ROBOT HAND

Abstract

Robotic hand for grasping and operating a pipette, wherein the robotic hand (2) is characterized in that it comprises the following: an electric gripper (24); a pair of first finger elements (21) which are opened and closed by the electric gripper (24); a pair of second finger elements (22) which are interchangeably provided on the first finger element (21) and have a pipette gripping surface adapted to the outer shape of a pipette; and an actuating mechanism (23) which is interchangeably installed on the first finger element (21) to actuate an actuating target of the pipette.

Description

[0001] The present invention relates to a robot hand and, more particularly, to a robot hand suitable for automating a dispensing operation.

[0002] To automate work in laboratories and research spaces, such as measurement and analysis work, development and research have been carried out on a robot hand provided at a distal end of a robot arm to cause a robot to grasp and operate a working instrument such as a pipette.

[0003] For example, JP 2019-117072 A discloses an end effector including a holding portion that holds a pipette (a multi-channel pipette), a motor, and a swing portion that is driven by the motor and swings to press and operate a press button of the pipette.

[0004] In addition, JP 2016-209949 A, for example, discloses a sample handling system including a plurality of arm-tip tools detachably attached to the distal end of a robot arm, wherein a pipette operating hand including a holder for attaching a pipette and a pressing member is prepared as one of the plurality of arm-tip tools, and the pipette can be operated only by the pipette operating hand.

[0005] The end effector (robot hand) disclosed in JP 2019-117072 A only assumes a corresponding shape for a specific pipette (a multi-channel pipette). When handling additional types (types having different configurations) of pipettes, there is a possibility that another end effector must be manufactured, and versatility is poor. Since it is conceivable to handle multiple types of pipettes having different configurations depending on the work content, as the number of end effectors to be manufactured increases accordingly, there are many possibilities for replacing the end effector during the robot's work, and there is a problem that the robot's working time increases.

[0006] Additionally, in the sample preparation system disclosed in JP 2016-209949 A, when multiple types of pipettes having different configurations are handled, it is necessary to prepare an arm tip tool (a pipette operating hand) for each pipette having a different configuration from JP 2019-117072 A. In addition, since it is necessary to mount a mechanism for attaching and detaching the arm tip tool to and from the distal end of the robot arm and a mechanism for operating a pipette on the arm tip tool, there is a possibility that the arm tip tool becomes large in size. In this case, it may be difficult for the operator to handle the pipette, especially in an environment where the operator and the robot cooperate. Therefore, it is desirable that the pipette be in a state where the operator can easily handle the pipette.

[0007] Furthermore, EP 3 936 871A1, EP 2 875 912 B1, WO 2021 / 095 743 A1, WO 2016 / 002 019 A1, US 2009 / 0 067 973 A1 and KR 10 20210 099 757 A describe generic robot hands or gripping devices.

[0008] An object of the present invention is to provide a highly versatile robot hand that can easily handle multiple types of pipettes having different configurations.

[0009] To achieve the above-mentioned object, a robot hand of the present invention is configured as described in the claims. Note that, in the claims, the recitation of further claims in the recitation form is a single recitation to facilitate understanding of the recitation of the claims in the recitation form. However, the present invention includes a form of reciting multiple claims (multiple recitation) and a form of reciting multiple multiple recitation claims in the recitation form.

[0010] A specific example of a robot hand in the present disclosure is a robot hand for gripping and operating a pipette. The robot hand includes: an electric gripper; a pair of first finger elements that are opened and closed by the electric gripper; a pair of second finger elements provided on the first finger element and having a pipette gripping surface; and an operating mechanism installed on the first finger element for operating an operating target of the pipette.

[0011] According to the present invention, it is possible to obtain a highly versatile robot hand that can easily handle multiple types of pipettes having different configurations.

[0012] Objects, configurations and effects other than the above description will become clear from the explanation in the following embodiments. Fig. 1 is a view illustrating an appearance of a robot according to a first embodiment; Fig. 2 is a view illustrating how a pipette of a robot hand is released according to the first embodiment; Fig. 3 is a view illustrating a configuration relationship between a first finger member and a second finger member in the first embodiment; Fig. 4 is a view illustrating a configuration relationship between the first finger member and an operating mechanism in the first embodiment; Fig. 5 is a view illustrating a state in which the robot hand grips the pipette according to the first embodiment; Fig. 6 is a view illustrating a positional relationship between the operating mechanism and a pipette gripping target during pipetting according to the first embodiment; Fig. 7 is a view illustrating a sectional view of the first finger member and the second finger member during pipetting according to the first embodiment; Fig. 8 is a view illustrating a state in which the robot hand grips the pipette according to the first embodiment; Fig. 9 is a view illustrating a positional relationship between an operating mechanism and a pipette gripping target during pipetting according to the first embodiment; Fig. 10 is a view illustrating a configuration relationship between the first finger member and the second finger member in a second embodiment; Fig. 11 is a view illustrating a state of attachment between a second cylindrical concave surface of the first finger member and the second finger member in a second embodiment; and Fig. 12 is a view illustrating a configuration relationship between the first finger member and the operating mechanism in a third embodiment.

[0013] Some embodiments of the invention will be described below with reference to the drawings. Furthermore, the drawings illustrate embodiments and examples according to the principle of disclosure to promote understanding of the invention. The description in this specification is given merely as a typical example.

[0014] It is understood that changes to the configuration / structures and replacement of various elements can be implemented.

[0015] First, before describing the embodiments of the present invention in detail, an overview of the embodiments of the present invention will be described.

[0016] Focusing on requirements necessary for a robot hand to grip and operate pipettes, there are two points: (1) an inner surface of a pipette gripper that is in contact with a pipette has a shape that matches an outer shape of the pipette; and (2) a mechanism (hereinafter, an operation mechanism will be described) for pressing and operating a press button or the like (hereinafter, referred to as an operation target) provided on the pipette for sucking or dispensing a liquid in the pipette, removing a tip attached to the distal end of the pipette, or the like is located at a position where an operation target can be operated only by a simple uniaxial operation.

[0017] In the embodiment of the present invention, multiple types of pipettes having different configurations can be easily handled by incorporating elements each satisfying the two requirements described above and allowing replacement in units of elements.

[0018] That is, a robot hand according to an embodiment of the present invention is a robot hand for gripping and operating a pipette, and includes an electric gripper, a first finger element that is opened and closed by the electric gripper, a second finger element installed on a gripping surface of the first finger element, and an operating mechanism installed on the first finger element and for operating an operation target of the pipette. In other words, in the robot hand according to the embodiment of the present invention, (a) the second finger element, which has a shape corresponding to the outer diameter of the pipette, and (b) the operating mechanism for operating the operation target of the pipette are separately attached to the first finger element, which is attached to or integrated with the electric gripper of the robot hand, in such a way that they are interchangeable.Several second finger elements and several actuating mechanisms are manufactured according to the pipettes to be handled.

[0019] Among the two requirements described above, (1) the fact that the inner surface of the pipette gripper in contact with the pipette has a shape adapted to the outer shape of the pipette is satisfied by holding the pipette by means of the second finger member, and (2) the fact that the operation mechanism is located at a position where the operation target can be operated only by a simple uniaxial operation is satisfied by installing the operation mechanism on the first finger member, and both of them are arranged on the first finger member attached to the electric gripper in such a way that easy replacement can be performed.That is, the second finger member is exchanged to correspond to different types of pipettes, and a plurality of operation units of the operation mechanism are installed or movable to correspond to positions of operation targets of different types of pipettes.

[0020] As described above, the robot hand according to the embodiment of the present invention is not configured to replace the entire robot hand according to the pipette, but can handle multiple types of pipettes by replacing only the second finger member attached to the peripheral side of the first finger member and the operating mechanism. As a result, a robot hand with high interchangeability and high versatility can be obtained because the number of parts to be replaced is smaller than that of a conventional robot hand when holding and operating various types of pipettes.

[0021] Then, embodiments of the present invention will be described in detail. [First embodiment]

[0022] A configuration of a robot hand 2 according to a first embodiment of the present invention will be described with reference to Fig. 1 to Fig. 9 described.

[0023] Fig. Figure 1 illustrates a configuration example of a robot 1 to which the robot hand 2 is attached. The robot 1 includes a robot body 10, an articulated robot arm 11 equipped with an actuator and a position sensor at each joint, a robot head 12 including a camera 121, and a movement mechanism 13. The robot hand 2 is attached to a distal end of the robot arm 11. The robot 1 further includes a control unit 14 that controls the operation of the above-described components.

[0024] The robot 1 moves in the work environment through the movement mechanism 13 and moves in front of the worktable on which the pipette and the like are arranged. The robot 1 then detects the pipette position on the worktable through the camera 121 and moves the robot arm 11 to the detected position, bringing the robot hand 2 close to the pipette position. The robot 1 then grasps the pipette with the robot hand 2 and operates it to perform a dispensing operation. The above-described operation is scheduled and controlled by the control unit 14 and can be executed automatically.

[0025] It should be noted that the configuration of the robot 1 is not limited to the configuration described above and various known robots can be used.

[0026] Fig. 2 illustrates a configuration of the robot hand 2. The robot hand 2 includes a first finger element 21, a second finger element 22, an actuating mechanism 23, and an electric gripper 24, and grips and actuates a pipette 30. Although details will be described later, since the second finger element 22 and the actuating mechanism 23 are attached to and detached from the electric gripper 24 by means of the first finger element 21, all of the first finger element 21, the second finger element 22, and the actuating mechanism 23 can be regarded as one robot hand attachment.

[0027] The first finger element 21 is configured as a pair (one each is arranged on the left and right in the drawing). The pair of first finger elements 21 is attached to an operating end of the electric gripper 24 that performs a lifting operation, is opened and closed by the electric gripper 24, and is movable in a direction in which its elements face each other. A known electric gripper can be used as the electric gripper 24. In the present embodiment, the first finger element 21 is attached to the electric gripper 24 by a screw structure, a fixing structure, or the like in such a way as to be detachable and replaceable, however, the first finger element 21 may be configured as an operating end of the electric gripper 24. That is, the first finger element 21 may be configured as a part of the electric gripper 24.However, when the first finger member 21 is configured separately from the electric gripper 24 and the first finger member 21 is attached to and detached from the electric gripper 24, the general-purpose electric gripper 24 can be used.

[0028] The second finger element 22 is attached and arranged on each surface of the first finger element 21 where the elements of the pair of first finger elements 21 face each other, that is, in the first finger element 21. In the present embodiment, the electric gripper 24 is driven such that the pipette 30 is gripped by the pair of second finger elements 22 by means of the pair of first finger elements 21. It can also be said that this configuration is obtained by dividing the gripping portion driven by the electric gripper 24 into the first finger element 21 and the second finger element 22. How the second finger element 22 is to be attached to the first finger element 21 will be described later.

[0029] The actuation mechanism 23 actuates actuation targets 301 and 302 of the pipette 30, is provided at least once in the robot hand 2, and is attached to the first finger member 21. In the present embodiment, two actuation mechanisms 23 are installed. Although details will be described later, the actuation mechanism 23 is installed on the first finger member 21 so that it is located at a position where the pipette 30 can be actuated.

[0030] Since the actuating mechanism 23 is installed on the first finger member 21, the actuating mechanism 23 can be brought close to the gripping position of the pipette 30 by controlling the gripping operation of the first finger member 21. Therefore, it is not necessary to separately provide a moving mechanism in the actuating mechanism 23 itself, and the actuating mechanism 23 can be downsized. Furthermore, when the robot hand 2 is brought close to the pipette 30 to grip the pipette 30, if the space between the pair of first finger members 21 is kept open, the actuating mechanism 23 does not interfere with the gripping of the pipette 30.

[0031] The pipette 30 handled in the present embodiment is an electric pipette and includes a first operation target 301, a second operation target 302, a finger hook 303, a display screen 304, and a grasping target 305. In the present embodiment, the first operation target 301 is a button for dispensing or aspirating, and the second operation target 302 is a lever for removing a tip attached to the distal end of the pipette 30. The finger hook 303 serves to prevent the pipette 30 from being displaced during pipetting and is supported by a support surface 223 of the second finger member 22, which will be described later. The display screen 304 is a liquid crystal display that displays settings, states, and the like of the pipette. The grasping target 305 is a portion grasped by the second finger member 22. For example, the pipette 30 is used as a liquid crystal display. B.A commercially available pipette is used, and various types of pipettes having different shapes and positions of a grasping target and an actuation target are used. It should be noted that the pipette 30 is not limited to an electric pipette and may be, for example, a manually operated pipette.

[0032] In the present embodiment, the second finger member 22 is configured to be in direct contact with the pipette 30 (the grasping target 305), and the inner surface of the second finger member 22 has a shape that matches or corresponds to the outer shape of the pipette 30 (the grasping target 305). Further, in the present embodiment, the operating mechanism 23 is located at a position where an operating target (a first operating target 301 and a second operating target 302) of the pipette 30 can be operated only by a simple uniaxial movement (which will be described in detail later). The second finger member 22 and the operating mechanism 23 are configured to be attached to the first finger member 21.As a result, it is possible to grip and operate various other types of pipettes 30 as needed by replacing the second finger member 22 and adjusting the position of the operating mechanism 23. Furthermore, tool exchange, in which the second finger member 22 and the operating mechanism 23 are also exchanged by replacing the first finger member 21, can also be adopted. As a result, tool exchange for handling multiple types of pipettes having different configurations compared to the conventional robot hand is enabled, and the electric gripper 24 can have a common configuration regardless of the shape of the pipette, and versatility is also improved. These points will then be described in detail.

[0033] Fig. 3 illustrates structural examples of the first finger element 21 and the second finger element 22. Since the pair of first finger elements 21 and the pair of second finger elements 22 have substantially the same configuration (a substantially symmetrical configuration) as shown in Fig. 2 is illustrated in Fig. 3 only one side (the left side in Fig. 2) is illustrated.

[0034] The second finger member 22 has a semi-cylindrical convex portion 220 in which an outer side of a cross section in a direction perpendicular to the longitudinal direction of the pipette is formed in an arc shape on an outer surface in contact with the first finger member 21. The first finger member 21 has, on an inner surface (a gripping surface) in contact with the second finger member 22, a semi-cylindrical concave portion 210 in which an inner side of a cross section in a direction perpendicular to the longitudinal direction of the pipette is formed in an arc shape and can be fitted into the semi-cylindrical convex portion 220 of the second finger member 22. The attachment between the semi-cylindrical convex portion 220 and the semi-cylindrical concave portion 210 is referred to as a first attachment structure.

[0035] The semi-cylindrical convex portion 220 of the second finger element 22 has a convex attachment portion 221, and the semi-cylindrical concave portion 210 of the first finger element 21 has a concave attachment portion 211 that can be fitted into the convex attachment portion 221. The attachment between the convex attachment portion 221 and the concave attachment portion 211 is referred to as a second attachment structure.

[0036] With the first fixing structure and the second fixing structure described above, the position and attitude of the second finger element 22 with respect to the first finger element 21 can be fixed.

[0037] When the robot hand 2 handles the pipette 30, the second finger element 22 may be attached to the first finger element 21 in advance and then the pipette 30 may be gripped, or the second finger element 22 attached to the pipette 30 in advance may be attached to the first finger element 21.

[0038] When the second finger member 22 is attached to the first finger member 21 in advance, an inner surface of the second finger member 22 has a shape that matches or corresponds to the outer shape of the pipette 30 (the grasping target 305), so that no additional fixing member is required for the pipette 30. Therefore, the operator performing the work in cooperation with the robot 1 can easily handle the pipette 30.

[0039] On the other hand, if the second finger member 22 is attached to the pipette 30 in advance, a plurality of pipettes can be handled without replacing the second finger member 22.

[0040] When a second finger member 22 is attached to the pipette 30 in advance, the semi-cylindrical concave portion 210, which is a gripping surface of the first finger member 21, has a semi-cylindrical shape, whereby the pipette 30 to which the second finger member 22 is attached can be gripped at a suitable gripping position. That is, for example, when the robot arm 11 is controlled to automatically grip the pipette 30 to which the second finger member 22 is attached, even if the arm tip position is shifted, the convex attachment portion 221 is guided to the concave attachment portion 211 by the contact between a spherical surface 224 of the protrusion tip and the semi-cylindrical concave portion 210, the second finger member 22 can be moved to a suitable fitting position, and the pipette 30 can be gripped at a suitable gripping position.

[0041] When the second finger element 22 is attached to the pipette 30 in advance, the second finger elements 22 (the adjacent surfaces of the semi-cylindrical ends) are coupled to each other by a fitting shape or a magnetic force.

[0042] In addition, when the second finger member 22 is attached to the pipette 30 in advance, the outer surfaces of the pair of second finger members 22 have a cylindrical shape due to the semi-cylindrical convex portions 220, and thus the shape is easy for the operator to grasp, and the pipette 30 can be easily operated in an environment where the operator and the robot 1 perform work cooperatively. Additionally, it is conceivable to attach the operation mechanism 23 to the second finger member 22 that grips the pipette 30. However, if the second finger member 22 is attached to the pipette 30 in such a configuration in advance, the configuration becomes complicated and large, and the configuration becomes difficult for the operator to grasp, and it becomes difficult for the operator and the robot to use the pipette together.That is, by separately attaching and detaching the second finger element 22 and the actuating mechanism 23 to and from the first finger element 21, the pipette can be used jointly by the operator and the robot with high versatility.

[0043] In Fig. 3, the first finger member 21 has the semi-cylindrical concave portion 210, and the second finger member 22 has the semi-cylindrical convex portion 220. However, the first finger member 21 may have a convex shape, and the second finger member 22 may have a concave shape. That is, a convex shape may be formed on one of the surfaces where the first finger member 21 and the second finger member 22 are in contact, and a concave shape may be formed on the other surface. However, if the second finger member 22 has a concave shape, the pipette 30 to which the second finger member 22 is attached has a shape that is difficult for the operator to grasp. Therefore, it is desirable to grasp the pipette 30 after the second finger member 22 has been attached to the first finger member 21.

[0044] Similarly, one of the fitting portions (the concave fitting portion 211 and the convex fitting portion 221) may have a convex shape, the other may have a concave shape, the first finger member 21 may have the convex fitting portion, and the second finger member 22 may have the concave fitting portion.

[0045] Furthermore, the second finger element 22 has a curved surface 222 on the inner surface, which can be adapted to the outer shape of the grasping target 305 of the pipette 30, and the support surface 223, which can be adapted to the finger hook 303 of the pipette 30 to support the pipette 30 in the longitudinal direction of the pipette 30. A concave portion is formed at a position of the support surface 223 by the pair of second finger elements 22, and the finger hook 303 is arranged in and adapted to the concave portion. The support surface 223 of the second finger element 22 supports the finger hook 303 of the pipette 30 to resist the force imparted to the operation targets 301 and 302 by the operation mechanism 23. As a result, the pipette 30 is not displaced during the pipetting operation, and the pipetting operation can be performed properly.

[0046] With the configuration described above, the second finger member 22 can fix the positions and postures of the pipette 30 and the second finger member 22 when the pipette 30 is gripped. In addition to the fixing method described above, for example, the positions and postures of the pipette 30 and the second finger member 22 can be fixed using a non-uniform portion such as the display screen 304 of the pipette 30. Alternatively, the positions and postures of the pipette 30 and the second finger member 22 can be fixed using the characteristics of the external shape, as long as they are not the operation target of the pipette 30.

[0047] When the fixing structure of the pipette 30 and the second finger element 22 and the fixing structure of the first finger element 21 and the second finger element 22 are combined, the positions and attitudes of the pipette 30 and the first finger element 21 can be clearly determined, and the position and attitude of the pipette 30 will not be displaced even when a force is applied by the actuating mechanism 23. As described above, it is easy to teach the dispensing operation to the robot 1.

[0048] Fig. 4 illustrates structures of the first finger element 21 and the actuating mechanism 23. Each pair of the first finger element 21 and the actuating mechanism 23 has substantially the same configuration (substantially a symmetrical configuration) as in Fig. 2, and thus only one side (the right side in Fig. 2) in Fig. 4. The actuating mechanism 23 includes an actuating member (a lever) 230, a lifting portion 231, and an actuator unit 232. The actuating member 230 projects inward from the first finger element 21 (toward the second finger element 22) with a gripping direction component in the opening / closing direction A of the electric gripper 24. When the actuator in the actuator unit 232 is driven, the lifting portion 231 swings (moves up and down in the drawings) in a direction B having a component perpendicular to the direction A, thereby actuating the part of the pipette 30. The direction B is also the same direction as the longitudinal direction of the pipette.

[0049] Additionally, a battery 232a and a wireless communication device 232b are mounted in the actuator unit 232, and the actuator can be controlled by performing wireless communication with the control unit 14. With the above-described configuration, the wiring work during replacement of the actuating mechanism 23 can be omitted, the replacement time can be shortened, and the actuation failure of the actuating mechanism 23 due to wiring deterioration does not occur.

[0050] The first finger member 21 has two or more operating mechanism position adjusting holes 212 for fixing the operating mechanism 23, and the operating mechanism position adjusting holes 212 enable fastening, detachment, and position adjustment (position adjustment in the direction C) of the operating mechanism 23 with respect to the first finger member 21.

[0051] In order to fix the operating mechanism 23 to the operating mechanism position adjusting hole 212 of the first finger member 21, a protrusion to be attached to the operating mechanism position adjusting hole 212 may be formed on a fixing member (not illustrated) such as the operating mechanism 23 or a fixing plate for fixing the operating mechanism attached to the operating mechanism 23.

[0052] Further, the first finger member 21 may have a protrusion shape instead of the operating mechanism position adjusting hole 212, and may be fixed by providing a hole on the side of the operating mechanism 23 and adjusting each hole.

[0053] The operating mechanism position adjustment hole 212 of the first finger member 21 for fixing the operating mechanism 23 may be a screw hole. In this case, by creating an elongated hole in the operating mechanism 23 or a member (not illustrated) for fixing the operating mechanism 23 and screwing the elongated hole, continuous position adjustment can be performed.

[0054] In Fig. 4, the actuating mechanism 23 is disposed outside the first finger element 21, but may be disposed on the upper surface, the lower surface, or the inside of the first finger element 21. However, since it is necessary to be located at a position that does not interfere with the gripping of the pipette 30, it is desirable to install the pipette on the outside of the first finger element 21.

[0055] The above is the configuration of the robot hand 2 according to the first embodiment of the present invention. If another type of pipette other than the pipette 30 shown in Fig. 2, that is, a pipette having a grasping target shape different from the grasping target 305 and a shape, position, and number of operation targets different from the operation targets 301 and 302 is grasped and operated, the second finger member 22 is replaced by a pipette corresponding to each feature of the pipette, such that the operation mechanism 23 can be replaced by a pipette corresponding to each feature of the pipette, or the position can be adjusted.

[0056] Then, the operation of the robot hand 2 according to the first embodiment will be described.

[0057] Fig. 5 illustrates a state in which the robot hand 2 grips the pipette 30.

[0058] When the pair of first finger elements 21 is closed by the electric gripper 24, the pipette 30 is gripped by the robot hand 2 by means of the second finger element 22.

[0059] In the first embodiment, the pipette 30 has two operation targets (the first operation target 301 and the second operation target 302). An operation mechanism 23 is attached to each of the pair of first finger elements 21 so as to correspond to the two operation targets. The installation position and the number of operation mechanisms are adjusted according to the position and number of operation targets of the pipette 30 to be gripped. For example, two operation mechanisms 23 may be arranged on one of the first finger elements 21. Fig. 5, the actuating mechanism 23 is installed such that the pivoting direction B of the actuating element 230 overlaps with the first actuating target 301 and the second actuating target 302 of the corresponding pipette 30 during gripping. That is, the actuating mechanism 23 on the right side is fixed to the first finger element 21 by adjusting the position of the first actuating target 301 of the pipette 30, and the actuating mechanism 23 on the left side is fixed to the first finger element 21 by adjusting the position of the second actuating target 302 of the pipette 30.

[0060] The display screen 304 of the pipette 30 is gripped facing the side opposite the electric gripper 24. As a result, when collaborating with the operator, the operator can view the display screen 304, allowing the status of the pipette 30 to be easily monitored.

[0061] Fig. 6 illustrates a state in which the robot hand 2 operates the pipette 30 as a front view. When the lifting section 231 pivots in direction B, the operation protrusions 233a installed on the respective operation members 230 in the direction in contact with the first operation target 301 and the second operation target 302 of the pipette 30 come into contact with the first operation target 301 and the second operation target 302, respectively, and operate the pipette 30.

[0062] Fig. 7 is a sectional view of the first finger element 21 and the second finger element 22 in a front view when the robot hand 2 operates the pipette 30.

[0063] In the first embodiment, in the opening / closing direction A of the gripper, the distance from the contact surface between the operating mechanism 23 and the first finger element 21 to the contact surface between the first finger element 21 and the second finger element 22 (the thickness of the first finger element 21) is defined as T1, the distance from the contact surface between the first finger element 21 and the second finger element 22 to the contact surface between the second finger element 22 and the pipette 30 (the thickness of the second finger element 22) is defined as T2, the distance from the contact surface between the second finger element 22 and the pipette 30 to the center of the operation target 301 is defined as R1, and the distance from the contact surface between the operating mechanism 23 and the first finger element 21 to the center of the operation projection 233a is defined as L1.Here, for operating the operation target 301 by the vertical movement of the operating member 230, the relationship between the distances is L1 = T1 + T2 + R1. Here, if pipettes having different outer diameters are gripped, when the value of R1 becomes R1' due to a change in the outer diameter of the pipette, T2 is reset to T2', and T2' = L1 - T1 - R1' is set. However, T2' > 0. As a result, pipettes having different outer diameters can be operated only by replacing the second finger member 22 without replacing the first finger member 21 and the operating mechanism 23.

[0064] In the first embodiment, the lengths of the two actuating elements 230, the number of actuating protrusions, and the shapes are the same, but they may be different. Furthermore, by installing a plurality of actuating protrusions having different heights in the opening / closing direction A of the electric gripper 24 of the actuating element 230, it is possible to actuate pipettes having different shapes of actuating targets.

[0065] The material of the actuating protrusion 233 is not particularly selected, as long as it can be reliably actuated without damaging the target actuation target. For example, in the case of a rubber material, it is possible to perform an actuation in a state where there is hardly any slippage between the protrusion and the actuation target, and it is possible to prevent an actuation error and the generation of additional thrust.

[0066] Furthermore, the operating member 230 does not need to have the operating protrusion as in 233 and may have a shape that can reliably operate the target operation target. For example, the surface of the operating member 230 that contacts the operation target 301 may have a concave shape.

[0067] In the first embodiment, the operation protrusion 233a and the operation protrusion 233b are provided. The distance from the contact surface between the operation mechanism 23 and the first finger member 21 to the center of the operation protrusion 233b is defined as L2. When a distance R1" from the contact surface between the second finger member 22 and the pipette 30 to the center of the operation target to be operated by the operation protrusion 233b is defined, a distance T2" ​​from the contact surface between the first finger member 21 and the second finger member 22 to the contact surface between the second finger member 22 and the pipette 30 is defined as T2" = L2 - T1 - R1". As a result, by replacing only the second finger member 22 without replacing the first finger member 21 and the operation mechanism 23, it is possible to operate pipettes having different operation targets in different shapes.

[0068] If the second finger member 22 is attached to the pipette 30 in advance, the thickness of the second finger member 22 is adjusted according to the outer diameter of the pipette as described above to a value T2' or so at which the operation target 301 can be operated, so that the operation mechanism 23 does not need to be replaced even when handling pipettes having different outer diameters. As described above, if the configuration of the robot hand 2 remains unchanged except for the second finger member 22, the replacement time of the components can be eliminated.

[0069] Then, a configuration of the robot hand 2 is described when the pipettes 31 having different shapes are gripped and operated.

[0070] Fig. 8 illustrates a state in which the pipette 31 is gripped by the robot hand 2. The pipette 31 has operation targets 311 and 312 and a display screen 314, and the operation target 312 has a concave shape. A second finger member 25 has a shape for fixing the pipette 31. When the display screen 314 is present at the gripping target of the pipette 31, the display screen 314 is visible by providing the second finger member 25 with an opening 255 through which the display screen can be viewed, as illustrated in the drawing.

[0071] Fig. 9 is a front view illustrating a state in which the robot hand 2 operates the pipette 31. Since the operation target 312 has a concave shape, the operation is performed by an operation protrusion 233b having a projection with a longer extension in a stroke direction B and a higher extension than the operation protrusion 233a. As described above, by operating the operation target with the protrusion shape, it is also possible to deal with the operation target with a concave shape. In order to align the operation protrusion 233b with the position of the operation target 312, the second finger member 25 having a different thickness is used.

[0072] As in the configuration described above, by providing a plurality of operation protrusions having different heights in the operation member 230, it is possible to deal with pipettes having operation targets having different shapes without replacing the operation mechanism 23. [Second embodiment]

[0073] Fig. 10 and Fig. 11 illustrate a method for fixing the first finger element 21 and the second finger element 22 of the robot hand 2 according to a second embodiment of the present invention. However, the configuration shown in Fig. 10 and Fig. 11 is not illustrated, similar to that of the first embodiment.

[0074] In the second embodiment, the first finger element 21 and the second finger element 22 are secured by a magnet 214 and a magnet 224 incorporated therein, respectively. Here, the magnet can be a permanent magnet or an electromagnet. One of the magnet 214 and the magnet 224 can be a magnetic body.

[0075] According to the configuration of the present embodiment, since the fixing structure can be reduced, replacement of the second finger member 22 becomes easier.

[0076] The semi-cylindrical concave portion of the first finger member 21 in the present embodiment shown in Fig. 10, includes a first cylindrical concave surface 210a and a second cylindrical concave surface 210b for accommodating the plurality of second finger elements. The two cylindrical concave surfaces 210a and 210b have different radii and centers of circle. The cylindrical concave surface 210a has a radius Ra and a center of circle Oa, and the cylindrical concave surface 210b has a radius Rb and a center of circle Ob.

[0077] Fig. Figure 10 illustrates a second finger element 22a, which is intended to correspond to a pipette 32 of outer radius R2. The radius of the semi-cylindrical convex portion 220a of the outer shape of the second finger element 22a is Ra and can be adapted to the first cylindrical concave surface 210a of the first finger element 21.

[0078] Fig. Figure 11 illustrates the second finger element 22b for bypassing a pipette 33, which has an outer radius R3 greater than the radius Ra. The radius of the semi-cylindrical convex portion 220b of the outer shape of the second finger element 22b is Rb and can be adapted to the second cylindrical concave surface 210b of the first finger element 21.

[0079] According to the configuration of the present embodiment, since the second finger member having different radii of the semi-cylindrical convex portion can be used, it is easier to handle multiple pipettes having different outer diameters. Furthermore, since the thickness of the second finger member can be adjusted to a value corresponding to the outer shape of the pipette, it is possible to prevent an increase in the size of the second finger member. [Third Embodiment]

[0080] Fig. Fig. 12 illustrates a method for fixing the first finger element 21 and the actuating mechanism 23 of the robot hand 2 according to a third embodiment of the present invention. However, the configuration shown in Fig. 12 is not illustrated, similar to that of the first embodiment.

[0081] In the third embodiment, the fixing of the first finger element 21 and the actuating mechanism 23 and the movement of the actuating mechanism 23 in the direction C are performed by an actuating mechanism position adjustment slider 215. Furthermore, to fix the positions of the first finger element 21 and the actuating mechanism 23, magnets may be provided to fix the positions, respectively. In this case, a permanent magnet or an electromagnet may be used. Either of them may be a magnetic body.

[0082] With the configuration of the present embodiment, the position of the operating mechanism 23 can be continuously adjusted in the direction C, and there is no need to attach or detach the first finger member 21 to a hole. Therefore, replacement of the operating mechanism 23 and a reduction in position adjustment time can be expected.

Claims

[1] Robot hand for gripping and operating a pipette, wherein the robot hand (2) characterized by is that it includes: an electric gripper (24); a pair of first finger elements (21) opened and closed by the electric gripper (24); a pair of second finger elements (22) which are replaceably provided on the first finger element (21) and have a pipette gripping surface adapted to the outer shape of a pipette; and an actuating mechanism (23) replaceably installed on the first finger member (21) for actuating an actuation target of the pipette. [2] Robot hand according to claim 1, wherein the first finger element (21) is detachably mounted on the electric gripper (24). [3] The robot hand according to claim 1, wherein in the second finger member (22), the pipette gripping surface in contact with a gripping target of the pipette is formed in a curved surface along the gripping target of the pipette. [4] The robot hand according to claim 3, wherein the second finger member (22) has a support surface (223) on which a finger hook of the pipette is arranged when the pipette is gripped, the support surface (223) being capable of supporting the pipette in an operation direction of the operation target. [5] Robot hand according to claim 1, wherein the second finger element (22) has a semi-cylindrical convex portion on a surface in contact with the first finger element (21) and the first finger element (21) has a semi-cylindrical concave portion which is attached to the semi-cylindrical convex portion of the second finger element (22). [6] A robot hand according to claim 5, wherein in the first finger member (21), two or more cylindrical concave surfaces having different radii and circle center positions are formed in the semi-cylindrical concave portion. [7] Robot hand according to claim 1, wherein a hole is formed in a surface of the first finger element (21) on which the second finger element (22) is installed, and the second finger element (22) has a projection fitted into the hole of the first finger element (21) on a surface facing the first finger element (21). [8] Robot hand according to claim 1, wherein the second finger element (22) is fixed to the first finger element (21) by a magnetic force. [9] Robot hand according to claim 1, wherein the actuating mechanism (23) contains an actuator and an actuating element (230) which is controlled by the actuator, and the actuating element (230) protrudes from the first finger element (21) to a side on which the pipette is gripped and is movable by the actuator in a longitudinal direction of the pipette. [10] The robot hand according to claim 9, wherein the operation member (230) includes a projection having a different height on a surface of the pipette facing the operation target. [11] The robot hand according to claim 9, wherein the operating member (230) has a projection on a surface of the pipette facing the operation target, and the second finger member (22) has a thickness such that, when the pipette is gripped, an operation target of the pipette is equal to a position of the projection of the operating member (230). [12] The robot hand according to claim 1, wherein the first finger member (21) includes a unit capable of installing the actuating mechanism (23) at a plurality of positions. [13] The robot hand according to claim 1, wherein the actuating mechanism (23) includes a battery (232a) and a radio communication substrate and is controlled by a radio method. [14] Robot hand according to claim 1, wherein a plurality of second finger elements (22) are made to correspond to a plurality of types of pipettes to be handled, and a second finger element (22) corresponding to a pipette to be handled is installed on the first finger element (21), and a plurality of actuating mechanisms (23) are made corresponding to the plurality of types of pipettes to be handled, and an actuating mechanism (23) corresponding to the pipette to be handled is installed on the first finger member (21).

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