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1. (WO2019046014) AUTOMATED TEST SYSTEM HAVING ORTHOGONAL ROBOTS
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1 . A test system comprising:

a test carrier to hold devices for test;

a device shuttle to transport the devices; and

a robot to move the devices between the test carrier and the device shuttle; wherein the device shuttle is configured to move, towards a stage of the test system containing the robot, a first device among the devices that has not been tested, the device shuttle being configured to move in a first dimension; and

wherein the robot is configured to move the first device from the device shuttle to the test carrier, the robot being configured to move in a second dimension that is different from the first dimension.

2. The test system of claim 1 , wherein the device shuttle is configured to move, away from the stage of the test system containing the robot, a second device among the devices that has been tested; and

wherein the robot is configured to move the second device from the test carrier to the device shuttle.

3. The test system of claim 1 , wherein the robot comprises a component that is movable in a third dimension that is substantially orthogonal to the first dimension and to the second dimension.

4. The test system of claim 1 , wherein the first dimension is substantially orthogonal to the second dimension; and

wherein movement of the shuttle in the first dimension is independent of movement of the robot in the second dimension.

5. The test system of claim 1 , further comprising:

a test rack comprising a test slot to receive the test carrier, the test carrier comprising a configurable interface to connect to the device in the test carrier.

6. The test system of claim 1 , further comprising:

a test rack comprising a test slot to receive the test carrier;

a carrier shuttle configured to transport the test carrier; and

a test arm configured receive the test carrier from the carrier shuttle and to insert the test carrier into a target test slot in the test rack, the test arm being configured to move in a third dimension that is orthogonal to the first dimension and the second dimension;

wherein the carrier shuttle is configured to transport the test carrier between a location of the robot and a location of the test arm, the test carrier being configured to move in the first dimension.

7. The test system of claim 1 , further comprising:

a test rack comprising a test slot to receive the test carrier;

a carrier shuttle configured to transport the test carrier; and

a test arm configured receive the test carrier from the carrier shuttle and to insert the test carrier into a target test slot in the test rack, the test arm being configured to move in a third dimension that is orthogonal to the first dimension and the second dimension;

wherein the first dimension and the second dimension are in a first plane, and the third dimension is in a second plane that is orthogonal to the first plane, the first plane for moving the devices and the second plane for testing the devices.

8. The test system of claim 7, wherein the test carrier is a first test carrier;

wherein the system comprises a second test carrier to hold devices for test; wherein the test arm is configured remove the second test carrier from the target test slot and to place the second test carrier onto the carrier shuttle; and

wherein the carrier shuttle is configured to transport the second test carrier from the location of the test arm to the location of the robot.

9. The test system of claim 8, wherein the test arm is configured to hold both the first test carrier and the second test carrier contemporaneously, the first test carrier being held in a first receptacle on a first side of the test arm and the second test carrier being held in a second receptacle on a second side of the test arm.

10. The test system of claim 9, further comprising:

an arm configured to pull the second test carrier from the target test slot and to push the first test carrier into the test slot;

wherein the test arm is configured to rotate to receive the second carrier from the test slot, the arm being configured to pull the second carrier into the second receptacle; wherein, following receipt of the second carrier, the test arm is configured to rotate to position the first test carrier for insertion into the target test slot; and

wherein, following rotation, the arm is configured to push the first test carrier into the target test slot.

1 1 . The test system of claim 10, wherein the target test slot remains occupied during testing except for a time between removal of the second test carrier and insertion of the first test carrier.

12. The test system of claim 10, wherein the test slot includes internal guides to direct the first test carrier towards electrical contacts inside the target test slot.

13. The system of claim 6, wherein the test arm is configured to receive the test carrier from the carrier shuttle, and to rotate the test carrier to a position to insert the test carrier into the test slot, the test arm being configured to rotate around an axis in the first dimension.

14. The system of claim 13, wherein the test arm is configured to rotate the test carrier about 180° prior to inserting the test carrier into the test slot.

15. The test system of claim 13, wherein the test arm is configured to flip from a first position to receive the test carrier to a second position adjacent to the test rack, the flip comprising a rotation about an axis in the second dimension; and

wherein rotation occurs when the test arm is in the second position.

16. The test system of claim 6, wherein the test carrier is a first test carrier and wherein the test arm comprises a first receptacle on a first side of the test arm and a second receptacle on a second side of the test arm; and

wherein the test arm is configured to hold both the first test carrier and a second test carrier contemporaneously, the first test carrier being held in the first receptacle and the second test carrier being held in the second receptacle; and

wherein the test arm is configured to flip from a first position to receive the first test carrier to a second position adjacent to the test rack, the flip comprising a rotation about an axis in the second dimension

17. The test system of claim 6, wherein the test arm is configured to move relative to the test rack to reach the test slot;

wherein the first dimension is substantially horizontal relative to ground; and wherein the test arm is configured to move vertically relative to ground to reach the target slot.

18. The test system of claim 1 , wherein the device shuttle is configured to transport the devices from a tray location to the robot, the tray location comprising trays containing devices that have been tested and devices that have not been tested.

19. The test system of claim 18, wherein the robot is first robot and wherein the test system comprises a second robot at the tray location, the second robot being configured to travel in both the first dimension and the second dimension in order to move devices between the shuttle and the trays.

20. The test system of claim 1 , wherein the test carrier is a first test carrier, the device shuttle is a first device shuttle, the robot is a first robot, and the devices are first devices; and

wherein the test system further comprises:

a second test carrier to hold second devices for test;

a second device shuttle to transport the second devices; and a second robot to move the second devices between the second test carrier and the second device shuttle; and

wherein the first device shuttle and the second device shuttle are configured to operate contemporaneously, and the first robot and the second robot are configured to operate contemporaneously.

21 . The test system of claim 20, wherein the first test carrier comprises a first test socket and a second test socket, and the second test carrier comprises a third test socket and a fourth test socket;

wherein the first robot is configured to service the first and third test sockets, and the second robot is configured to service the second and fourth test socket; and

wherein the first robot is configured to service the first test slot while the second robot is servicing the fourth test slot, the first robot is configured to service the second test slot while the second robot is servicing the third test slot, the second robot is configured to service the fourth test slot while the first robot is servicing the first test slot, and the second robot is configured to service the third test slot while the first robot is servicing the second test slot.

22. The test system of claim 1 , wherein the carrier shuttle is a first carrier shuttle, the test arm is a first test arm, and the test carrier is first test carrier; and

wherein the test system further comprises:

a second carrier shuttle configured to transport a second test carrier; and a second test arm configured receive the second test carrier from the second carrier shuttle and to insert the second test carrier into a second target test slot in the test rack;

wherein the second carrier shuttle is configured to transport the second test carrier between a location of a second robot and a location of the second test arm; and

wherein the first carrier shuttle and the second carrier shuttle are configured to operate contemporaneously, and the first test arm and the second test arm are configured to operate contemporaneously.

23. The test system of claim 1 , further comprising:

a computer system to control the test system;

wherein the test system is modular;

wherein a first slice of the test system comprises the test carrier, the robot, and the device shuttle; and

wherein the test system is configurable to add a second slice to the test system, the second slice being controllable by the computer system.

24. The test system of claim 1 , wherein the test system comprises multiple stages, the robot being in a stage among the multiple stages; and

wherein the test system further comprises:

cameras in the stage with the robot, the cameras for capturing images to align the first device to a socket in the test carrier and to align the test carrier to the device.

25. The test system of claim 24, wherein the cameras comprise a first camera above the test socket and a second camera below the test socket, the first camera for capturing a first image and the second camera for capturing a second image; and

one or more processing devices to use the first image and the second image to control the robot to move the first device into the test socket.