the pin module arm, and the number of pins is two or more; wherein the plurality of pins are installed to be movable in a lengthwise direction of the pin module arm along a rail installed on the pin module arm; wherein the plurality of pins are installed on a moving part to be moved along the rail by a transfer apparatus; and wherein an apparatus vertically moving the pin is installed on the moving part. ### Claim 16 A test gripper aligning and testing a component, comprising: a frame including a mounting part installed on a robot arm; a plurality of pins installed on the frame and fitted into apertures of the component to align the component and the test gripper; a measuring sensor installed on the frame and configured to test a precision of the component; a in module arm is installed in the frame, the plurality of pins are installed on the pin module arm, and the number of pins is two or more; wherein the plurality of pins are installed to be movable in a lengthwise direction of the pin module arm along a rail installed on the pin module arm; wherein the plurality of pins are installed on a moving part to be moved along the rail by a transfer apparatus; and wherein a measuring module arm is installed on the frame and the measuring sensor is installed on the measuring module.