Robot hand and robot system

Abstract

To achieve space saving in a robot system to increase work that a robot can get engaged in.SOLUTION: A hand 300 attached to a flange part 28 of an arm 21 comprises a pair of gripping members 306 and an opening / closing mechanism 102 that opens and closes the gripping members 306. The gripping members 306 respectively have base parts 311 extending in an axis line direction of a sixth axis AX6 that is a central axis line of turning of the flange part 28. An extending part 341 extending in a direction crossing the base part 311 is formed on an upper end part 312 of the base part 311, and a gripping part 342 for a beaker for gripping a beaker is provided on the extending part 341. A filter gripping part 324 is formed in a portion lower than the extending part 341 in the base part 311 to dent an inner surface 317 of the base part 311. The filter gripping part 324 is provided coaxially with the sixth axis AX6.SELECTED DRAWING: Figure 24

Description

[Technical Field]

[0001] The present invention relates to a robot hand and a robot system. [Background technology]

[0002] Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold (clamp) a workpiece by clamping it between a pair of movable claws (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-1281 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, if the clamping target varies depending on the task, providing a robot hand for each target and automatically replacing the robot hand as needed can increase the number of tasks the robot can perform. Furthermore, determining the shape of the movable claws according to the shape and size of the clamping target can effectively prevent the clamping target from falling off. However, installing replacement jigs and various robot hands near the robot requires a certain amount of space. For example, when a robot is installed on a table in a research lab or laboratory, i.e., when the installation area of ​​the robot system is limited, installing replacement robot hands can constrict the work area. This can hinder the expansion of tasks the robot can perform. To address such concerns about installation area, providing the robot hand with multiple pairs of movable claws and configuring the movable claws to be used depending on the task can increase the number of tasks the robot can perform without preparing replacement robot hands. However, this solution requires a drive mechanism to operate each pair, which is expected to increase the size of the robot hand. A larger robot hand places greater constraints on the robot's movement in order to avoid collisions with surrounding components such as jigs. This is not desirable in terms of increasing the number of tasks that the robot can be engaged in. As such, there is still room for improvement in the configuration of the robot hand in terms of having the robot engage in multiple tasks in a limited space.

[0005] The present invention has been made in view of the above-mentioned problems, and its main object is to reduce the space required for a robot system and increase the number of tasks that a robot can perform. [Means for solving the problem]

[0006] First means: A robot hand that is applied to a robot arm having a plurality of joints and is equipped with a pair of clamping members and a distance variable mechanism for changing the relative distance between the clamping members, Each of the clamping members has a base portion extending in the same direction as the rotation center axis of the tip end of the robot arm, The base portion has: a first clamping portion extending from a side of the base portion and configured to clamp a first object to be conveyed at a position offset from the rotation center axis; a second clamping portion for clamping a second object, which is a part that is attached or detached by rotating, so as to be coaxial with the rotation center axis; is provided.

[0007] As shown in this embodiment, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0008] In particular, the clamping member described in this embodiment includes a first clamping unit that clamps a first object to be transported, and a second clamping unit that clamps a second object that is a part that is attached or detached by rotation. The first clamping unit clamps the first object at a position offset from the central axis of rotation, while the second clamping unit clamps the second object coaxially with the central axis of rotation. This prevents the first clamping unit from interfering with the transport operation when the first clamping unit is used to transport the first object, or from interfering with the attachment and detachment operation when the second clamping unit is used to attach or detach the second object. In other words, two types of clamping units can be used together without difficulty, increasing the number of tasks that the robot can perform. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a robot system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the robot system. [Figure 3] Schematic diagram showing a table on which a robot is installed. [Figure 4] Schematic diagram showing the workflow in which the robot is engaged. [Figure 5] Front view of the hand. [Figure 6] FIG. [Figure 7] FIG. 1A is a left side view of the right clamping member, and FIG. 1B is a right side view of the left clamping member. [Figure 8] FIG. 10 is a schematic diagram showing a state in which a beaker is held. [Figure 9] Schematic diagram showing a pipette and a pipette stand. [Figure 10] Schematic diagram showing the flow of pipette holding. [Figure 11] Schematic diagram showing the process of removing the chip. [Figure 12] Schematic diagram showing the process of holding a cotton swab. [Figure 13] FIG. [Figure 14] FIG. 10 is a schematic diagram showing a robot and a table according to a second embodiment. [Figure 15] Schematic diagram showing the workflow in which the robot is engaged. [Figure 16] Rear view of the hand. [Figure 17] FIG. [Figure 18] FIG. 10 is a schematic diagram showing a state in which a beaker is held. [Figure 19] Schematic diagram showing the dial clamped. [Figure 20] FIG. 4 is a schematic diagram showing the flow of dial operation. [Figure 21] FIG. [Figure 22] FIG. 10 is a schematic diagram showing a robot and a table according to a third embodiment. [Figure 23] Schematic diagram showing the workflow in which the robot is engaged. [Figure 24] Front view of the hand. [Figure 25] FIG. [Figure 26] FIG. [Figure 27] FIG. 10 is a schematic diagram showing a state in which a beaker is held. [Figure 28] Schematic diagram showing a state in which the plunger of the syringe is held. [Figure 29] A partial cross-sectional view taken along line AA in Figure 28. [Figure 30] FIG. 10 is a schematic diagram showing a state in which a syringe of an injector is held. [Figure 31] FIG. 10 is a schematic diagram showing a state in which a syringe of an injector is held. [Figure 32] FIG. 10 is a schematic diagram showing a state in which a syringe filter is held. [Figure 33] A partial cross-sectional view taken along line BB in Figure 32. [Figure 34] Schematic diagram showing the procedure for installing a filter. [Figure 35] Schematic diagram showing the procedure for installing a filter. [Figure 36] FIG. 10 is a schematic diagram showing a laboratory in the fourth embodiment. [Figure 37] FIG. [Figure 38] FIG. 2 is a block diagram showing the electrical configuration of the transport system. [Figure 39] FIG. [Figure 40] Front view of the tray. [Figure 41] Side view of the tray. [Figure 42] Side view of the hand. [Figure 43] Top view of the hand. [Figure 44] FIG. 4 is a schematic diagram showing the flow of tray transportation. [Figure 45] FIG. [Figure 46] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] First Embodiment A first embodiment embodied in a robot system for use in a laboratory or the like will be described below with reference to the drawings.

[0011] 1, the robot system 10 includes a vertically articulated robot 11. Specifically, the main body (robot main body 12) of the robot 11 includes a base 22 fixed to a pedestal or the like, a shoulder 23 supported by the base 22, a lower arm 24 supported by the shoulder 23, a first upper arm 25 supported by the lower arm 24, a second upper arm 26 supported by the first upper arm 25, a wrist 27 supported by the second upper arm 26, and a flange 28 supported by the wrist 27.

[0012] A first joint portion is formed on the base portion 22 and the shoulder portion 23, connecting the base portion 22 and the shoulder portion 23, and the shoulder portion 23 is rotatable in the horizontal direction around the connecting axis (first axis AX1) of the first joint portion. A second joint portion is formed on the shoulder portion 23 and the lower arm portion 24, connecting the shoulder portion 23 and the lower arm portion 24, and the lower arm portion 24 is rotatable in the vertical direction around the connecting axis (second axis AX2) of the second joint portion. A third joint portion is formed on the lower arm portion 24 and the first upper arm portion 25, connecting the lower arm portion 24 and the first upper arm portion 25, and the first upper arm portion 25 is rotatable in the vertical direction around the connecting axis (third axis AX3) of the third joint portion. The first upper arm 25 and the second upper arm 26 are formed with a fourth joint that connects the first upper arm 25 and the second upper arm 26, and the second upper arm 26 is rotatable in a torsional direction around the connecting axis (fourth axis AX4) of the fourth joint. The second upper arm 26 and the wrist 27 are formed with a fifth joint that connects the second upper arm 26 and the wrist 27, and the wrist 27 is rotatable in a vertical direction around the connecting axis (fifth axis AX5) of the fifth joint. The wrist 27 and the flange 28 are formed with a sixth joint that connects the wrist 27 and the flange 28, and the flange 28 is rotatable in a torsional direction around the connecting axis (sixth axis AX6) of the sixth joint.

[0013] The shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, and flange portion 28 are arranged in a series to form arm 21 in the robot body 12, and a hand 100, which is a type of end effector, is attached to flange portion 28, which forms the tip of arm 21.

[0014] The arm 21 is provided with, for each joint, a servo motor 31 for driving the joint, a rotary encoder 32 for detecting the rotation angle of each joint (axis), and a torque sensor 33 for detecting the rotation torque of each joint (axis) (see FIG. 2). In addition, a camera 41 (see FIG. 2) for grasping the position of an object or the like is attached to the flange 28 of the arm 21. Note that the servo motor 31, camera 41, etc. are not shown in FIG. 1.

[0015] The servo motors 31, rotary encoder 32, torque sensor 33, and camera 41 are connected to the robot controller 15, and the control unit of the robot controller 15 controls the drive of each servo motor 31 based on position data obtained from the rotary encoder 32, i.e., encoder values ​​indicating the rotation angle (rotation position).

[0016] Furthermore, a host controller 16 (e.g., a personal computer or teaching pendant) is connected to the robot controller 15. An application for creating a control program for the robot 11, specifically a setting support application that supports the user in setting the movements of the robot 11 (including so-called teaching), is installed in the host controller 16. The control program created by the host controller 16 is transmitted to the robot controller 15, and the control unit of the robot controller 15 controls the drive of the robot main body 12 and the hand 100 based on the control program. In other words, the control program defines the work content and work order of the robot 11. Below, with reference to FIGS. 3 and 4, the experimental process in which the robot 11 is engaged (specifically, the PH confirmation process) will be described. FIG. 3 is a schematic diagram showing a table TA1 installed in a laboratory, and FIG. 4 is a schematic diagram showing the work flow (routine) performed by the robot 11.

[0017] 3, the robot 11 shown in this embodiment is disposed near the center of the table TA1, and test jigs and the like are disposed around the robot 11 so as to surround the robot 11. Specifically, a tray (first tray 185) on which a plurality of beakers 181 containing samples (liquids) are placed, a beaker stand 188 on which the beakers 181 to be worked on are set, a pipette 191 for collecting samples from the beakers 181 and a pipette stand 189 that holds the pipettes 191, a tray (second tray 186) on which a plurality of replacement tips 182 for the pipettes 191 are mounted, a guide plate 197 for collecting used replacement tips 182, an inspector 196 for inspecting the collected samples (for example, measuring pH), a tray (third tray 187) on which a plurality of swabs 183 for cleaning the inspector 196 are mounted, and a guide plate 198 for collecting used swabs 183 are disposed side by side. The robot 11 shown in this embodiment is a so-called human-collaborative robot, and no safety fence is provided around the table.

[0018] Next, with reference to FIG. 4, a supplementary explanation will be given of the work flow (steps) in the experimental process (pH confirmation process).

[0019] In the pH confirmation process, first, the robot 11 moves the beaker 181 set on the first tray 185 to the beaker stand 188 (SNA1). Next, the robot 11 holds the pipette 191 (more specifically, the pipette body 192) set on the pipette stand 189 (SNA2). At this point, the replacement tip 182 has not yet been attached, so the robot 11 attaches the replacement tip 182 to the pipette body 192 (SNA3). Specifically, the replacement tip 182 is placed on the second tray 186 in an upright position with the tip facing downward and the insertion opening facing upward. After the pipette body 192 is placed above the second tray 186 in a vertical position, the robot 11 lowers the pipette body 192 into the insertion opening for the replacement tip 182 while maintaining the vertical position, thereby attaching the replacement tip 182 to the pipette body 192.

[0020] After the replacement tip 182 is attached, the robot 11 moves to the beaker stand 188 while holding the pipette 191, and collects a sample from the beaker 181 placed on the beaker stand 188 (SNA4). The collected sample is then dropped into the supply port of the inspection device 196 (SNA5). The pipette 191 is connected to a pipette controller, and the pipette controller controls the operation of the pipette 191 in conjunction with the movement of the robot 11 when collecting and dropping the sample.

[0021] After the sample has been dropped, the pipette 191 is set on the pipette stand 189, and the replacement tip 182 is removed (SNA6). The removed replacement tip 182 falls onto the guide plate 197, which guides it to a collection box provided adjacent to the table TA1.

[0022] After removing the replacement tip 182, the tray 187 moves to the third tray 187 and holds the swab 183 (SNA7). Then, while holding the swab 183, the tray 187 moves above the inspector 196 and cleans the inspector 196 (SNA8). Specifically, the tip of the swab 183 is pressed against the supply port of the inspector 196 to remove any sample remaining in the supply port. After cleaning the inspector 196, the used swab 183 is discarded (SNA9). Specifically, the tray 187 moves above the guide plate 198 and releases the held swab 183. The released swab 183 is guided by the guide plate 198 to a collection box attached to the table TA1. After that, the beaker 181, whose pH has been checked, is moved from the beaker stand 188 to the first tray 185 (SNA10).

[0023] The robot 11 repeatedly executes the above steps, thereby realizing automation of the pH checking process.

[0024] In the pH confirmation process described above, the robot 11 is tasked with holding three objects: the beaker 181, the cotton swab 183, and the pipette 191 (pipette body 192). By providing dedicated hands for each of these three objects and configuring the hands to be interchangeable using a tool changer or the like, the robot 11 can optimally hold each object. However, the area on the table TA1 where various components such as jigs can be installed and the area the robot 11 can reach are limited. As the number of tasks assigned to the robot 11 increases, the number of jigs and other components that must be placed also increases. In other words, to enable application to a variety of tasks and automate the experimental process, the robot 11 must be operated in a limited space. In other words, securing an area for the placement of interchangeable hands and interchangeable jigs (such as a tool changer) can hinder the operation of the robot 11. One of the features of the robot 11, specifically the hand 100, described in this embodiment is that it is designed to address the above-mentioned issues. Below, with reference to FIGS. 5 to 7, a supplementary explanation of the hand 100 is provided.

[0025] As shown in Figure 5 (front view of hand 100), hand 100 can be attached to flange portion 28 that forms the tip of arm 21, more specifically, to the surface of flange portion 28 facing the hand tip (hereinafter referred to as attachment surface 28a).

[0026] The hand 100 includes a housing 101 fixed to the mounting surface 28a using bolts or the like. The housing 101 accommodates a guide rail 103 extending in a predetermined direction (left-right direction) perpendicular to the rotation center axis (the sixth axis AX6) of the flange portion 28, a pair of slide blocks 104 that slide in the predetermined direction along the guide rail 103, a servo motor 105 that drives the slide blocks 104, and a linear encoder 109 (see FIG. 2) that identifies the position of the slide block 104. The servo motor 105 and linear encoder 109 are connected to a robot controller 15, which controls the drive of the servo motor 105 based on a preset program and position data from the linear encoder 109, etc.

[0027] A portion of each slide block 104 on the hand tip side is exposed from the housing 101, and clamping members 106 for clamping an object such as the above-mentioned beaker 181 are fixed to the exposed portions. In this embodiment, an opening / closing mechanism 102 (corresponding to a "distance variable mechanism") is configured to open and close the pair of left and right clamping members 106 using the above-mentioned guide rails 103, slide blocks 104, and servo motor 105.

[0028] Each of the pair of left and right clamping members 106 has a base portion 111 extending parallel to the sixth axis AX6. A concave mounting portion 114 that fits into the protruding portion of the slide block 104 is formed at an upper end portion 112 of the base portion 111. An insertion hole 115 for the bolt 107 extending in the longitudinal direction of the base portion 111 is formed in the base portion 111, and one end of this insertion hole 115 is connected to the bottom of the mounting portion 114. The other end of the insertion hole 115 is open toward the lower end portion 113 of the base portion 111, and the bolt 107 and a tool for the bolt 107 (e.g., a screwdriver) can be inserted through this opening. Note that the base portion 111 does not necessarily have to be parallel to the sixth axis AX6 as long as it is configured to offset at least a beaker clamping portion 142 (described later) away from the mounting surface 28a.

[0029] The shaft of bolt 107 inserted into insertion hole 115 protrudes from mounting portion 114 toward flange portion 28, and this protruding portion is threaded into a bolt hole formed in slide block 104. In other words, mounting portion 114 and slide block 104 are fixed by bolt 107 while they are engaged with each other, thereby integrating clamping member 106 and slide block 104. Note that engagement between slide block 104 and mounting portion 114 prevents clamping member 106 from changing its position (rotating) around the point of fixation by bolt 107. In this embodiment, upper end 112 of base portion 111 corresponds to the "base end" and lower end 113 corresponds to the "tip end."

[0030] An extension portion 141 is formed at the lower end portion 113 of the base portion 111, extending in a direction intersecting the base portion 111, more specifically in a direction perpendicular to the base portion 111, and each of the clamping members 106 is generally L-shaped in a side view of the hand 100 (see FIG. 7). In other words, each of the extension portions 141 extends along an imaginary plane FP1 that is perpendicular to the sixth axis AX6.

[0031] Each extension portion 141 is provided with a beaker clamping portion 142 that holds (clamps) the target beaker 181 by clamping it. Note that the clamping members 106 shown in this embodiment differ in some configurations, such as the shape of the extension portion 141. In the following explanation, when explaining the differences between the two clamping members 106, the clamping member 106 on the right side in FIG. 5 will be referred to as "clamping member 106R" and the clamping member 106 on the left side in FIG. 5 will be referred to as "clamping member 106L" as appropriate.

[0032] As shown in FIG. 6, the beaker clamping portion 142 provided on the right clamping member 106R is linear, and when clamping a beaker 181, the beaker clamping portion 142 is configured to abut against the side surface (outer surface) of the beaker 181 at one location. In contrast, the beaker clamping portion 142 provided on the left clamping member 106L is bent (bent) at its middle portion. That is, the distance between the right clamping member 106R and the extending portion 141 is relatively small at the base end and tip end sides, and relatively large at the center of the extending portion 141. As a result, when clamping a beaker 181, the beaker clamping portion 142 provided on the left clamping member 106L abuts against the side surface (outer surface) of the beaker 181 at two locations in the circumferential direction, and the side surface of the beaker 181 and the clamping member 106L abut at a total of three locations in the circumferential direction. With this configuration, the clamping position of the beaker 181 is prevented from shifting on the imaginary plane FP1 (see FIG. 7), particularly in the longitudinal direction of the extending portion 141.

[0033] When the beaker 181 is clamped using the beaker clamping portion 142, the tip ends 143 of the extension portions 141 are spaced apart from each other, and the base portions 111 are also spaced apart from each other. In other words, the gaps formed between the extension portions 141 are open on both the base end side and the tip end side of the extension portions 141. However, because the left clamping member 106L is bent in the middle as described above, the beaker 181 is less likely to slip when clamped and fall off from the open portion.

[0034] The upper end (opening) of a beaker often flares outward, and so for easy and stable clamping of the beaker, it is preferable to clamp the beaker at its middle portion in the height direction, specifically, at its middle portion on the side. However, when the beaker 181 is clamped in this manner, the upper portion of the beaker 181 protrudes from the beaker clamping portion 142 toward the flange portion 28. In this embodiment, the beaker clamping portion 142 is provided on the extension portion 141 formed on the lower end portion 113 of the base portion 111, so that the clamping position of the beaker 181 in the hand 100 is offset from the tip of the arm 21 (the mounting surface 28a of the flange portion 28) (see FIG. 8 ). In other words, the clamping position of the beaker 181 in the hand 100 is offset from the housing 101 of the hand 100. In other words, the base portion 111 functions as an offset portion that offsets the beaker clamping portion 142 from the mounting surface 28a of the flange portion 28 and the housing 101. This prevents the beaker 181 from coming into contact with parts of the arm 21 or the hand 100 other than the beaker clamping portion 242 (for example, the housing 101).

[0035] Furthermore, the beaker clamping portion 142 is spaced apart from the sixth axis AX6, and is configured to clamp the beaker 181 at a position offset from the sixth axis AX6. This configuration reduces the chances that the arm 21 or the hand 100 will be positioned above the beaker 181, compared to a configuration in which the beaker 181 is clamped from directly above. This is preferable in order to prevent foreign matter adhering to the arm 21 or the hand 100 from getting into the beaker 181, for example.

[0036] As already explained, the clamping member 106 shown in this embodiment is configured to be able to clamp not only the beaker 181 but also the pipette 191. Below, a supplementary explanation of the pipette 191 will be given first with reference to FIG.

[0037] As already explained, the pipette 191 is formed by combining the pipette body 192 and the replacement tip 182. The pipette body 192 is provided with a hook 192a that catches on a protrusion 189a provided on the upper end of the pipette stand 189, and the hook 192a catches on the protrusion 189a from above, thereby holding the pipette stand 189. This catch can be easily released by lifting the pipette 191 upward.

[0038] A bracket 193 is attached to the middle of the pipette body 192 and is held by the hand 100. The pipette stand 189 is provided with an abutment portion 189b that abuts against the bracket 193, and the bracket 193 abuts against the abutment portion 189b, thereby regulating the posture of the pipette 191 to a predetermined posture (vertical posture in this embodiment).

[0039] A clamped portion 194 is formed on the bracket 193 so as to protrude to the side opposite to the contact portion 189b side. The clamped portion 194 is in the shape of a flat plate, and the plate surface faces horizontally.

[0040] 5, parts of the opposing wall surfaces (hereinafter referred to as inner surfaces 121) of the base portion 111 of the clamping member 106 serve as pipette clamping portions 122 that clamp the clamped portion 194 of the bracket 193. In other words, the pipette 191 can be held by clamping the clamped portion 194 of the bracket 193 with the pipette clamping portions 122. In FIG. 7, the parts of the inner surface 121 that function as the pipette clamping portions 122 are hatched with dots.

[0041] Here, the pipette 191 is heavier than the beaker 181, and if it is to be moved while being held, there is a concern that the position and orientation of the pipette 191 may change along the pipette holding portion 122 (inner surface 121) due to the weight of the pipette 191. One of the features of this embodiment is that it is devised in consideration of such circumstances.

[0042] A concave bracket-side engaging portion 195 is formed in the clamped portion 194 of the bracket 193, and a hand-side engaging portion 123 that engages with the bracket-side engaging portion 195 is formed in the base portion 111 of the clamping member 106. The hand-side engaging portion 123 is a bulging portion that bulges out from the inner surface 121 and has a cross shape extending in two directions, vertically and horizontally, in a side view of the hand 100 (see FIG. 7). In other words, the peripheral surface of the hand 100 is made up of a wall surface portion facing upward, a wall surface portion facing downward, a wall surface portion facing forward, and a wall surface portion facing backward, and a plurality of corners are formed on the peripheral surface.

[0043] 10 , when the clamping members 106 of the hand 100 clamp the clamped portion 194 of the bracket 193, the hand-side engaging portion 123 is inserted into the bracket-side engaging portion 195 as the relative distance between the clamping members 106 changes (closing operation), and the hand-side engaging portion 123 and the bracket-side engaging portion 195 engage with each other. When the hand-side engaging portion 123 and the bracket-side engaging portion 195 are engaged with each other, the peripheral surface of the hand-side engaging portion 123 and the peripheral surface of the bracket-side engaging portion 195 come into contact with each other, thereby restricting the pipette 191 from sliding along the inner surface 121. In other words, the displacement and rotation of the pipette 191 along the inner surface 121 are restricted.

[0044] Here, the depth dimension of the bracket-side engaging part 195 is greater than the height dimension of the hand-side engaging part 123, and a gap is created between the bottom of the bracket-side engaging part 195 and the top 124 of the hand-side engaging part 123 when the pipette 191 is held. With this configuration, the clamping function of the pipette clamping part 122 and the regulating function of the hand-side engaging part 123 are separated, thereby preventing stress from concentrating on the hand-side engaging part 123.

[0045] The pipette clamping part 122 is configured to be in contact with the clamped part 194 around the hand-side engaging part 123 (above, below, and to the side), and the pipette clamping part 122 is configured to abut against the clamped part 194 around the hand-side engaging part 123 (above, below, and to the side) (see dotted hatching in FIG. 7), thereby preventing stress from concentrating on the hand-side engaging part 123. This is preferable for improving the durability of the hand 100.

[0046] The robot 11 shown in this embodiment not only returns the pipette 191 to the pipette stand 189 after use of the pipette 191, but also performs a removal operation of removing the replacement tip 182 from the pipette 191. Here, the configuration related to this removal will be described.

[0047] 9, an eject button 192b for removing the replacement tip 182 is provided on the top of the pipette 191. This eject button 192b is a push-down type, and by pressing it from above, the replacement tip 182 falls from the pipette body 192 onto the guide plate 197.

[0048] As shown in Fig. 7, the right clamping member 106R has a protrusion 126 that protrudes rearward from the upper end 112 of the base portion 111. As shown in Fig. 11, this protrusion 126 is positioned above the eject button 192b, and the posture of the arm 21 is controlled by lowering the hand 100 (clamping member 106) as is. As a result, the eject button 192b is pressed down by the protrusion 126, and the replacement tip 182 is removed.

[0049] When the eject button 192b is pressed down, a moment is generated that rotates the pipette 191 around the catch point between the hook 192a and the protrusion 189a, but below this catch point, the bracket 193 of the pipette 191 abuts against the abutment portion 189b of the pipette stand 189, and this abutment portion 189b restricts this rotation. This prevents the eject button 192b from being pressed down properly, such as when the eject button 192b cannot be pressed straight or when the position of the eject button 192b shifts downward, resulting in an insufficient depression stroke set on the robot system 10 side.

[0050] One of the features of the clamping member 106 shown in this embodiment is that the base 111 is provided with a pipette clamping portion 122 and a hand-side engaging portion 123 to allow coexistence with the beaker clamping portion 142, thereby increasing the number of tasks to which the hand 100 can be applied while preventing the hand 100 from becoming bulky, but the clamping member 106 has been further devised to properly clamp the above-mentioned cotton swab 183 in addition to the beaker 181 and pipette 191. This devise will be described below with reference to Figures 5 and 7.

[0051] As shown in Fig. 5, the tops 124 of both hand-side engaging portions 123 face each other and are both flat and perpendicular to the arrangement direction (left-right direction) of the clamping members 106. As shown in Fig. 7, grooves 125 that function as clamping portions for the cotton swab 183 are formed in the central portions (vertically elongated portions) of the tops 124 so as to straddle the upper and lower edges of the tops 124.

[0052] The grooves 125 extend in the longitudinal direction of the base 111, and are provided with inclined portions 125b at the front and rear of the bottom 125a, which are inclined downward toward the bottom 125a. Details will be described later, but when the cotton swab 183 is clamped, the cotton swab 183 is clamped by a total of four inclined portions 125b of the grooves 125.

[0053] The depth dimension of groove 125 is smaller than the radius dimension of shaft 183a of cotton swab 183 (see Figure 12), so even if shaft 183a of cotton swab 183 is sandwiched between two grooves 125, the entire shaft 183a will not be buried in groove 125.

[0054] The cotton swabs 183 are set in an upright position on the third tray 187. It is difficult to align the cotton swabs 183 perfectly vertically, and some variation in their positions may occur. The effect of such variations in position is more pronounced at positions farther from the third tray 187, i.e., at the upper ends of the cotton swabs 183 (shanks 183a), than at the vicinity of the third tray 187. In other words, when clamping the upper ends of the cotton swabs 183 set on the third tray 187, mistakes such as failing to clamp the cotton swabs 183 are more likely to occur than when clamping the middle portions of the cotton swabs 183 (e.g., near the top surface of the third tray 187). This embodiment is designed to address this issue. Specifically, as shown in FIG. 12 , the groove 125 is formed to straddle the upper and lower edges of the hand-side engagement portion 123 (top portion 124), and no other clamping portions or the like are provided above the hand-side engagement portion 123. This allows the middle part of the swab 183 to be clamped, rather than the upper end of the swab 183. This is preferable in terms of preventing the swab 183 from being clamped incorrectly.

[0055] Furthermore, if the position of the cotton swab 183 is only slightly varied, when the shaft 183a is clamped by the groove 125, the shaft 183a will come into contact with the inclined portion 125b of the groove 125 and be guided toward the bottom 125a. This makes it possible to clamp the cotton swab 183 properly.

[0056] The cotton swab 183 may be deformed due to various factors. Therefore, if the length of the groove 125 becomes excessively long, the guiding function of the inclined portion 125b described above will not be properly performed, and it may become difficult for the groove 125 to properly hold the cotton swab 183. In this regard, in this embodiment, the groove 125 is formed in the portion (hand-side engaging portion 123) that bulges out from the inner surface 121 of the base portion 111, and the total length of the groove 125 is made shorter than the total length of the base portion 111. Preventing the groove 125 from becoming excessively long in this way is preferable in terms of preventing the above-mentioned inconvenience from occurring.

[0057] According to the first embodiment described above in detail, the following excellent effects can be expected.

[0058] As shown in this embodiment, by providing the beaker clamping unit 142 (corresponding to the "first clamping unit") for the beaker 181 (corresponding to the "first object") and the groove portion 125, which is a clamping unit for the cotton swab 183 (corresponding to the "second object"), on the clamping member 106, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that the robot 11 can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, the clamping function can be stably performed. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, the opening / closing mechanism 102 (corresponding to the "distance variable mechanism") for the clamping member 106 can switch between clamping and non-clamping of each clamping unit, which advantageously prevents the drive configuration from becoming complicated.

[0059] In particular, the clamping member 106 uses the base portion 111 (corresponding to the "offset portion") to offset the beaker clamping portion 142 from the flange portion 28 (mounting surface 28a) constituting the tip of the arm 21. In other words, the beaker 181 can be clamped at a position away from the flange portion 28. This configuration suitably alleviates restrictions on the clamping location when clamping the beaker 181 and the size and shape of the beaker 181. Here, the base portion 111 is provided with the above-mentioned groove portion 125 as a clamping portion for clamping the cotton swab 183. The groove portion 125 extends in the longitudinal direction of the base portion 111 and engages with the cotton swab 183 when clamping. Therefore, the cotton swab 183 is clamped in a position aligned with the base portion 111, which reduces the area occupied by the hand 100 and the cotton swab 183 when clamping the cotton swab 183, contributing to space savings. Furthermore, compared to, for example, providing the groove portion 125 at a location other than the base portion 111, this is advantageous in terms of suppressing the enlargement of the hand 100. For the above reasons, the hand 100 shown in this embodiment can increase the number of tasks that the robot 11 equipped with the hand 100 can perform, while allowing the two types of clamping portions (the beaker clamping portion 142 and the groove portion 125) to coexist in an appropriate manner.

[0060] Since the cotton swab 183 is long, if the groove 125 is long, it may be difficult to properly engage the two. As shown in this embodiment, providing a bulge (pipette clamping portion 122) on the base portion 111 and forming the groove 125 at the top 124 of this bulge, that is, limiting the portion of the base portion 111 where the groove 125 is formed to only a portion in the longitudinal direction of the base portion 111, is preferable in terms of preventing the difficulty of clamping the cotton swab 183 from becoming excessively high and reducing the chance of operational errors.

[0061] The groove 125 extends across the upper and lower edges of the top portion 124. This configuration alleviates restrictions on the clamping location of the swab 183. For example, the middle portion of the swab 183 can be used as the clamping location, which contributes to stabilizing the posture of the swab 183 while being clamped. Furthermore, by alleviating restrictions on the clamping location, a portion of the swab 183 with little variation in position or shape, i.e., a portion not far from the third tray 187, can be used as the clamping location, which reduces the difficulty of engaging the swab 183 with the groove 125.

[0062] To define the orientation of the cotton swab 183 using the groove 125, it is preferable to make the groove 125 somewhat long. However, if the groove 125 is long, it becomes difficult to align the cotton swab 183 with the groove 125 when engaging them, which may hinder improving work efficiency. In this regard, if the inclined portion 125b of the groove 125 is configured to guide the cotton swab 183 toward the bottom portion 125a of the groove 125 as shown in this embodiment, it is possible to properly engage the groove 125 with the cotton swab 183 while preventing excessively strict alignment between the groove 125 and the cotton swab 183. Note that the position (posture) of the cotton swab 183 to be clamped can be confirmed using the mounted camera 41 and the orientation of the hand 100 can be adjusted. However, if such adjustment is made too precisely, the movement of clamping the cotton swab 183 itself takes time, which is expected to reduce work efficiency. In this regard, if the configuration is such that a certain degree of positional deviation is eliminated by guidance from the inclined portion 125b as described above, adjustment of the orientation of the hand 100 becomes unnecessary or only requires rough adjustment, which contributes to improved work efficiency.

[0063] The clamping member 106 shown in this embodiment is provided with a pipette clamping portion 122 for clamping a pipette 191 in addition to the two types of clamping portions (beaker clamping portion 142 and groove portion 125) described above. A hand-side engaging portion 123 is provided as a restricting portion that restricts the pipette 191 from being displaced along the pipette clamping portion 122 when the pipette 191 is clamped by the pipette clamping portion 122. The groove portion 125 is disposed on the hand-side engaging portion 123, which is advantageous in terms of preventing the hand 100 from becoming bulky compared to a configuration in which the groove portion 125 is provided separately.

[0064] Furthermore, the hand-side engaging portion 123 engages with the bracket-side engaging portion 195 of the pipette 191, but the top 124 where the groove 125 is formed in the hand-side engaging portion 123 is configured not to abut against the bottom of the bracket-side engaging portion 195, thereby preventing the application of a force that would compress the top 124. In this way, by protecting the groove 125, the hand 100 is made multifunctional and a decrease in the durability of the hand 100 is suppressed.

[0065] When engaging the cotton swab 183 with the groove 125, forming the groove 125 to a certain depth facilitates the directional control function and the aforementioned guiding function. However, if the groove 125 is excessively deep, it is expected that the cotton swab 183 may become caught in the groove 125, making it difficult to remove. It is feared that such a drawback may become more pronounced if the length of the groove 125 is increased to a certain extent in consideration of the aforementioned directional control function. In this regard, in this embodiment, a hand-side engagement portion 123 is formed on each clamping member 106, and a groove 125 is formed on both of these hand-side engagement portions 123. Since the depth of both grooves 125 can be divided, excessive depth can be prevented. This eliminates the above-mentioned concern.

[0066] If the hand 100 simply clamps and holds the pipette 191, the weight of the pipette 191 may cause the pipette 191 to shift position when the posture of the arm 21 changes. Such shifts in position become more pronounced as the operating speed of the robot arm increases, and are expected to hinder efforts to improve work efficiency. On the other hand, if the pipette 191 is completely fixed to the arm 21, such concerns can be eliminated, but it becomes difficult to engage the robot 11 in other tasks, and the benefits of automation using the robot 11 are expected to be limited. In this regard, according to the configuration shown in this embodiment, when the hand 100 (clamping member 106) is closed and the clamped portion 194 of the bracket 193 of the pipette 191 is clamped and held by the pipette clamping portion 122 (corresponding to the "wall portion"), which is part of the inner surface 121 of the base portion 111, the hand side engaging portion 123 and the bracket side engaging portion 195 engage with each other, and the engagement of the two engaging portions 123, 195 restricts the displacement of the pipette 191 along the pipette clamping portion 122.

[0067] Furthermore, the hand-side engaging portion 123 and the bracket-side engaging portion 195 are configured to engage in response to the closing operation of the clamping member 106, eliminating the need to provide a separate actuator or the like to exert the above-described restricting function. In other words, the configuration shown in this embodiment can contribute to improving work efficiency while suppressing an increase in the size of the hand 100.

[0068] <Variation 1> In the first embodiment, the beaker 181 to be clamped is clamped at a position (offset position) away from the sixth axis AX6, but the present invention is not limited to this. The beaker 181 may be clamped on the sixth axis AX6. That is, the beaker 181 clamped by the beaker clamping parts may be positioned between the left and right base parts 111, or the beaker 181 may be held so that the central axis CL2 of the beaker 181 coincides with the sixth axis AX6.

[0069] <Variation 2> In the first embodiment, the groove 125 is formed at a position away from the sixth axis AX6 in a side view of the hand 100, but this is not limiting. For example, as in the clamping member 106A shown in Figure 13(a), the groove 125A can be formed at a position that overlaps with the sixth axis AX6 in a side view of the hand 100.

[0070] <Variation 3> In the first embodiment, the inner surface 121 of the base 111 abuts against the bracket 193 of the pipette 191 around the hand engagement portion 123. However, the positional relationship between the hand engagement portion 123 and the pipette clamping portion 122 is arbitrary. However, in order to prevent stress from concentrating on the hand engagement portion 123, it is technically significant to position the pipette clamping portion 122 around the hand engagement portion 123. For example, as shown in FIG. 13(a), it is also possible to position the inner surface 121A of the base 111A abutting against the bracket 193 of the pipette 191 at a position surrounding the hand engagement portion 123A. In other words, it is also possible to position the pipette clamping portion 122A so as to surround the hand engagement portion 123A. Note that in FIG. 13(a), the portion of the inner surface 121 that corresponds to the pipette clamping portion 122A is indicated by dot hatching.

[0071] <Variation 4> In the first embodiment, the hand-side engaging portion 123 is convex and the bracket-side engaging portion 195 is concave. However, it is also possible to make the hand-side engaging portion 123 concave and the bracket-side engaging portion 195 convex. However, considering the weight of the pipette 191, the hand-side engaging portion 123 and the bracket-side engaging portion 195 must be of a certain size. If the hand-side engaging portion 123 is concave, there is a concern that the strength of the clamping member 106 (base portion 111) will be reduced. In particular, the tip end (lower end 113) of the clamping member 106 is provided with a beaker clamping portion 142 for clamping the beaker 181. A reduction in the strength of the clamping member 106 (base portion 111) may result in the clamping member 106 being unable to properly clamp the beaker 181. Considering these circumstances, there is technical significance in making the hand-side engaging portion 123 convex and the bracket-side engaging portion 195 concave, as shown in the first embodiment.

[0072] <Variation 5> In the first embodiment, both the right-side clamping member 106R and the left-side clamping member 106L are provided with the hand-side engaging portion 123, but it is also possible to omit one of these hand-side engaging portions 123. However, if consideration is given to the durability of the hand 100, it is preferable to form the hand-side engaging portion 123 on each of the left and right clamping members 106 as shown in the first embodiment, so that the burden of restricting misalignment of the pipette 191 is distributed across both clamping members 106.

[0073] <Variation 6> In the first embodiment, the groove 125 for clamping the cotton swab 183 is formed in the bulging portion (hand-side engaging portion 123) that bulges out from the inner surface 121 of the base portion 111, but this is not necessarily limited to this. For example, it is also possible to form a groove 125B in the inner surface 121 of the base portion 111, as in the clamping member 106B shown in FIG. 13(b). In such a configuration, it is preferable that the groove 125B is open toward the lower end portion 113 of the base portion 111.

[0074] <Variation 7> In the first embodiment, the hand-side engaging portion 123 (groove 125) is disposed at the middle position (middle part in the height direction) of the base portion 111, but this is not limiting. For example, the hand-side engaging portion 123 (groove 125) may be formed at the upper end portion 112 of the base portion 111, or as shown in a clamping member 106C in Fig. 13(c), the hand-side engaging portion 123 (groove 125) may be formed at the upper end portion 112 of the base portion 111.

[0075] <Variation 8> In the first embodiment described above, the groove portion 125 is configured to extend in the same direction as the longitudinal direction of the base portion 111 (the same direction as the sixth axis AX6), but it is also possible to configure the groove portion 125 to extend in a direction that intersects with the longitudinal direction of the base portion 111.

[0076] <Variation 9> In the first embodiment described above, grooves 125 are formed in both the hand side engagement portion 123 of the right clamping member 106R and the hand side engagement portion 123 of the left clamping member 106L, but it is also possible to omit either groove 125.

[0077] <Modification 10> Although the hand-side engaging portion 123 shown in the first embodiment is formed in a cross shape where a portion extending vertically and a portion extending front-to-rear intersect, the specific shape of the hand-side engaging portion 123 is arbitrary as long as it can regulate at least the displacement and rotation of the pipette 191 along the inner surface 121. For example, as shown in Fig. 13(d), the hand-side engaging portion 123D can be shaped to have multiple corners on the outer periphery, specifically a rectangular shape.

[0078] It is also possible to make the outer periphery of the hand-side engaging portion circular, but in this configuration, although the engagement between the hand-side engaging portion and the bracket-side engaging portion makes it possible to restrict displacement of the pipette 191 along the inner surface 121, it may be difficult to restrict rotation (change in orientation) of the pipette 191. Therefore, when making the outer periphery of the hand-side engaging portion circular, it is preferable to form a protrusion on part of the outer periphery of the hand-side engaging portion and form a fitting portion on the bracket-side engaging portion that fits into the protrusion, thereby restricting rotation of the pipette 191. Incidentally, it is also possible to form a recess on part of the outer periphery of the hand-side engaging portion and form a protrusion on the bracket-side engaging portion that fits into the recess.

[0079] <Variation 11> In the first embodiment, a configuration in which a cotton swab 183 is clamped as a rod-shaped object is described as an example, but the present invention is not limited to this. For example, a stirring rod, which is a tool for stirring a sample, or a cleaning rod, which is a tool for uniformly applying a sample, can also be clamped by the clamping member 106 (groove portion 125).

[0080] <Variation 12> In the first embodiment, the clamping member 106 is configured to clamp the pipette 191, but the instrument to be clamped is not limited to this. For example, the clamped object may be a measuring instrument that measures pH by inserting the tip into a liquid, or a handheld stirrer.

[0081] <Variation 13> In the first embodiment, an example was given in which the clamping member 106 is provided with the beaker clamping parts 142 that clamp the beaker 181. Instead of the beaker clamping parts 142, test tube clamping parts that clamp a test tube may be provided, or flask clamping parts that clamp a flask may be provided.

[0082] <Second embodiment> In the first embodiment described above, the robot 11 is configured to be engaged in tasks such as picking up a beaker 181 and collecting a sample using a pipette 191. The robot 11 shown in this embodiment is similar to the first embodiment in that it is engaged in multiple tasks in an experimental process, but the content of these tasks differs from that of the first embodiment, and the configuration related to the hand and the like are partially changed depending on the content of the task. Below, the tasks engaged in by the robot in this embodiment and the configuration related to the hand will be described, focusing on the differences from the first embodiment.

[0083] First, the work performed by the robot 11 will be described with reference to Figures 14 and 15. Figure 14 is a schematic diagram showing a table TA2 installed in a laboratory, and Figure 15 is a schematic diagram showing the work flow (routine) performed by the robot 11. Note that the work performed by the robot 11 in this embodiment is work to prepare the sample whose pH was confirmed in the first embodiment, and specifically, the work constitutes a stirring process for dissolving a solute in a solvent.

[0084] 14, the robot 11 shown in this embodiment is placed near the center of the table TA2, and test jigs and the like are arranged around the robot 11. Specifically, a tray (first tray 285) on which a plurality of beakers 281 containing solutes are set, a tray (second tray 286) on which a plurality of beakers 282 containing stirring bars are set, a tray (third tray 287) on which a plurality of beakers 283 containing solvents are set, a beaker stand 289 on which the beakers 281 are placed, and a stirrer 296 for mixing the solute and solvent are arranged side by side. Note that the beakers 281 to 283 are assigned different reference numerals for convenience, but are identical in shape, size, and weight.

[0085] Next, with reference to FIG. 15, a supplementary explanation will be given of the work flow (steps) in the above-mentioned stirring process.

[0086] In the stirring step, first, beaker 281 containing the solute set on first tray 285 is moved to beaker stand 289 (SNB1). Next, a stirring bar is added to beaker 281 (SNB2). Specifically, beaker 282 containing a stirring bar set on second tray 286 is picked up and moved above beaker 281 placed on beaker stand 289. By tilting beaker 282 being held above beaker 281, the stirring bar is dropped from beaker 282 into beaker 281. After the stirring bar has been transferred to beaker 281, the empty beaker 281 is placed in an empty space on first tray 285.

[0087] Thereafter, the solvent is added to the beaker 281 placed on the beaker stand 289 (SNB3). Specifically, the beaker 283 set on the third tray 287 is picked up and moved above the beaker 281 set on the beaker stand 289. The beaker 283 is tilted above the beaker 281 to pour the solvent from the beaker 283 into the beaker 281. After the solvent is added, the empty beaker 283 is returned to an empty space on the third tray 287. As a result, the beaker 281 placed on the beaker stand 289 contains three items: the solute, the solvent, and the stirring bar.

[0088] Next, beaker 281 placed on beaker stand 289 is moved to stirring table 297 of stirrer 296 (SNB4). After placing beaker 281 on stirring table 297, it is moved to operating dial 298 provided on stirrer 296, and stirring is started by operating dial 298 (SNB5). Specifically, dial 298 is rotated clockwise by a predetermined angle. After a predetermined time has elapsed since stirring started, dial 298 is again operated to end stirring (SNB6). Specifically, dial 298 is rotated counterclockwise by a predetermined angle. After stirring is finished, beaker 281 placed on stirrer 296 is placed in an empty space on first tray 285 (SNB7).

[0089] The robot 11 repeatedly executes the above steps, thereby realizing automation of the mixing process.

[0090] In the stirring process described above, the beaker 281 is the object to be gripped (held) by the robot 11, and the dial 298 is the object to be manipulated by the robot 11. By providing dedicated hands for these two objects and configuring the hands to be interchangeable using a tool changer or the like, the functions of picking up and manipulating these objects can be optimally utilized. However, there are limitations on the area on the table TA2 where various components such as jigs can be installed and the area that the robot 11 can reach. As the number of tasks assigned to the robot 11 increases, the number of jigs and other components that must be placed also increases. In other words, to enable application to a variety of tasks and automate the testing process, the robot 11 must be operated in a limited space. In other words, securing an area for the placement of interchangeable hands and interchangeable jigs (such as a tool changer) can hinder the operation of the robot 11, such as having the robot 11 perform multiple tasks. One of the features of the hand attached to the robot 11 shown in this embodiment is that it is designed to address this inconvenience. Hereinafter, the hand 200 of this embodiment will be described with reference to FIGS. 16 and 17 . Fig. 16 is a rear view of the hand 200, and Fig. 17 is a perspective view of the hand 200 as seen obliquely from behind. Note that the orientation of the illustrations in Figs. 4 and 5 of the first embodiment and Figs. 16 and 17 of this embodiment are reversed.

[0091] As shown in FIG. 16 , the hand 200 includes a housing 101 fixed to the mounting surface 28 a of the arm 21 (flange portion 28). The housing 101 accommodates an opening / closing mechanism 102 for opening and closing a pair of left and right clamping members 206. Similar to the hand 100, the opening / closing mechanism 102 includes a guide rail 103 extending in a predetermined direction (left-right direction) perpendicular to the rotation center axis (sixth axis AX6) of the flange portion 28, a pair of slide blocks 104 that slide in the predetermined direction along the guide rail 103, a servo motor 105 that drives the slide blocks 104, and a linear encoder 109 (see FIG. 2 ) for determining the position of the slide blocks 104. The servo motor 105 and the linear encoder 109 are connected to a robot controller 15, which controls the drive of the servo motor 105 based on a preset program and position data from the linear encoder 109. These configurations are the same as those in the first embodiment.

[0092] The above-described clamping members 206 are each fixed to the slide block 104. Each of the clamping members 206 has a base portion 211 extending parallel to the sixth axis AX6. An upper end portion 212 of the base portion 211 is formed with protrusions 216 that protrude inwardly toward the opposing side. When the clamping members 206 are moved toward each other and the protrusions 216 come into contact with each other, further movement is disabled.

[0093] A concave mounting portion 214 that fits into the protruding portion of the slide block 104 is formed on the upper surface of the base portion 211. An insertion hole 215 for the bolt 207 that extends in the longitudinal direction of the base portion 211 is formed in the protruding portion 216, and one end of this insertion hole 215 is connected to the bottom of the mounting portion 214. The other end of the insertion hole 215 is open on the lower surface side of the protruding portion 216, and the bolt 207 and a tool for the bolt 207 (e.g., a screwdriver) can be inserted through this opening. Note that it is sufficient for the base portion 111 to be configured so that at least a beaker clamping portion 242 (described later) is offset away from the mounting surface 28a, and it is not necessarily required that the base portion 111 be parallel to the sixth axis AX6.

[0094] The shaft of the bolt 207 inserted into the insertion hole 215 protrudes from the attachment portion 214 toward the flange portion 28, and this protruding portion is threaded into a bolt hole formed in the slide block 104. In other words, the attachment portion 214 and the slide block 104 are fixed together by the bolt 107 while they are engaged with each other, thereby integrating the clamping member 206 and the slide block 104. Note that the engagement between the slide block 104 and the attachment portion 214 prevents the clamping member 206 from changing its position (rotating) around the point where it is fixed by the bolt 207. In this embodiment, the upper end 212 of the base portion 211 corresponds to the "base end" and the lower end 213 corresponds to the "tip end."

[0095] An extending portion 241 is formed at the lower end 213 of the base portion 211, extending in a direction intersecting the base portion 211, more specifically in a direction perpendicular to the base portion 211 (forward), and each of the clamping members 206 is generally L-shaped in a side view of the hand 200. In other words, each of the extending portions 241 extends along an imaginary plane FP2 perpendicular to the sixth axis AX6 (i.e., an imaginary plane FP2 parallel to the mounting surface 28a).

[0096] Each extension portion 241 is provided with a beaker clamping portion 242 for holding (sandwiching) the beakers 281-283 as objects. As shown in Fig. 17, the beaker clamping portion 242 has an arc shape (semicircular) that convex outward, and its curvature is slightly smaller than the curvature of the side surfaces (outer surfaces) of the beakers 281-283. Therefore, when the beaker clamping portions 242 clamp the beakers 281-283, each beaker clamping portion 242 abuts against the side surfaces of the beakers 281-283 at two points in the circumferential direction (two points on the tip end 243 side and the base end side of the extension portion 241), resulting in a total of four points in the circumferential direction between the side surfaces of the beakers 281-283 and the clamping member 206. The curvature of the beaker clamping portion 242 is arbitrary, and may be the same as the curvature of the side surfaces (outer surfaces) of the beakers 281-283, for example.

[0097] Generally, the upper end portion (opening portion) of a beaker is flared outward, and in order to easily and stably hold the beaker, it is preferable to hold the middle portion of the beaker in the height direction, specifically the middle portion of the side surface. However, when the beakers 281-283 are held in this manner, the upper portions of the beakers 281-283 protrude from the beaker holding portion 242 toward the flange portion 28.

[0098] In this embodiment, by providing a beaker clamping portion 242 on an extension portion 241 formed on the lower end portion 213 of the base portion 211, the clamping position of the beakers 281 to 283 in the hand 200 is offset from the tip of the arm 21 (the mounting surface 28a of the flange portion 28), as shown in Fig. 18. In other words, the clamping position of the beakers 281 to 283 in the hand 200 is offset from the housing 101 of the hand 200. In other words, the base portion 211 functions as an offset portion that offsets the beaker clamping portion 242 from the mounting surface 28a of the flange portion 28 and the housing 101. This prevents the beakers 281 to 283 from coming into contact with parts of the arm 21 or the hand 100 other than the beaker clamping portion 242 (for example, the housing 101).

[0099] Furthermore, the beaker clamping portion 242 is spaced apart from the sixth axis AX6, and is configured to clamp the beakers 281-283 at a position offset from the sixth axis AX6. This configuration reduces the chances that the arm 21 or the hand 200 will be positioned above the beakers 281-283, compared to a configuration in which the beakers 281-283 are clamped from directly above. This is preferable in order to prevent foreign matter adhering to the arm 21 or the hand 100 from getting into the beakers 281-283, for example.

[0100] As already explained, the clamping member 206 shown in this embodiment has not only a configuration for picking up the beakers 281 to 283 (beaker clamping portion 242), but also a configuration for clamping and operating the dial 298 of the stirrer 296. Specifically, a dial operating portion 222 for operating the dial 298 is also provided. Below, a supplementary explanation of the dial operating portion 222 will be given with reference to Figs. 16 to 19.

[0101] 16, the dial operation unit 222 is provided on the lower end 213 of the base unit 211 together with the extension unit 241, and is located below the extension unit 241. In other words, when comparing the beaker clamping unit 242 and the dial operation unit 222, the dial operation unit 222 is located closer to the tip of the base unit 211 than the beaker clamping unit 242, and is also offset by a larger amount from the mounting surface 28a of the flange unit 28 (see FIG. 18).

[0102] The dial operation unit 222 has an abutment portion 223 that abuts against the side surface of the dial 298. As shown in Fig. 17, the abutment portion 223 is formed by recessing the inner surface 221 of the base portion 211, and has an arc shape that is convex outward in a plan view of the hand 200. The curvature of the abutment portion 223 is smaller than the curvature of the side surface of the dial 298, and the abutment portion 223 is designed to abut against the side surface of the dial 298 at two points, the front edge and the rear edge.

[0103] Furthermore, in order to secure a span of the contact point, the dial operation unit 222 has a protruding portion 224 formed on the lower end portion 213 of the base portion 211, which protrudes in the opposite direction (rear side) from the extending direction (front side) of the extending portion 241, thereby expanding the front-to-rear width of the contact portion 223. This prevents the contact portion 223 from slipping when the dial 298 is rotated in a state where the contact portion 223 is in contact with the side surface of the dial 298 (in a state where the dial 298 is sandwiched between the contact portion 223 and the extending portion 241).

[0104] As shown in FIG. 19 , when the abutment portion 223 abuts against the side surface of the dial 298, a small gap is formed between the protrusions 216 formed on the upper end 212 of the base portion 211. In this embodiment, the dial operation unit 222 is disposed at the lower end 213 of the base portion 211, far removed from the location where the dial 298 is fixed to the opening / closing mechanism 102. A certain amount of force is required to properly clamp and rotate the small dial 298, and increasing this force makes the base portion 211 more likely to bend. The clamping member 206 also functions to pick up the beakers 281-283. Therefore, excessive deformation of the base portion 211 can hinder proper performance of this pickup function. In this regard, the clamping member 206 shown in this embodiment is configured such that, in situations where excessive deformation of the base portion 211 may occur, the protrusions 216 abut against each other near the opening / closing mechanism 102, thereby preventing such excessive deformation. This is preferable in terms of protecting the clamping member 206.

[0105] 18 and 19, in this embodiment, the assumed area in which the dial 298 is assumed to be located when the dial 298 is clamped by the dial operation unit 222 and the assumed area in which the beakers 281 to 283 are assumed to be located when the beaker clamping unit 242 clamps the beakers are configured to partially overlap at the portion clamped by the inner surface 221 of the base unit 211. In having the dial operation unit 222 and the beaker clamping unit 242 coexist, it is possible to suppress enlargement of the hand 200 compared to a configuration in which the two assumed areas are completely separated.

[0106] The center position (center position CP4) of the left and right dial operation parts 222 is closer to the sixth axis AX6, which is the central axis of rotation of the flange part 28, than the center position (center position CP3) of the left and right beaker clamping parts 242 (see FIG. 18). This reduces the change in posture of the robot 11 (arm 21) when the dial 298 is clamped and rotated by the dial operation parts 222.

[0107] In this embodiment, the dial operation unit 222 and the beaker clamping unit 242 extend (protrude) in opposite directions from the base unit 211. This is preferable because it prevents the dial operation unit 222 from getting in the way when the beaker clamping unit 242 clamps the beakers 281-283 or when the dial operation unit 222 clamps the dial 298. However, because the beaker clamping unit 242 extends significantly from the base unit 211, if its position changes significantly when the dial 298 is rotated, the beaker clamping unit 242 (extending unit 241) may come into contact with the housing of the stirrer 296 (e.g., the stirring table 297) or other jigs adjacent to the stirrer 296. One of the features of this embodiment is that it has been designed to address this issue. Hereinafter, this design will be described with reference to FIG. 20 . 20 is a schematic diagram showing the flow of the rotation operation of the dial 298. The stirrer 296 shown in this embodiment is configured to perform stirring in a predetermined manner when the dial 298 is rotated clockwise by a predetermined angle.

[0108] 20(a) to 20(b), after the dial 298 is clamped by the dial operation parts 222, the dial 298 is rotated clockwise by a specific angle, which is an angle smaller than the predetermined angle, about the central axis CL4 of rotation of the dial 298. Thereafter, as shown in FIG. 20(b) to 20(c), the clamping members 206 are moved in the opening direction to separate the dial operation parts 222 from the dial 298.

[0109] Next, as shown in Figures 20(c) and 20(d), the dial operation unit 222 is rotated counterclockwise around the rotation central axis CL4 to return the dial operation unit 222 to the position it was in immediately before the start of the rotation operation (the position where it clamped the dial 298). After returning to this position, the clamping members 206 are moved in the closing direction to clamp the dial 298 again. Thereafter, the clamping members 206 are rotated clockwise by a specific angle around the rotation central axis CL4. These movements are repeated until the total rotation angle reaches the predetermined angle, at which point the start operation is completed.

[0110] To end stirring, the dial 298 is clamped by the dial operation parts 222, and then the dial 298 is rotated counterclockwise by a specific angle around the rotation central axis CL4. Thereafter, the clamping members 206 are moved in the opening direction, and the dial operation parts 222 are separated from the dial 298.

[0111] Next, the dial operation unit 222 is rotated clockwise around the rotation central axis CL4 to return the dial operation unit 222 to the position it was in immediately before the start of the rotation operation (the position where it sandwiched the dial 298), and after returning to that position, the clamping members 206 are moved in the closing direction to clamp the dial 298 again. Thereafter, the clamping members 206 are rotated counterclockwise by a specific angle around the rotation central axis CL4. These movements are repeated until the total rotation angle reaches the predetermined angle, at which point the finishing operation is completed.

[0112] Incidentally, the trajectory (operation area) in which the robot 11 operates is the same for the start operation and the end operation of the stirring.

[0113] It should be noted that, as long as the total rotation angle can be set to a predetermined angle, it is not necessary to keep the rotation angle (specific angle) constant each time. When mixing is to be ended, the robot 11 is operated in the reverse order to that when mixing was started.

[0114] According to the second embodiment described above in detail, the following excellent effects can be expected.

[0115] As shown in this embodiment, by arranging the beaker clamping unit 242 (corresponding to the "first clamping unit") for the beakers 281-283 (corresponding to the "first object") and the dial operating unit 222 (corresponding to the "second clamping unit") for the dial 298 of the stirrer 296 (corresponding to the "second object") side by side on the clamping member 206 (corresponding to the "opening / closing member"), work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects.

[0116] In particular, in the clamping member 206 shown in this embodiment, the beaker clamping portion 242 and the dial operating portion 222 are provided at different locations on the base portion 211. For example, they are disposed offset in the longitudinal direction of the base portion 211 and extend (protrude) in opposite directions from the base portion 211. This is preferable for preventing one of the two clamping portions from interfering with the other clamping an object. The dial operating portion 222, which clamps the dial 298 to be rotated, is configured so that the distance from the sixth axis AX6 to the center position CP4 is shorter than that of the beaker clamping portion 242. As a result, when the dial operating portion 222 clamps and rotates the dial 298, the movement is primarily centered on the rotation of the flange portion 28 of the arm 21, minimizing changes in the posture of the robot 11. This is preferable for rotating the dial 298 while avoiding collisions with peripheral components such as jigs.

[0117] When transporting the beakers 281 to 283, there is little restriction on changing the posture of the arm 21 while keeping it in one place. In other words, there is little inconvenience of it becoming difficult to move due to the distance from the sixth axis AX6 becoming large. For these reasons, it is possible to increase the number of tasks that the robot 11 can perform, while allowing two types of clamping units (the beaker clamping unit 242 and the dial operating unit 222) to coexist naturally.

[0118] The extending (protruding) direction of the beaker clamping portion 242 is opposite to the protruding direction of the dial operation portion 222. This configuration is preferable in that it prevents the beaker clamping portion 242 and the dial operation portion 222 from getting in the way when the other one is clamping an object.

[0119] Furthermore, the beaker clamping portion 242 and the dial operation portion 222 are disposed at positions offset from each other in the longitudinal direction of the base portion 211. This configuration is also preferable in that it prevents one of the beaker clamping portion 242 and the dial operation portion 222 from getting in the way when the other clamps an object.

[0120] When an object is clamped and held, the greater the distance between the clamping portion and the sixth axis AX6, the greater the stress (moment) generated at the base end of the base portion 211. Therefore, by arranging the beaker clamping portion 242, which is a clamping portion whose distance from the sixth axis AX6 to the center position is farther, closer to the base end of the base portion 211 than the dial operation portion 222, it is possible to reduce the stress. On the other hand, the dial operation portion 222 clamps the dial 298 but is not configured to hold the dial 298 (i.e., to support its weight), and therefore, by arranging the dial operation portion 222 at a position farther from the base end of the base portion 211, the disadvantage of the stress increasing is unlikely to occur. For the above reasons, when the beaker clamping portion 242 and the dial operation portion 222 coexist, it is technically significant to arrange the beaker clamping portion 242 closer to the base end of the base portion 211 than the dial operation portion 222.

[0121] If the dial operation unit 222 is disposed on the tip side of the base unit 211, there is a concern that the function of clamping and rotating the dial 298 may not be properly performed if the clamping member 206 is distorted, etc. Therefore, as shown in this embodiment, if a stopper portion (protrusion 216) is provided at the base end of the base unit 211 to prevent the beaker clamping units 242 from colliding with each other or the dial operation units 222 from colliding with each other, the occurrence of such inconveniences can be suppressed.

[0122] When the beaker clamping unit 242 and the dial operation unit 222 are provided together, repeated transport of the beakers 281-283 by the beaker clamping unit 242 may cause slight distortion of the base unit 211, which may affect the dial operation unit 222. If the contact point between the dial 298 and the dial operation unit 222 is shifted due to the influence of such distortion, slippage between the dial 298 and the dial operation unit 222 may occur during rotation. This concern is expected to become more pronounced when the dial 298 is contacted at two points. In this regard, according to the configuration shown in this embodiment, when the dial 298 is clamped by the dial operation unit 222, the dial operation unit 222 contacts the dial 298 at four points. This suppresses the influence of the distortion and prevents the dial 298 from being rotated incompletely.

[0123] In this embodiment, the extending direction of the beaker clamping portion 242 formed so as to extend from the base portion 211 is limited to direction 1. This realizes a configuration (see FIG. 20) in which it is not necessary to secure an area in all directions through which the beaker clamping portion 242 passes when the dial 298 is clamped and rotated by the dial operating portion 222, and is advantageous in terms of saving space in the robot system 10. In other words, this is preferable in terms of preventing the occurrence of dead space in which other tools, etc. cannot be placed around the dial 298 that is the target of the rotation operation.

[0124] In particular, in this embodiment, the beakers 281 to 283 and the dial 298 are configured to be clamped by the clamping member 106, and the area where the clamped beakers 281 to 283 are located and the area where the clamped dial 298 is located are configured to partially overlap in the hand 200. This is advantageous in preventing the hand 200 from becoming larger and realizing space-saving in the robot system 10.

[0125] <Variation 1> In the second embodiment described above, the center positions (center positions CP4) of the left and right dial operation units 222 are configured to be located away from the central axis of rotation (sixth axis AX6) of the flange portion 28, but this is not limitative. As shown in the clamping member 206A in Figure 21(a), the center position CP4 of the dial operation unit 222A may be configured to be located on the sixth axis AX6.

[0126] <Variation 2> In the second embodiment, the inner surface 221 of the base portion 211 is expanded by providing a convex portion 224 that convex backward at the lower end portion 213 of the base portion 211, and the front-to-rear width of the abutment portion 223 is increased, but the convex portion 224 can also be omitted.

[0127] <Variation 3> As shown in the clamping member 206B in Figure 21(b), the center position CP3 of the dial operating portion 222B and the center position CP4 of the beaker clamping portion 242B may both be configured to be shifted in the same direction (e.g., forward) relative to the sixth axis AX6.

[0128] <Variation 4> In the second embodiment, the dial operation unit 222 and the beaker clamping unit 242 are configured to extend (protrude) from the base unit 211 in opposite directions, but the present invention is not limited to this. For example, it is also possible to configure the beaker clamping unit 242 to extend facing forward, while the dial operation unit 222 extends (protrudes) diagonally rearward to the right or diagonally rearward to the left.

[0129] <Variation 5> In the second embodiment described above, the dial operation unit 222 and the beaker clamping unit 242 are arranged offset from each other vertically, but it is also possible to arrange the dial operation unit 222 and the beaker clamping unit 242 on the same plane.

[0130] <Variation 6> In the second embodiment described above, the assumed area in which the dial 298 is assumed to be located when the dial 298 is clamped by the dial operating unit 222 and the assumed area in which the beakers 281 to 283 are assumed to be located when the beakers 281 to 283 are clamped by the beaker clamping unit 242 are configured to partially overlap in the portion clamped by the inner surface 221 of the base unit 211, but it is also possible to configure these two assumed areas so that they do not overlap.

[0131] <Variation 7> In the second embodiment described above, the case where dial 298 is operated is exemplified, but other rotary operating members can also be operated by hand 200. For example, a rotary operating member (volume) for adjusting current or voltage, or a rotary operating member for setting a timer can also be operated. In addition, the function of clamping an operating member by clamping member 206 can be applied to, for example, a dropper, and a configuration can be adopted in which the head (operating member) of the dropper is clamped to collect a sample, etc.

[0132] <Variation 8> In the second embodiment described above, an example has been given in which the clamping member 206 is provided with the beaker clamping parts 242 that clamp the beakers 281 to 283. Instead of the beaker clamping parts 242, test tube clamping parts that clamp test tubes may be provided, or flask clamping parts that clamp flasks may be provided.

[0133] <Third embodiment> In the first embodiment, the robot 11 is configured to pick up a beaker 181 and collect a sample using a pipette 191. The robot 11 in this embodiment is similar to the first embodiment in that it is engaged in multiple tasks in an experimental process; however, the content of these tasks differs from that in the first embodiment, and the configuration of the hand and other components are partially modified depending on the content of the tasks. The following describes the tasks the robot is engaged in and the configuration of the hand in this embodiment, focusing on the differences from the first embodiment. First, the tasks the robot 11 is engaged in will be described with reference to FIGS. 22 and 23. FIG. 22 is a schematic diagram showing a table TA3 installed in a laboratory, and FIG. 23 is a schematic diagram showing the work flow (routine) performed by the robot 11. The tasks the robot 11 is engaged in in this embodiment involve collecting samples whose pH has been confirmed in the first embodiment and preparing them for subsequent processes. Specifically, this is a filtration process that removes impurities from the samples.

[0134] As shown in FIG. 23, the robot 11 shown in this embodiment is placed near the center of the table TA3, and test jigs and the like are placed around the robot 11 so as to surround the robot 11. Specifically, a tray (first tray 387) on which a plurality of beakers 381 containing unfiltered samples are set, a tray (second tray 388) on which a plurality of syringes 382 and a plurality of filters 385 that can be attached to the syringes 382 are set, a tray (third tray 389) on which a plurality of empty test tubes 386 are set, a beaker stand 391 on which the beakers 381 are placed, a first syringe stand 392 capable of holding the syringes 382 above the beakers 381 placed on the beaker stand 391, a movable second syringe stand 393 that holds the syringes 382 when the syringes 382 are transferred, a drive device 394 that drives the holding device in the second syringe stand 393, a test tube stand 395 on which the test tubes 386 are placed, a third syringe stand 396 capable of holding the syringes 382 above the test tubes 386 placed on the test tube stand 395, and a guide plate 397 for collecting used syringes 382 are arranged in a line.

[0135] Next, with reference to FIG. 23, a supplementary explanation will be given of the work flow (steps) in the experimental process (filtration process).

[0136] In the filtration step, first, beaker 381 containing a sample set on first tray 387 is placed on beaker stand 391 (SNC1). Next, syringe 382 set on second tray 388 is placed on first syringe stand 392 (SNC2). Specifically, syringe 382 is set on second tray 388 in an upright position with the tip facing downward and the plunger head (operating portion) facing upward, and syringe 382 is removed by grasping the head. Then, while maintaining this position, it is moved to first syringe stand 392. A slit is formed in first syringe stand 392 into which the syringe (more specifically, the flange portion) of syringe 382 is inserted, and syringe 382 is positioned in accordance with the slit so that the tip of syringe 382 is immersed in the sample.

[0137] After placing syringe 382 in first syringe stand 392, syringe 382 is operated to collect a sample from beaker 381 (SNC3). Specifically, the plunger is pulled while the head of the plunger is held, thereby aspirating the sample. After collecting the sample, syringe 382 is placed in second syringe stand 393 with the syringe facing upward (SNC4). Specifically, while holding the head, syringe 382 is removed from first syringe stand 392 and carried to the adjacent second syringe stand 393. Driving device 394 for second syringe stand 393 activates the holding device in conjunction with the movement of robot 11, and clamps the syringe of syringe 382. After depositing syringe 382 in second syringe stand 393, the syringe of syringe 382 placed in second syringe stand 393 is clamped and the syringe 382 is received. Then, with the syringe still held, syringe 382 is turned upside down and returned to second syringe stand 393. As a result, syringe 382 is placed in second syringe stand 393 with the tip facing upward and the plunger head facing downward.

[0138] Thereafter, the filter 385 is attached to the syringe 382 (SNC5). The syringe 382 shown in this embodiment has a locking filter attachment structure. When attaching the filter 385, it is necessary to rotate the filter 385 by pressing the attachment portion of the filter 385 against the tip of the syringe 382 while aligning the central axis of the disc-shaped filter with the central axis of the syringe 382 (tip). The filter 385 is set on the second tray 388 with the outlet portion facing upward and the attachment portion facing downward. The robot 11 clamps the main body of the filter 385 and positions the filter 385 so that the attachment portion fits into the tip of the syringe 382. The filter 385 is then rotated to attach to the syringe 382.

[0139] After the filter 385 is attached, the test tubes 386 set on the third tray 389 are placed on the test tube stand 395 (SNC6). Specifically, the test tubes 386 are set on the third tray 389 in an upright position with their openings facing upward. The robot 11 grasps the middle portion of the test tube 386, removes the test tube 386, and places the test tube 386 on the test tube stand 395 in an upright position.

[0140] After placing test tube 386, syringe 382 with filter 385 attached is placed on third syringe stand 396 (SNC7). Specifically, syringe 382 is placed upright on third syringe stand 396 so that the outlet of filter 385 is positioned above the opening of test tube 386.

[0141] Thereafter, the filtered sample is injected into the test tube using syringe 382 (SNC8). Specifically, hand 300 is positioned above the plunger (head) of syringe 382, ​​and hand 300 is lowered to slowly push the plunger in. After the sample is injected, test tube 386 is returned to third tray 389 (SNC9), and beaker 381 is returned to first tray 387 (SNC10). Then, syringe 382 placed on third syringe stand 396 is returned (SNC11). Specifically, it moves above guide plate 397 and releases syringe 382 that it is holding. The released syringe 382 is guided by guide plate 397 to a collection box attached to table TA3.

[0142] The robot 11 repeatedly executes the above steps, thereby realizing automation of the filtration process.

[0143] In the filtration process described above, the beaker 381, the syringe of the syringe 382, ​​the plunger (head) of the syringe 382, ​​the filter 385 of the syringe 382, ​​and the test tube 386 are objects to be clamped (held) by the robot 11. By providing dedicated hands for each of these objects and configuring the hands to be replaced using a tool changer or the like, the function of holding each object can be optimally fulfilled. However, there are limitations on the area on the table TA1 where various components such as jigs can be installed and the area that the robot 11 can reach. As the number of tasks assigned to the robot 11 increases, the number of jigs and other components that need to be placed also increases. In other words, to enable application to a variety of tasks and automate the testing process, the robot 11 must be operated in a limited space. In other words, securing an area for placing replacement hands and replacement jigs (such as a tool changer) can hinder the operation of the robot 11. One of the features of the robot 11, specifically the hand 300, described in this embodiment is that it is designed to address the above-mentioned disadvantages. 24 to 26, the hand 300 will be described below. Fig. 24 is a front view of the hand 300, Fig. 25 is a side view of the clamping members as seen from the inside, and Fig. 26 is a perspective view of the hand 300 as seen from below.

[0144] As shown in FIG. 24, the hand 300 includes a housing 101 fixed to the mounting surface 28a of the arm 21 (flange portion 28). The housing 101 accommodates an opening / closing mechanism 102 for opening and closing a pair of left and right clamping members 306. Similar to the hand 100, the opening / closing mechanism 102 includes a guide rail 103 extending in a predetermined direction (left-right direction) perpendicular to the rotation center axis (sixth axis AX6) of the flange portion 28, a pair of slide blocks 104 that slide in the predetermined direction along the guide rail 103, a servo motor 105 that drives the slide blocks 104, and a linear encoder 109 (see FIG. 2) for determining the position of the slide blocks 104. The servo motor 105 and the linear encoder 109 are connected to a robot controller 15, which controls the drive of the servo motor 105 based on a preset program and position data from the linear encoder 109. These configurations are the same as those in the first embodiment.

[0145] The clamping members 306 are fixed to the slide block 104. Each clamping member 306 has a base portion 311 extending parallel to the sixth axis AX6. An upper end portion 312 of the base portion 311 is formed with a concave mounting portion 314 that fits into the protruding portion of the slide block 104. An insertion hole 315 for the bolt 307 extending in the longitudinal direction of the base portion 311 is formed in the base portion 311, and one end of the insertion hole 315 is connected to the bottom of the mounting portion 314. The other end of the insertion hole 315 is open toward the lower end portion 313 of the base portion 311, and the bolt 307 and a tool for the bolt 307 (e.g., a screwdriver) can be inserted through this opening. Note that in this embodiment, the base portion 311 is formed so as to be parallel to the sixth axis AX6, but this is not limited thereto. The base portion 311 can also be formed so as to be inclined with respect to the sixth axis AX6.

[0146] The shaft of bolt 307 inserted into insertion hole 315 protrudes from mounting portion 314 toward flange portion 28, and this protruding portion is threaded into a bolt hole formed in slide block 104. In other words, mounting portion 314 and slide block 104 are fixed by bolt 307 while they are engaged with each other, thereby integrating clamping member 306 and slide block 104. Note that engagement between slide block 104 and mounting portion 314 prevents clamping member 106 from changing its position (rotating) around the point of fixation by bolt 307. In this embodiment, upper end 312 of base portion 311 corresponds to the "base end" and lower end 313 corresponds to the "tip end."

[0147] An extension portion 361 is formed on the upper end portion 312 of the base portion 311, extending in a direction intersecting the base portion 311, more specifically in a direction perpendicular to the base portion 311, and each of the clamping members 306 is generally L-shaped in a side view of the hand 300 (see FIG. 25). In other words, each of the extension portions 361 extends along an imaginary plane perpendicular to the sixth axis AX6.

[0148] Each extension portion 361 is provided with a beaker clamping portion 362 that holds (sandwiches) a beaker 381, which is an object. As shown in FIG. 26 , the beaker clamping portion 362 has an arc shape (semicircular) that convex outward, and its curvature is slightly smaller than the curvature of the side surface (outer surface) of the beaker 381. Therefore, when the beaker 381 is clamped by the beaker clamping portion 362, each beaker clamping portion 362 abuts against the side surface of the beaker 381 at two points in the circumferential direction (two points on the tip end 363 side and the base end side of the extension portion 361), resulting in a total of four points in the circumferential direction between the side surface of the beaker 381 and the clamping member 306. The curvature of the beaker clamping portion 362 is arbitrary and may be the same as the curvature of the side surface (outer surface) of the beaker 381, for example.

[0149] Generally, the upper end portion (opening portion) of a beaker is flared outward, and in order to easily and stably hold the beaker, it is preferable to hold the beaker at a middle portion in the height direction, specifically at a middle portion of the side surface. However, when the beaker 381 is held in this manner, the upper portion of the beaker 381 protrudes from the beaker holding portion 362 toward the flange portion 28. In the holding member 306 shown in this embodiment, the base end of the extension portion 361, i.e., the portion that moves the beaker holding portion 362 away from the base portion 311, is formed long, thereby preventing the beaker 381 from contacting parts of the arm 21 or the hand 300 other than the beaker holding portion 362 (e.g., the housing 101).

[0150] 27, the beaker clamping portion 362 is spaced apart from the sixth axis AX6 and is configured to clamp the beaker 381 at a position offset from the sixth axis AX6. This configuration reduces the chances that the arm 21 or the hand 300 will be positioned above the beaker 381, compared to a configuration in which the beaker 381 is clamped from directly above. This is preferable in order to prevent foreign matter adhering to the arm 21 or the hand 300 from getting into the beaker 381, for example.

[0151] As described above, although there is technical significance in moving the beaker clamping portion 362 away from the sixth axis AX6, the moment generated when clamping the beaker 381 becomes large. In this embodiment, the configuration is such that various instruments such as the syringe 382 can be picked up in addition to the beaker 381, and it is undesirable for the base portion 311 to be deformed by the moment. In this regard, the beaker clamping portion 362 (extension portion 361) shown in this embodiment is provided at the portion that fixes the clamping member 306 to the opening / closing mechanism 102, i.e., at the upper end portion 312 of the base portion 311, thereby mitigating the influence of the moment.

[0152] As already explained, clamping member 206 shown in this embodiment not only has a configuration for picking up beaker 381 (beaker clamping portion 362), but also a configuration for picking up syringe 382, ​​specifically syringe clamping portion 321. Syringe clamping portion 321 is made up of syringe clamping portion 322 for clamping syringe 383 of syringe 382, ​​plunger clamping portion 323 for clamping plunger 384 (more specifically, head 384b) of syringe 382, ​​and filter clamping portion 324 for clamping filter 385 of syringe 382, ​​and syringe clamping portion 322, plunger clamping portion 323, and filter clamping portion 324 are all disposed on base portion 311. More specifically, syringe clamping portion 322 is located at the center of base portion 311, plunger clamping portion 323 is located at lower end portion 313 of base portion 311, and filter clamping portion 324 is located between syringe clamping portion 322 and plunger clamping portion 323. Plunger clamping portion 323 will be described below with reference to Figures 28 and 29. Figure 28 is a front view of hand 300 showing a state in which syringe 382 is being held with plunger 384 as the clamping target, and Figure 29 is a partial cross-sectional view taken along line AA in Figure 28. Note that housing 101 and opening / closing mechanism 102 are not shown in Figure 28.

[0153] As shown in FIG. 28, the plunger clamping portions 323 are formed on the inner surface 317 of the base portion 311. Each of the plunger clamping portions 323 is concave, with openings facing each other across the sixth axis AX6. The head 384b of the plunger 384 is inserted into the plunger clamping portion 323, with the upper surface of the head 384b facing the upper surface of the head 384b and the lower surface 346 of the plunger clamping portion 323 facing the lower surface of the head 384b. The gap between the upper surface 345 and the lower surface 346 is slightly larger than the thickness of the head 384b.

[0154] As shown in FIG. 29 , the concave plunger clamping portion 323 has an arc-shaped rear surface 341 that protrudes outward. This is a device to ensure an engagement between the upper surface 345, the lower surface 346, and the head 384b. When the head 384b is clamped by the plunger clamping portion 323 as the clamping member 306 closes, the circumferential surface of the head 384b contacts the rear surface 341 of the plunger clamping portion 323. At this time, the syringe 382 moves along the rear surface 341, thereby aligning the plunger clamping portion 323 with the syringe 382. As a result, the syringe 382 is clamped with the central axis CL6 of the syringe 382 aligned with the sixth axis AX6.

[0155] In this embodiment, the syringe 382 is sandwiched between the inner surface portions 341 of the plunger sandwiching portion 323, thereby preventing the load applied when the syringe 382 is sandwiched from concentrating on the upper surface portion 345 or the lower surface portion 346. Note that in this embodiment, when the syringe 382 is sandwiched, a gap is created between the lower surface portion 346 and the rod 384a of the plunger 384, but it is also possible to use a configuration in which the lower surface portion 346 and the rod 384a of the plunger 384 come into contact with each other.

[0156] When each rear surface 341 of the plunger clamping portion 323 abuts against the peripheral surface of the head 384b, the shortest distance LX1 between the rear surface portions 341 is smaller than the diameter dimension D1 of the head 384b, thereby preventing the head 384b from falling out from between the left and right plunger clamping portions 323.

[0157] Next, syringe clamping portion 322 disposed above plunger clamping portion 323 will be described with reference to Figures 26, 30, and 31. Figure 30 is a front view of hand 300 showing a state in which syringe 382 is held with syringe 383 as the clamping object, and Figure 31 is a side view of hand 300 showing a state in which syringe 382 is held with syringe 383 as the clamping object. Note that housing 101 and opening / closing mechanism 102 are not shown in Figures 30 and 31, and for convenience of explanation, Figure 31 also shows an illustration of beaker 381 clamped by beaker clamping portion 362.

[0158] 26 , syringe clamping portion 322 is formed on inner surface 317 of base portion 311. Syringe clamping portion 322 is a groove-shaped recess extending in a direction intersecting the longitudinal direction of base portion 311, more specifically in a direction perpendicular to the longitudinal direction (front-rear direction), and extends across front surface 318 and rear surface 319 of base portion 311. In other words, syringe clamping portion 322 is in communication with front surface 318 and rear surface 319.

[0159] As already explained, base portion 311 is formed with insertion hole 315 used when attaching bolt 307. Insertion hole 315 extends in the longitudinal direction of base portion 311, and a portion of it runs vertically through bottom portion 331 of syringe clamping portion 322. However, as will be described later, in this embodiment, bottom portion 331 does not abut against syringe 383, and therefore the clamping function of syringe 383 is not affected.

[0160] As shown in FIG. 30 , groove-shaped syringe clamping portion 322 has inclined portions 335 and 336 formed above and below bottom portion 331 that slope downward toward bottom portion 331. When syringe 383 is clamped, inclined portions 335 and 336 abut against the outer peripheral surface of syringe 383 and guide it toward bottom portion 331. In other words, even if syringe 383 is slightly tilted, the slight misalignment is eliminated in the process of clamping syringe 383. Here, when the outer peripheral surface of syringe 383 abuts against upper and lower inclined portions 335 and 336, respectively, syringe 383 and bottom portion 331 do not abut. In other words, when syringe 383 is clamped by syringe clamping portion 322, the outer peripheral surface of syringe 383 abuts against left and right clamping members 306 at a total of four locations.

[0161] It should be noted that, in the state where syringe 383 is clamped by syringe clamping portion 322, other portions of left and right clamping members 306 remain separated from each other.

[0162] In this state where syringe 383 is clamped by syringe clamping portion 322, the syringe 383 assumes a different posture from when plunger 384 (head 384b) is clamped by plunger clamping portion 323. Specifically, as shown in Fig. 31, the syringe 383 is parallel or approximately parallel to imaginary plane FP3 on which extension portion 361 (beaker clamping portion 362) is formed, in other words, to mounting surface 28a of flange portion 28 (see Fig. 24).

[0163] In addition, the area in which syringe 382 is located when it is clamped by syringe clamping portion 322 is set to overlap partially with the area in which beaker 381 is located when beaker 381 is clamped by beaker clamping portion 362.

[0164] Here, syringe 383 and test tube 386 are both elongated cylindrical instruments, and have the same outer diameter. In this embodiment, test tube 386 is clamped using syringe clamping portion 322. The manner in which test tube 386 is clamped is the same as that of syringe 383, so a description thereof will be omitted.

[0165] 26, 32, and 33, a description will be given of filter clamping portion 324 disposed between syringe clamping portion 322 and plunger clamping portion 323. Fig. 32 is a front view of hand 300 showing a state in which filter 385 is being clamped, and Fig. 33 is a partial cross-sectional view taken along line BB in Fig. 32. Note that housing 101 and opening / closing mechanism 102 are not shown in Fig. 32.

[0166] First, referring to Figure 32, a supplementary explanation of filter 385 will be provided. As already explained, filter 385 includes a disk-shaped main body portion 385a, an attachment portion 385b for attachment to the tip of syringe 382, ​​and an outlet portion 385c for filtered liquid. Both attachment portion 385b and outlet portion 385c are cylindrical. Attachment portion 385b protrudes from one plate surface of main body portion 385a so as to be coaxial with central axis CL7 of main body portion 385a, and outlet portion 385c protrudes from the other plate surface of main body portion 385a so as to be coaxial with central axis CL7 of main body portion 385a. An internal thread is formed on the inner circumferential surface of attachment portion 385b to engage with an external thread formed on the tip of syringe 382.

[0167] As shown in Fig. 26, filter clamping portions 324 are formed on inner surface 317 of base portion 311. Each filter clamping portion 324 is recessed, with openings facing each other across sixth axis AX6. As shown in Fig. 32, main body portion 385a of filter 385 is inserted into filter clamping portion 324, with upper surface portion 355 of filter clamping portion 324 facing the upper surface of main body portion 385a, and lower surface portion 356 of filter clamping portion 324 facing the lower surface of main body portion 385a. The gap dimension between upper surface portion 355 and lower surface portion 356 is slightly larger than the thickness dimension of main body portion 385a.

[0168] As shown in FIG. 33 , the concave filter clamping portion 324 has an arc-shaped rear surface 351 that protrudes outward. This is a design to ensure an engagement between the upper surface 355 and the lower surface 356 and the main body portion 385a. When the clamping member 306 closes to clamp the main body portion 385a with the filter clamping portion 324, the circumferential surface of the main body portion 385a abuts the rear surface 351 of the filter clamping portion 324. At this time, the main body portion 385a moves along the rear surface 351, thereby aligning the filter clamping portion 324 with the filter 385. As a result, the filter 385 is clamped with the central axis CL7 of the filter 385 coinciding with the sixth axis AX6.

[0169] Furthermore, when each rear surface 351 of the filter clamping portion 324 abuts against the outer peripheral surface of the main body portion 385a, the shortest distance LX2 between the rear surface portions 351 is smaller than the diameter dimension D2 of the main body portion 385a, thereby preventing the filter 385 from falling out from between the left and right filter clamping portions 324.

[0170] As described above, when attaching filter 385 to syringe 382, ​​filter 385 needs to be rotated about central axis CL7 (sixth axis AX6) while being clamped. If filter 385 rotates freely during this process, the attachment work must be redone, which may reduce work efficiency. One of the features of this embodiment is that it is designed to address such circumstances. Below, a supplementary explanation of this design will be provided with reference to FIG. 33.

[0171] As already explained, the base portion 311 is formed with an insertion hole 315 used when attaching the bolt 307. The insertion hole 315 extends in the longitudinal direction of the base portion 311, with a portion of the insertion hole 315 running vertically through the rear surface 351 of the filter clamping portion 324. In other words, the rear surface 351 is divided into a front and a rear portion. When the rear surface 351 clamps the outer peripheral surface of the main body portion 385a as described above, the left and right rear surface portions 351 abut against the outer peripheral surface of the main body portion 385a at two locations, the front and the rear. In other words, the filter clamping portion 324 abuts against the outer peripheral surface of the main body portion 385a at a total of four locations. With this configuration, the filter clamping portion 324 is less likely to spin freely as described above compared to a configuration in which it abuts against the outer peripheral surface of the main body portion 385a at a total of two locations. This is advantageous in reducing the force clamping the filter 385, and considering that the filter clamping portion 324 is biased toward the lower end portion 313 of the base portion 311, it is preferable in suppressing deformation of the base portion 311 caused by repeated clamping of the filter 385.

[0172] The clamping member 306 shown in this embodiment is provided with a filter clamping portion 324 and a beaker clamping portion 362. The beaker clamping portion 362 extends significantly from the base portion 311. When the hand 300 rotates around the sixth axis AX6 to attach the filter 385, the position of the beaker clamping portion 362 changes significantly. In this embodiment, the filter 385 must be rotated at least once. Simply rotating the filter 385 may cause the beaker clamping portion 262 (extension portion 361) to come into contact with an adjacent jig, such as the second syringe stand 393 (see FIG. 22). One of the features of this embodiment is that it is designed to address this issue. Hereinafter, with reference to FIGS. 34 and 35, this design will be described based on the process of attaching the filter 385. The filter 385 shown in this embodiment is configured to complete attachment when the clockwise rotation angle reaches a reference angle (e.g., one and a half rotations).

[0173] When attaching filter 385 to syringe 382, ​​as shown in FIG. 34(a), after filter 385 is clamped by filter clamping portion 324, hand 300 is moved to a position above syringe 382 where central axis CL6 of syringe 382 placed on second syringe stand 393 and central axis CL7 of filter 385 coincide with each other. As already described, when attaching filter 385, syringe 382 is placed on second syringe stand 393 facing upward, so that attachment portion 385b of filter 385 and tip portion 383a of syringe 382 are aligned vertically. Thereafter, as shown in FIG. 34(a) → FIG. 34(b), hand 300 is lowered to a position where attachment portion 385b of filter 385 and tip portion 383a of syringe 382 (syringe 383) abut against each other.

[0174] After lowering the hand 300, as shown in Figures 35(c) and 35(d), the hand 300 is rotated clockwise about the central axes CL6 and CL7, i.e., the sixth axis AX6. This causes the female thread formed on the attachment portion 385b of the filter 385 to engage with the male thread formed on the tip portion 383a of the syringe 382. At this time, the upper surface portion 355 of the filter holding portion 324 abuts against the filter 385 (main body portion 385a) from above, thereby preventing the filter 385 from spinning freely.

[0175] As shown in Figures 35(d) and 35(e), after the hand 300 is rotated a specified angle, which is an angle smaller than 360°, the clamping member 306 is moved in the opening direction to separate the filter clamping portion 324 from the filter 385. The filter 385 is already hooked on the tip 383a, preventing it from falling off. Next, as shown in Figures 35(e) and 35(f), the hand 300 is rotated counterclockwise around the sixth axis AX6 to return the hand 300 to its position immediately before rotation. After returning, the clamping member 306 is moved in the closing direction to clamp the filter 385 again. Thereafter, the hand 300 is rotated a specified angle clockwise around the sixth axis AX6. These movements are repeated until the total rotation angle reaches the reference angle, completing the installation. The rotation angle (specified angle) does not necessarily need to be constant.

[0176] According to the third embodiment described above in detail, the following excellent effects can be expected.

[0177] As shown in this embodiment, by providing the syringe clamping portion 322 and the plunger clamping portion 323 together on the clamping member 306, multiple tasks can be smoothly performed without changing the hand 300 depending on the type of task related to the syringe 382. This is preferable in terms of increasing the number of tasks that the robot 11 can perform in a limited space.

[0178] In addition, with regard to syringe 382, ​​for example, head 384b (corresponding to the "operating portion") of plunger 384 can be always the object to be clamped. However, it is undesirable for plunger 384 to move when syringe 382 is moved by clamping head 384b. In this respect, there is technical significance in using syringe 383 as the object to be clamped. On the other hand, syringes 382 are set in an upright position on second tray 388, assuming that multiple syringes 382 will be used in experiments, etc. Clamping head 384b is preferable in terms of space saving by arranging syringes 382 closely on second tray 388. In other words, there is a great benefit in using two clamping portions of syringe 382 that are different objects to be clamped in combination.

[0179] Furthermore, because the clamping portions are formed separately for the two parts with different shapes (syringe 383 and head 384b of plunger 384), the clamping function can be stably exerted despite the simple structure. For example, this is advantageous in reducing operational errors compared to a configuration in which two different parts are simply clamped with one clamping portion.

[0180] In particular, in the configuration shown in this embodiment, by providing a plurality of clamping portions, such as syringe clamping portion 322 and plunger clamping portion 323, on base portion 311, base portion 311 has a certain degree of length, but syringe clamping portion 322 arranged in the middle of base portion 311 can clamp syringe 382 so that it faces a direction intersecting the longitudinal direction of base portion 311, which prevents the length of base portion 311 from interfering with clamping when clamping syringe 383. Furthermore, although plunger clamping portion 323 is configured to clamp syringe 382 so that it faces the same direction as the longitudinal direction of base portion 311, plunger clamping portion 323 is arranged at the tip portion of base portion 311, which prevents the length of base portion 311 from interfering with clamping when clamping head 384b of plunger 384.

[0181] By forming the syringe clamping portion 322, which clamps the syringe 383, as a groove-shaped recess, there are advantages in that it can ease restrictions on approaching the syringe 382 and stabilize its posture. However, on the other hand, to prevent the syringe clamping portion 322 from falling off or shifting position, it is necessary to press the syringe clamping portion 322 against the syringe 383 with a certain amount of force. In contrast, the plunger clamping portion 323 is configured to reduce the gap and prevent the head 384b from falling off, so it is not necessary to press the plunger clamping portion 323 strongly against the head 384b. This eliminates the need for a large force. In this way, by disposing the syringe clamping portion 322, which requires a relatively large force for clamping, on the proximal end of the base portion 311 and the plunger clamping portion 323, which requires a relatively small force, on the distal end of the base portion 311, the load on the base portion 311 (hand 300) can be reduced. This is preferable for preventing deformation, such as bending, of the base portion 311.

[0182] Furthermore, in particular, in the configuration shown in this embodiment, beaker clamping portion 362 that clamps beaker 381 is formed to extend from the side of base portion 311, and can clamp beaker 381 at a position (offset position) away from base portion 311. Syringe clamping portion 322 is configured to be able to clamp syringe 382 so as to be parallel or approximately parallel to imaginary plane FP2 on which beaker clamping portion 362 is located. This allows an area located in a specific direction with respect to base portion 311 (an area on the side from which beaker clamping portion 362 extends) to be shared by beaker clamping portion 362, beaker 381, and syringe 382, ​​thereby increasing the number of tasks that robot 11 can perform and preventing hand 300 from becoming unnecessarily large.

[0183] In a configuration in which beaker 381 is clamped at a position away from base portion 311, the stress (moment) generated in the mounting portion of hand 300, the base end portion of clamping member 306, and the like tends to increase the further away from base portion 311. Therefore, by arranging beaker clamping portion 362 on the base end side of base portion 311 and syringe clamping portion 321 on the tip end side of base portion 311, concerns about the above-mentioned stress when multiple clamping portions coexist can be suitably alleviated.

[0184] According to the hand 300 shown in this embodiment, the clamping member 306 can perform various tasks related to the syringe 382 (transporting the syringe 382, ​​collecting a sample, and attaching the filter 385). The robot 11 can engage in these tasks without replacing the hand 300, and therefore, the work efficiency can be suitably improved.

[0185] In particular, in this embodiment, beaker 381 and syringe 382 are configured to be sandwiched between sandwiching members 306, and the area where sandwiched beaker 381 is located in hand 300 partially overlaps with the area where sandwiched syringe 382 is located. This is advantageous in preventing the size of hand 300 from increasing and realizing space-saving in robot system 10.

[0186] In this embodiment, the extension direction of beaker clamping portion 362 formed to extend from base portion 311 is limited to direction 1. This realizes a configuration (see FIG. 35 ) in which it is not necessary to secure an area in all directions through which beaker clamping portion 362 passes when filter 385 is clamped by filter clamping portion 324 and rotated to attach filter 385 to syringe 383, and is advantageous in terms of saving space in robot system 10. In other words, this is preferable in terms of reducing the likelihood of creating dead space around syringe 382 in which other instruments cannot be placed when attaching filter 385.

[0187] <Variation 1> In the third embodiment, the extension 361 (beaker clamping portion 362) is formed parallel to the mounting surface 28a of the flange portion 28, but this is not limiting. For example, the extension 361 may be inclined obliquely with respect to the mounting surface 28a.

[0188] <Variation 2> In the third embodiment, the case where the extension portion 361 (beaker clamping portion 362) is provided on the upper end portion 312 of the base portion 311 has been exemplified, but the present invention is not limited to this. As in the first embodiment, etc., a configuration equivalent to the extension portion 361 (beaker clamping portion 362) may be provided on the lower end portion 313 of the base portion 311, or a configuration equivalent to the extension portion 361 (beaker clamping portion 362) may be provided in the middle portion of the base portion 311.

[0189] <Variation 3> In the third embodiment described above, an example was given in which the clamping member 306 is provided with the beaker clamping portions 362 that clamp the beaker 381. Instead of the beaker clamping portions 362, a flask clamping portion that clamps a flask may be provided, a measuring cylinder clamping portion that clamps a measuring cylinder may be provided, or a bottle clamping portion that clamps a bottle such as an air collection bottle may be provided.

[0190] <Variation 4> In the clamping members 306 shown in the third embodiment above, concave syringe clamping portions 322 are formed on both the left and right clamping members 306, but it is also possible to make the syringe clamping portion 322 of one clamping member 306 concave while making the syringe clamping portion 322 of the other clamping member 306 flat (not concave).

[0191] <Variation 5> In the third embodiment, the case where the rear surface 351 of the filter holding portion 324 is divided into front and rear portions by the insertion hole 315, thereby providing two contact points, front and rear, between the main body 385a of the filter 385 and the rear surface 351, is exemplified, but the specific configuration for providing two contact points, front and rear, is arbitrary. For example, the rear surface 351 may be bent so as to be convex outward.

[0192] <Variation 6> The plunger clamping portion 323 shown in the third embodiment is exemplified as being configured such that the rear surface 341 abuts against the head 384b (more specifically, the outer peripheral surface) of the plunger 384, but it is also possible to configure it so that a gap is created between the outer peripheral surface of the head 384b and the rear surface 341 in the clamped state.

[0193] <Variation 7> In the third embodiment, filter clamping portion 324 is provided between syringe clamping portion 322 and plunger clamping portion 323, but this positional relationship is arbitrary. For example, syringe clamping portion 322 may be provided between plunger clamping portion 323 and filter clamping portion 324, or plunger clamping portion 323 may be provided between syringe clamping portion 322 and filter clamping portion 324.

[0194] <Variation 8> Although filter clamping portion 324 shown in the third embodiment is used in the installation of filter 385, it can also be used instead of or in addition to this in the removal of filter 385. In this case, it is preferable that filter 385 be configured to be slidable up and down (displaceable while being clamped) within filter clamping portion 324. Because a gap can be provided between filter clamping portion 324 and upper surface portion 355 when removing filter 385, it is possible to easily prevent upper surface portion 355 from interfering with the rotation of filter 385.

[0195] <Fourth embodiment> In the first to third embodiments, the automation of the experimental process was achieved using the robot 11. In this embodiment, in order to achieve further automation of the experimental process, a transport system is constructed that automatically supplies / collects samples etc. to / from each process. An outline of this transport system will be explained below with reference to FIG. 36.

[0196] In one section of the laboratory, three processes were reproduced: the pH checking process shown in the first embodiment, the stirring process shown in the second embodiment, and the filtration process shown in the third embodiment.

[0197] Specifically, table TA1 corresponding to the pH confirmation process is equipped with a robot 11 equipped with a hand for the confirmation process, a tray 500A on which multiple beakers containing samples (liquids) are placed, a beaker stand on which the beakers to be worked on are set, a pipette for collecting samples from the beakers and a pipette stand that holds the pipette, a base on which multiple replacement tips for the pipettes are mounted, a guide plate for collecting used tips, an inspection device for testing the collected samples (measuring pH), a tray 500B on which multiple cotton swabs for cleaning the inspection device are mounted, and a guide plate for collecting used cotton swabs.

[0198] Table TA2 corresponding to the stirring process is equipped with a robot 11 equipped with a hand for the stirring process, a tray 500A on which multiple beakers containing solutes are set, a tray 500A on which multiple beakers containing stirring bars are set, a tray 500A on which multiple beakers containing solvents are set, a beaker stand on which the beakers are placed, and a stirrer for mixing the solute and solvent.

[0199] Table TA3 corresponding to the filtration process is equipped with a robot 11 equipped with a hand for the filtration process, a tray 500A on which a plurality of beakers containing samples before filtration are set, a tray 500C on which a plurality of syringes and a plurality of filters that can be attached to the syringes are set, a tray 500D on which a plurality of empty test tubes are set, a beaker stand on which the beakers are placed, a first syringe stand capable of holding syringes above the beakers placed in the beaker stand, a movable second syringe stand that holds the syringes when changing syringes, a drive device that drives the holding device in the second syringe stand, a test tube stand on which the test tubes are placed, a third syringe stand capable of holding syringes above the test tubes placed in the test tube stand, and a guide plate for collecting used syringes.

[0200] The specific work content in each process is the same as in the first to third embodiments, and therefore will not be described here. Although the details will be described later, in this embodiment, the trays 500A, 500B, 500C, and 500D used in each process share a common basic structure. In the following description, these trays 500A, 500B, 500C, and 500D will be simply referred to as "trays 500."

[0201] In addition to the tables TA1 to TA3, the laboratory is also equipped with shelves SH that store trays 500 used in each process. The transport robot 401 transports the trays 500 stored on the shelves SH to each process as needed, and retrieves the trays 500 that have completed their work and stores them back on the shelves SH. The transport robot 401 also transfers the trays 500 between processes. This configuration can significantly reduce the workload of researchers and others.

[0202] Here, the transfer robot 401 will be described with reference to Fig. 37. The transfer robot 401 includes a traveling unit 411 having a traveling motor 415 (see Fig. 38) and a steering device, a vertical articulated arm 421 mounted on the traveling unit 411, and a control device 405 (see Fig. 38) that controls the traveling unit 411 and the arm 421.

[0203] A table 412 on which a tray 500 can be placed is formed on the upper surface of the body of the traveling unit 411, and the traveling unit 411 can move within the laboratory with the tray 500 placed on the table 412. The traveling unit 411 is also provided with a scanner 416 that can detect obstacles on the path of the transport robot 401 and an emergency stop switch 417 that is operated in an emergency, and is configured to stop the transport robot 401 when an obstacle is detected or when an emergency stop operation is detected.

[0204] The arm 421 has a base 422 fixed to the upper surface of the body of the traveling unit 411 (next to the table 412), the arm 421 attached to the base 422, and a hand 550 attached to the tip (flange portion 428) of the arm 421. The arm 421 is made up of a plurality of movable parts connected together, and an arm motor 431, a rotary encoder 432, and a torque sensor 433 that drive these movable parts are provided at each joint (see FIG. 38). The arm 421 shown in this embodiment has the same configuration as the arm 21 shown in the first embodiment, and so a detailed description thereof will be omitted.

[0205] A host controller 409 is wirelessly connected to the control device 405. A control program that defines the work content and work procedures of the transport robot 401 is stored in the host controller 409, and the host controller 409 transmits operation commands to the control device 405 based on the control program and position information from a locator 441 (see FIG. 38). The control device 405 controls the driving of the traveling part 411 and the arm 421 based on the operation commands.

[0206] In a limited space such as a laboratory, the number of shelves that can be installed is limited. Therefore, it is preferable to accommodate as many trays 500 as possible on a shelf. For example, if the left and right side panels of the tray 500 are to be grasped by a robotic hand, it is necessary to secure space on both the left and right sides of the tray 500 for the hand to be inserted. Furthermore, if the robotic hand is to suction the top plate or the like from above the tray 500, it is necessary to secure space above the tray 500 for the robotic hand to be inserted. Taking these circumstances into consideration, one of the features of this embodiment is that the configuration of the tray 500 and the hand 550 is devised so that the tray 500 can be supported (held) from the front side of the tray 500. Hereinafter, the structure of the tray 500 will be described first with reference to FIGS. 39 to 41.

[0207] 39, tray 500 includes a rectangular bottom plate 501, support posts 505 fixed to the four corners of bottom plate 501, and top plate 502 fixed to support posts 505. Top plate 502 is formed with a plurality of insertion openings 508 into which instruments (beakers, test tubes, etc.) to be set are inserted, and the instruments inserted into insertion openings 508 are supported by bottom plate 501.

[0208] A wall surface portion 503 is provided on one side of the tray 500. The wall surface portion 503 is in the shape of a long plate extending across two support columns 505 arranged side by side, and is formed so that its vertical width is the same as the distance between the bottom plate portion 501 and the top plate portion 502. Thick portions 513 that are thicker than the central portion of the wall surface portion 503 are formed on both ends (short sides) in the width direction of the wall surface portion 503. Insertion holes 514 into which the support columns 505 are inserted are formed in the thick portions 513, and the tray 500 is reinforced on the one side by using the support columns 505 and the wall surface portion 503 together. Note that on the shelves SH and tables TA1 to TA3, each tray 500 is arranged so that the wall surface portion 503 faces the front side (the traveling area side of the transport robot 401) (see FIG. 36).

[0209] 40, an opening 515 is formed in the upper center of wall surface portion 503, penetrating the wall surface portion 503 in the thickness direction. An upper edge 516 and a lower edge 517 of opening 515 are both horizontal, and the left and right edges of opening 515 are inclined so that the width of opening 515 narrows toward upper edge 516. As will be described in detail later, these inclined portions function as guide portions 518 that guide hook member 561 of hand 550 to upper edge 516.

[0210] Pins 521 are fixed to both the left and right sides of opening 515 so as to protrude from outer surface 511 of wall portion 503 (see FIG. 41). These pins 521, together with guide portion 518 described above, contribute to aligning tray 500 and hand 550 in the left-right direction.

[0211] Next, the hand 550 will be described with reference to Figures 42 and 43. Figure 42 is a side view of the hand 550, and Figure 43 is a plan view of the hand 550.

[0212] As shown in Figure 42, the hand 550 is composed of a bracket 551 fixed to the flange portion 428 (more specifically, the mounting surface 428a) of the arm 421 using a fastener such as a bolt, and a support unit 552 for supporting the tray 500.

[0213] The support unit 552 includes a pair of left and right hook members 561 that are inserted into the opening 515 of the tray 500 (wall surface portion 503) and hooked onto the wall surface portion 503, a guide member 571 that aligns the tray 500 and the hand 550 in the width direction of the tray 500 by abutting against the pin 521 protruding from the wall surface portion 503 of the tray 500 when the hook members 561 are hooked onto the wall surface portion 503, and a guide member 571 that hooks the hook members 561 to the tray 500 and aligns the tray 500 with the hand 550 in the width direction of the tray 500. When the tray 500 is lifted, a pair of stopper members 581 on the left and right sides come into contact with the wall surface portion 503 (outer surface 511) of the tray 500 to prevent rotation (pivoting) of the tray 500 around the point where the hook member 561 is caught, and a base member 591 to which the hook member 561, guide member 571, and stopper member 581 are fixed, and the hook member 561 etc. are kept away from the flange portion 428 by the presence of the base member 591.

[0214] As shown in FIG. 43 , the hook member 561 includes an attachment portion 562 for attaching to the base member 591 and a long plate portion 563 extending in a direction perpendicular to the base member 591 (more specifically, the portion of the base member 591 that forms the mounting surface for the hook member 561, etc.), and is formed by bending a metal plate material into an L-shape. A protrusion 564 that protrudes upward is formed at the tip of the long plate portion 563 (see FIG. 39 ). When supporting the tray 500, the hook member 561 is inserted into the opening 515, and the protrusion 564 is brought into contact with the inner surface 512 of the wall portion 503, and the hook member 561 (long plate portion 563) is brought into contact with the upper edge 516 of the opening 515. This causes the hook member 561 to be hooked onto the wall portion 503 of the tray 500.

[0215] Guide member 571 is a block made of synthetic resin, and is fixed to base member 591 using fasteners such as bolts. Guide member 571 is located below hook member 561 and is parallel to hook member 561. The distance from the mounting surface of base member 591 to the tip of guide member 571 is shorter than the distance from the mounting surface to the tip of hook member 561.

[0216] Grooves 572 extending in the same direction as the hook members 561 are formed on the upper surface of the guide member 571 (see FIG. 39). The grooves 572 are disposed on the left and right sides of the two hook members 561, and the spacing between these grooves 572 matches the spacing between the pins 521 provided on the wall surface portion 503 of the tray 500.

[0217] Groove 572 is provided with inclined portion 574 that slopes downward toward bottom 573 of groove 572. When supporting tray 500, if pin 521 hits inclined portion 574, pin 521 is guided toward bottom 573, thereby aligning tray 500.

[0218] The above-mentioned stopper members 581 are disposed on both the left and right sides of the guide member 571. The stopper members 581 are rod-shaped and fixed to the base member 591 so as to be parallel to the hook members 561. The stopper members 581 are positioned lower than the guide member 571, and the tip portions 582 of the stopper members 581 abut against the lower portions of the wall portions 503 of the tray 500. Like the hook members 561, the stopper members 581 (tip portions 582) protrude from the tip edge of the guide member 571, and when supporting the tray 500, the guide members 571 are prevented from abutting against the wall portions 503.

[0219] The stopper member 581 shown in this embodiment is extendable, and the position of the tip 582 can be adjusted by rotating a nut attached thereto using a tool or the like. In other words, the stopper member 581 has an adjustment function for adjusting the posture (tilt) of the tray 500.

[0220] Here, the flow when transporting the tray 500 will be described with reference to Fig. 44. Note that Fig. 44 illustrates an example in which the tray 500 placed on the shelf SH is the target of transport, but the flow is similar even when the tray 500 placed on the table TA1 or the like is the target of transport.

[0221] 44(a), when transporting the tray 500, the hand 550 is moved to the front of the tray 500. Then, the hand 550 is tilted so that the hook member 561 and the stopper member 581 face diagonally downward. In this state, the tip of the hook member 561 and the opening 515 of the tray 500 (wall portion 503) are positioned on the same horizontal plane.

[0222] 44(a) to 44(b), while maintaining the posture of the hand 550, the hand 550 is moved horizontally to insert the tip of the hook member 561 into the opening 515. As a result, the protrusion 564 is positioned inside the wall surface portion 503. In this state, the stopper member 581 and the guide member 571 both face the outer surface 511 of the wall surface portion 503 with a gap therebetween.

[0223] After the tip of the hook member 561 is inserted into the opening 515, the orientation of the hand 550 is changed so that the tip of the hook member 561 moves up while retracting, as shown in FIG. 44(b) → FIG. 44(c). Specifically, the hand tip is slightly retracted while changing the orientation of the hand tip so that the hook member 561 becomes horizontal. As a result, the protrusion 564 of the hook member 561 abuts against the inner surface 512 of the wall surface portion 503, and the hook member 561 (long plate portion 563) abuts against the upper edge portion 516 of the opening 515. In other words, the hook member 561 is hooked on the tray 500 (wall surface portion 503). In this state, the tip portion 582 of the stopper member 581 is close to the wall surface portion 503.

[0224] If the tray 500 and the hand 550 are slightly misaligned in the left-right direction, the inclined portion 574 of the guide member 571 comes into contact with the pin 521 (specifically, the tip) of the tray 500, and the pin 521 is guided to the bottom portion 573 by utilizing the weight of the tray 500. This alleviates the above-mentioned misalignment. Incidentally, even if the positional relationship between the tray 500 and the hand 550 is adjusted, the pin 521 moves away from the inclined portion 574 when the tray 500 is lifted, and contact between the guide member 571 and the pin 521 is avoided.

[0225] After hooking the hook member 561, as shown in FIG. 44(c) and FIG. 44(d), the hand 550 is raised while keeping the hook member 561 horizontal. As a result, the tray 500 is cantilevered on the wall surface 503 side and tilts slightly due to its own weight. That is, a slight rotation occurs around the hooked point with the hook member 561. Then, immediately after that, the wall surface 503 hits the tip 582 of the stopper member 581, and the rotation is restricted. That is, the tray 500 is supported by the hand 550 while remaining substantially horizontal. Note that it is also possible to configure the tip 582 of the stopper member 581 to abut against the wall surface 503 at the timing when the hook member 561 is hooked on the wall surface 503. In this case, the rotation described above is restricted before the tray 500 starts to be lifted.

[0226] After the tray 500 has been lifted, the hand 550 is moved horizontally to remove the tray 500 from the shelf SH. This prevents the tray 500 and the instruments placed thereon from hitting the top plate or partition plate of the shelf SH.

[0227] The flow when the collected trays 500 are placed on the shelves SH is the opposite of the flow when the trays are carried out.

[0228] According to the fourth embodiment described above in detail, the following excellent effects can be expected.

[0229] According to the configuration of this embodiment, the tray 500 can be supported from the front side of the tray 500, making it easy to ensure the operating area for the transport robot 401 required to support the tray 500, i.e., the operating area when approaching the tray 500. In other words, even when arranging the trays 500 on a shelf SH or the like, where the gap between the left and right trays 500 is small or the gap between the tray 500 and a partition or top plate located above the tray 500 is small, the tray 500 can be easily inserted and removed. In other words, the trays 500 can be densely arranged on the shelf SH or the like, thereby increasing the number of trays 500 that can be accommodated. While automating part of the experimental process, etc., by introducing the above-described transport system 400 is desirable in terms of reducing the labor of workers, the reduction in the number of trays 500 that can be accommodated by introducing the transport system 400 can reduce the benefits of automation. In this regard, the configuration described above can effectively alleviate such concerns.

[0230] Furthermore, the configuration in which the tray 500 is supported using the hook members 561 and the stopper members 581 does not necessarily require the hook members 561 and the stopper members 581 to be driven individually by actuators, which contributes to simplifying the support configuration. This is preferable for realizing a more compact transport robot 401, increasing the degree of freedom of the transport path, etc., and realizing a more maneuverable system, for example. This benefit is particularly noticeable when the transport system 400 is operated in a limited space, such as a laboratory.

[0231] In the above-described configuration for simply supporting the tray 500, misalignment of the support position or the like can lead to operational errors, so there is technical significance in aligning the tray 500 when supporting it. Furthermore, a configuration that aligns the tray 500 can be expected to have the effect of properly supporting the tray 500 even if the tray 500 is slightly misaligned from the intended position. However, the need for a separate operation for alignment can be an obstacle to improving transport efficiency. In this regard, the configuration shown in this embodiment aligns the tray 500 using its own weight when lifting it, eliminating the need for the separate operation described above. This is preferable for improving transport efficiency.

[0232] In this embodiment, the hook member 561 is hooked onto the wall portion 503 at a position near the upper end of the wall portion 503, and the stopper member 581 is abutted against a portion near the lower end of the wall portion 503. In this way, the hooking portion of the hook member 561 and the abutting portion of the stopper member 581 are configured to be spaced apart in the vertical direction, thereby improving the stability of the state in which the tray 500 is supported.

[0233] To further improve stability, the upper end of the wall portion 503 can be configured to extend above the top plate portion 502, and the position of the opening 515 can be set higher than the top plate portion 502 accordingly. However, with such a configuration, there is a possibility that instruments such as beakers and test tubes may be hidden by the wall portion 503 and become difficult to see. Although the transport operation is basically performed by the transport system 400, it is also expected that advance preparation of samples and the like will be performed manually. Therefore, in consideration of the convenience of the operator, it is preferable to form the wall portion 503 from a transparent material such as an acrylic plate.

[0234] In this embodiment, contact points of the stopper members 581 on the wall surface portion 503 are set on the left and right of the point where the hook members 561 are caught on the wall surface portion 503. This makes it possible to suitably improve the stability of the state in which the tray 500 is supported.

[0235] When supporting the tray 500, the tray 500 and the hand 550 are aligned by a pin 521 provided on the tray 500 and a guide member 571 (groove 572) provided on the hand 550. When the support of the tray 500 is complete, the pin 521 and the hand 550 are spaced apart, which prevents the hook member 561 from becoming weaker.

[0236] Furthermore, when the support of tray 500 is complete, a gap is secured between the tip of guide member 571 and wall surface portion 503, preventing guide member 571 from contacting wall surface portion 503. This configuration prevents the contact between stopper member 581 and wall surface portion 503 from becoming unstable, in other words, prevents the regulating function of stopper member 581 from becoming unstable.

[0237] The guide member 571 is disposed between the hook member 561 and the stopper member 581 in the height direction, and an ideal coexistence relationship is realized in order to widen the gap between the hooking point of the hook member 561 and the regulating point of the stopper member 581, while allowing the guide member 571 to exert its positioning function.

[0238] According to the configuration of this embodiment, there is no need to tilt the tray 500 significantly when lifting it. This is advantageous in preventing samples and the like from spilling from beakers and test tubes set on the tray 500.

[0239] <Variation 1> In the fourth embodiment, the wall surface portion 503 is formed from a single plate material. However, as long as the strength of the wall surface portion can be ensured, the wall surface portion can be formed from multiple plate materials. For example, the hook portion (upper portion) for the hook member 561 and the abutting portion (lower portion) for the stopper member 581 can be formed separately from different plate materials. However, variations in the positional relationship between the hook portion and the abutting portion can hinder stable performance of the support function. Therefore, it is preferable to form the wall surface portion from a single plate material to suppress such variations in the positional relationship.

[0240] <Variation 2> In the fourth embodiment, the wall surface portion 503 abuts against the stopper member 581 immediately after the hand 550 starts lifting the tray 500, but the present invention is not limited to this. For example, as shown in Figures 45(a) -> 45(b) -> 45(c), it is also possible to change the posture (direction) of the hand 550A so that the stopper member 581A of the hand 550A abuts against the wall surface portion 503 of the tray 500, and then start lifting the tray 500 by the hand 550A (raising the hand 550A).

[0241] <Variation 3> In the fourth embodiment, the hooking points of the hook members 561 are set in the center of the wall surface portion 503, and the contact points with the stopper members 581 are set in portions of the wall surface portion 503 near the left and right ends. However, the hooking points of the hook members 561 and the contact points with the stopper members 581 may be changed as desired as long as the tray 500 can be stably supported. For example, as shown in FIG. 46(a), the hooking points of the hook members 561B may be set in portions of the wall surface portion 503B near the left and right ends, respectively, and the contact point with the stopper members 581B may be set in the center of the wall surface portion 503B. Note that the number of hook members 561 does not necessarily have to be two, and may be one, or three or more.

[0242] <Variation 4> In the hook member 561 shown in the fourth embodiment, the hooking protrusion 564 is formed to face upward, but this is not limited thereto. As long as the hook member 561 can at least support the tray 500 and the protrusion 564 can prevent the hook member 561 from coming off, the shape of the hook member 561 (particularly the orientation of the protrusion 564) can be any shape. For example, as shown in FIG. 46(b), the hook member 561C can be formed with the protrusion 564C facing sideways. However, in such a configuration, the left and right hook members 561C need to be movable rather than fixed. In other words, a mechanism for moving the hook members 561C is required. To simplify the hand 550, it is technically significant to have the protrusion 564 facing upward, as shown in the fourth embodiment.

[0243] <Variation 5> In the fourth embodiment, the case where the tray 500 is transported as the "transport unit" or "case" is exemplified, but the present invention is not limited to this. It is sufficient that at least a supported portion (corresponding to a "wall portion") that can be supported by the hand 550 of the transport robot 401 is provided, and for example, a box or a stand may be adopted as the "transport unit." Note that the items stored or placed in the "transport unit" are not limited to beakers or test tubes, and may be, for example, workpieces for processing, parts for assembly, or finished products.

[0244] <Variation 6> In the fourth embodiment, when inserting the hook member 561 into the opening 515 of the wall surface portion 503 during transport of the tray 500, the hand 550 is tilted so that the hook member 561 faces diagonally downward, and the stopper member 581 is prevented from interfering with the insertion. To prevent the stopper member 581 and the like from interfering with the insertion of the hook member 561, an actuator may be used to rotate the hook member 561, and the hand 550 may be brought close to the tray 500 so that the tip end 582 of the stopper member 581 first comes into contact with the wall surface portion 503, and then the hook member 561 is switched from the diagonally downward state to a horizontal state (hooked state).

[0245] <Variation 7> In the fourth embodiment, the hook member 561 is inserted into the opening 515 of the wall portion 503 while the hand 550 is tilted so that the hook member 561 faces diagonally downward. However, the present invention is not limited to this. Alternatively, the hook member 561 may be inserted into the opening 515 of the wall portion 503 while the hook member 561 is maintained horizontally. However, in this configuration, the stopper member 581 must be short so as not to interfere with the insertion of the hook member 561, which may result in a large tilt of the tray 500 when supporting the tray. This is undesirable in terms of preventing, for example, spillage of liquid from beakers or test tubes. For example, using an actuator to extend and retract the stopper member 581 would eliminate such concerns, but this would not only complicate the hand 550 but also reduce transport efficiency due to a waiting period for the stopper member 581 to operate. In view of these circumstances, there is technical significance in configuring the hand 550 to be tilted so that the hook member 561 faces diagonally downward when the hook member 561 is inserted into the opening 515, as shown in the fourth embodiment.

[0246] <Variation 8> It is also possible to configure the opening 515 to be located near the lower end of the wall surface portion 503, and the stopper member 581 to abut against a portion of the wall surface portion 503 near the upper end. In this case, it is preferable to configure the stopper member to abut against the inner surface 512 of the wall surface portion 503. However, in such a configuration, it becomes necessary to move the stopper member around the upper and lateral sides of the wall surface portion 503 to the inner surface side, which may complicate the configuration of the hand 550. In other words, in order to support the tray 500 with a simple configuration, it is preferable to use the positional relationship between the hook member 561 and the stopper member 581 shown in the fourth embodiment.

[0247] <Variation 9> In the fourth embodiment, an opening 515 (corresponding to an "insertion portion") is formed penetrating the wall surface portion 503 from the inside to the outside, and a hook member 561 is inserted into this opening 515. The structure corresponding to the insertion portion does not necessarily have to penetrate the inside to the outside, and a cover portion that covers (blocks) the opening 515 from the inside of the tray 500 may be provided. This prevents the hook member 561 inserted into the opening 515 from colliding with the set article. Furthermore, when the article to be stored is small, providing a cover portion can suitably prevent the article from spilling through the insertion portion. Note that, for example, a configuration may be adopted in which a portion of the wall surface portion 503 is recessed, and a flange portion that protrudes toward the center (downward) of the opening is formed at the upper edge of the recessed portion, and the hook member 561 is hooked onto the flange portion.

[0248] <Modification 10> In the above fourth embodiment, the case where the wall surface portion 503 is formed on only one of the four side portions of the tray 500 has been exemplified, but in order to further simplify the handling of the tray 500, a structure equivalent to the wall surface portion 503 may be provided on a plurality of side portions (for example, all of the side portions). When a structure equivalent to the wall surface portion 503 is provided on a plurality of side portions, it is preferable to unify the positional relationship between the opening portion and the pin in each wall surface portion.

[0249] <Variation 11> In the fourth embodiment, the tray 500 is square in plan view, but it may also be rectangular in plan view. In this case, a structure equivalent to the wall surface portion 503 may be provided on one of the long side portions of the tray 500, or a structure equivalent to the wall surface portion 503 may be provided on one of the short side portions. However, in the support mode shown in the fourth embodiment, since the weight of the tray 500 is used to stabilize the support, it is preferable to provide a structure equivalent to the wall surface portion 503 on the short side portion to make it easier to use the weight of the tray 500.

[0250] <Variation 12> In the fourth embodiment, pin 521 and guide member 571 are provided as a configuration for aligning tray 500 and hand 550. Here, pin 521, which is a relatively small member, is arranged on the tray 500 side, and guide member 571, which is a relatively large member, is arranged on the hand 550 side, but these may be reversed. That is, a configuration equivalent to guide member 571 may be arranged on the tray 500 side, and a configuration equivalent to pin 521 may be arranged on the hand 550.

[0251] <Variation 13> In the fourth embodiment described above, the tray 500 is lifted so that it floats above the placement surface of the shelf SH when being transported. Providing a stopper that abuts the lower end of the wall surface 503 of the tray 500 from the front side is effective in preventing the tray 500 from falling off the shelf SH, and lifting the tray 500 as described above is significant. However, if such a stopper is not present, it is also possible to configure the tray 500 to be removed by pulling it toward the user rather than lifting it after the hook member 561 is hooked onto the tray 500. In this case, when the tray 500 leaves the placement surface, the wall surface 503 abuts the stopper member 581, restricting the rotation of the tray 500, and the tray 500 is supported by the hand 550.

[0252] <Variation 14> In the fourth embodiment, the wall surface portion 503 is formed of a plate material, but the present invention is not limited to this. It is sufficient if at least a hooking point for the hook member 561 and a contact point for the stopper member 581 can be secured, and the wall surface portion 503 can also be formed of a frame such as a frame material.

[0253] <Variation 15> It is also possible to configure the guide member 571 shown in the fourth embodiment to also function as the stopper member 581. That is, it is also possible to omit the stopper member 581 and configure the tip of the guide member 571 to abut against the wall surface portion 503 of the tray 500.

[0254] <Other embodiments> The present invention is not limited to the above-described embodiments, and may be implemented as follows: Each of the following configurations may be applied individually to each of the above-described embodiments, or a combination of some or all of the following configurations may be applied to each of the above-described embodiments.

[0255] (1) The technical concepts of the hands 100, 200, 300, and 550 shown in the above embodiments can also be applied to hands used in tasks other than the experimental process. They may also be applied to hands used in tasks in the manufacturing process or in the transport process.

[0256] (2) In each of the first to third embodiments described above, a configuration in which an electric actuator is used as the drive unit for the hands 100, 200, and 300 is exemplified. However, this can be changed to a configuration in which a hydraulic actuator or a pneumatic actuator is used.

[0257] (3) The hand 100 and the like shown in each of the above embodiments can also be applied to robots other than vertically articulated robots, for example, horizontally articulated robots. Note that, although a six-axis robot is exemplified in each of the above embodiments, the number of axes is arbitrary.

[0258] <Inventions extracted from the above embodiments> The following describes the features of the inventions extracted from the above embodiments, while indicating, as necessary, their effects, etc. Note that, for ease of understanding, the corresponding configurations in the above embodiments are indicated in parentheses, etc. as appropriate, but the invention is not limited to the specific configurations indicated in parentheses, etc.

[0259] <Feature A group> Holding rod-shaped parts The following mainly describes feature group A, which is a technical idea extracted from the first embodiment and its modifications.

[0260] Feature A group is the background technology that states, "Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold (clamp) a workpiece by pinching it with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The group states, "Here, when the object to be clamped differs depending on the work, etc., a robot hand is provided for each object, and if the robot hand is configured to be automatically replaced as needed, the number of tasks that the robot can engage in can be increased. In addition, by determining the shape of the movable claws according to the shape, size, etc. of the object to be clamped can be suitably prevented from falling off, etc. of the object to be clamped. However, a certain amount of space is required to install replacement jigs and various robot hands near the robot. For example, when a robot is installed on a table in a research lab or laboratory, In cases where the installation area of ​​a robot system is limited, the installation of a replacement robot hand may restrict the work area. This can hinder the expansion of the tasks that a robot can perform. To address this issue, a robot hand can be equipped with multiple pairs of movable claws, each of which can be used depending on the task. This would increase the number of tasks that the robot can perform without preparing a replacement robot hand. However, this approach requires a drive mechanism to operate each pair, which is expected to result in a larger robot hand. A larger robot hand would place greater constraints on the robot's movement in order to avoid collisions with peripheral components such as jigs. This is undesirable in expanding the tasks that a robot can perform. Thus, there is still room for improvement in the configuration of the robot hand in order to enable a robot to perform multiple tasks in a limited space.

[0261] Feature A1. A robot hand (hand 100) is applied to a robot arm (robot body 12) having multiple joints, and is equipped with a pair of clamping members (clamping members 106) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, The clamping member is a first clamping portion (beaker clamping portion 142) for clamping a first object (e.g., a beaker 181); an offset portion (base portion 111) that offsets the first clamping portion from the tip end portion (flange portion 28) of the arm; a second clamping portion (groove portion 125 of pipette clamping portion 122) provided in the offset portion for clamping a rod-shaped second object (e.g., cotton swab 183); Including, The second clamping portion is a robot hand having a groove shape that can engage with the second object.

[0262] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0263] In particular, in the clamping member described above, the first clamping unit is offset from the tip of the robot arm using an offset portion. In other words, the first object can be clamped at a position away from the tip. This configuration advantageously alleviates restrictions on the clamping location when clamping the first object, as well as the size and shape of the first object. The offset portion is provided with a second clamping unit for clamping a rod-shaped second object. The second clamping unit has a groove-like shape that can engage with the second object, and the orientation of the second object is determined by the engagement between the second clamping unit and the second object. This configuration can prevent the robot hand from becoming bulky, compared to, for example, a case in which the second clamping unit is provided at a location separate from the offset portion. For these reasons, the robot hand described above allows two types of clamping units to coexist advantageously while increasing the number of tasks that the robot can perform.

[0264] Feature A2: The robot hand according to Feature A1, wherein the second clamping portion extends in the longitudinal direction of the offset portion.

[0265] According to the configuration of this feature, the second object is clamped along the offset portion, and the area occupied by the hand and the second object when the second object is clamped can be reduced.

[0266] Feature A3. A robot hand (hand 100) is applied to a robot arm (robot body 12) having a plurality of joints, and is equipped with a pair of clamping members (clamping members 106) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, The clamping member is a first clamping portion (beaker clamping portion 142) for clamping a first object (e.g., a beaker 181); an offset portion (base portion 111) that offsets the first clamping portion from the tip end portion (flange portion 28) of the arm; a second clamping portion (groove portion 125 of pipette clamping portion 122) provided in the offset portion for clamping a rod-shaped second object (e.g., cotton swab 183); Including, The second clamping portion is a groove extending in the longitudinal direction of the offset portion, and is a robot hand that is capable of engaging with the second object when clamping the second object.

[0267] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0268] In particular, the clamping member described above uses an offset portion to offset the first clamping portion from the tip of the robot arm. In other words, the first object can be clamped at a position away from the tip. This configuration advantageously alleviates restrictions on the clamping location, size, and shape of the first object when clamping the first object. The offset portion is provided with a second clamping portion for clamping a rod-shaped second object. The second clamping portion has a groove extending in the longitudinal direction of the offset portion and engages with the second object during clamping. Therefore, the second object is clamped in a position aligned with the offset portion, thereby reducing the area occupied by the hand and the second object when clamping the second object. Furthermore, this configuration is advantageous in terms of preventing the robot hand from becoming bulky, compared to, for example, providing the second clamping portion at a location separate from the offset portion. For these reasons, the robot hand described above allows two types of clamping portions to coexist favorably while increasing the number of tasks that a robot can perform.

[0269] Feature A4: A robot hand according to any one of Features A1 to A3, wherein the overall length of the groove-shaped second clamping portion is shorter than the overall length of the offset portion.

[0270] Since the second object is rod-shaped, if the second clamping portion is long, it may be difficult to properly engage it. As shown in this feature, limiting the portion where the second clamping portion is formed at the offset portion to a portion in the longitudinal direction is preferable in order to prevent the hurdle of clamping the second object from becoming excessively high and reduce the chance of operational errors.

[0271] Feature A5: The offset portion is provided with a bulging portion (pipette clamping portion 122) that bulges from the inner surface of the offset portion, The robot hand according to any one of Features A1 to A4, wherein the second clamping portion is formed at the top (top 124) of the bulging portion.

[0272] As shown in this feature, by forming the second clamping portion not on the inner surface of the offset portion but on the top of the bulging portion that bulges out from the inner surface, the technical idea shown in feature A4 can be suitably realized.

[0273] Feature A6: A robot hand according to Feature A5, wherein the second clamping portion extends across both edges (e.g., upper and lower edges) of the top portion in the longitudinal direction.

[0274] This configuration can ease the constraints on the clamping location of the rod-shaped second object. For example, the middle part of the second object can be used as the clamping location, which can contribute to stabilizing the posture of the second object. Furthermore, by relaxing the constraints on the clamping location, it is possible to clamp a part of the second object with little variation in shape or position.

[0275] Feature A7: A robot hand described in any one of Features A1 to A6, wherein the second clamping portion has an inclined portion (inclined portion 125b) that guides the second object toward the bottom side of the second clamping portion as the relative distance of the clamping members changes when clamping the second object.

[0276] In order to determine the orientation of the second object using the groove-shaped second clamping portion, it is preferable to make the groove somewhat long. However, if the groove is long, it becomes difficult to align the second clamping portion and the second object when engaging them, which may hinder improving work efficiency. In this regard, if the second object is guided toward the bottom side of the second clamping portion using an inclined portion as shown in this feature, it is possible to properly engage the second object and the second clamping portion while preventing excessively strict alignment between the groove-shaped second clamping portion and the rod-shaped second object.

[0277] Feature A8: A robot hand described in any one of Features A1 to A7, wherein the second clamping portion is arranged at a midpoint in the longitudinal direction of the offset portion or at a position toward the tip of the offset portion.

[0278] As shown by this feature, by arranging the second clamping portion at a midpoint in the longitudinal direction of the offset portion or at a position toward the tip of the offset portion, restrictions on the clamping location when clamping the second object can be alleviated.

[0279] Feature A9. The offset portion is provided with a bulging portion (pipette clamping portion 122) that bulges from the inner surface of the offset portion, The bulging portion is a hand-side engaging portion (hand-side engaging portion 123) that engages with a holding object-side engaging portion (bracket-side engaging portion 195) formed on the third object when the relative distance of the clamping members is changed to clamp the third object (pipette 191) in accordance with the change, and that restricts changes in displacement and orientation of the third object by engaging with the holding object-side engaging portion (bracket-side engaging portion 195), The robot hand according to any one of Features A1 to A8, wherein the second clamping portion is formed at the top (top 124) of the bulging portion.

[0280] As shown in this feature, if the second clamping portion is formed at the top of the bulge portion (hand side engagement portion) used to clamp the third holding object, the number of tasks that the robot can perform can be increased while various clamping configurations can be suitably coexisted.

[0281] Feature A10. A robot hand (hand 100) is applied to a robot arm (robot body 12) having multiple joints, and is equipped with a pair of clamping members (clamping members 106) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, Each of the clamping members has a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, A first clamping portion (beaker clamping portion 142) for clamping a first object (e.g., a beaker 181) is provided on the tip end side of the base portion, A second clamping portion (pipette clamping portion 122) for clamping the rod-shaped second object (e.g., a cotton swab 183) is provided on the opposing side of the base portion, At least one of the second clamping parts has a groove (groove 125) that determines the orientation of the second object.

[0282] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0283] In particular, in the clamping member described above, the first clamping unit is offset from the tip of the robot arm using a base unit. In other words, the first object can be clamped at a position away from the tip. This configuration advantageously alleviates restrictions on the clamping location, size, and shape of the first object when clamping the first object. The base unit is provided with a second clamping unit for clamping a rod-shaped second object. The second clamping unit has a groove that can engage with the second object, and the orientation of the second object is determined by engagement between the groove and the second object. This configuration can prevent the robot hand from becoming bulky, compared to, for example, a case in which the second clamping unit is provided at a location separate from the base unit. For these reasons, the robot hand described above allows two types of clamping units to coexist while increasing the number of tasks that the robot can perform.

[0284] The technical ideas shown in Features A1 to A9 can also be applied to Feature A10.

[0285] Feature A11. The robot hand according to Feature A10, wherein both of the second clamping portions have the groove portion.

[0286] When engaging a rod-shaped second object with the second clamping portion (groove), forming the groove to a certain depth facilitates the function of determining the direction of the second object and the aforementioned guiding function. However, if the groove is excessively deep, it is expected that the second object may become caught in the groove, making it difficult to remove the second object. There is a concern that such a drawback may become more pronounced if the length of the groove is increased to a certain extent in consideration of the aforementioned function of determining the direction. In this regard, if both second clamping portions are configured to have grooves, as shown in this feature, the depth can be divided between the two second clamping portions, thereby preferably preventing each of the second clamping portions from becoming excessively deep. This alleviates the above-mentioned concerns.

[0287] Feature A12 (Robot System): A robot system comprising a robot arm equipped with a robot hand described in any one of Features A1 to A11, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0288] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0289] <Feature B group> Engagement part for preventing misalignment The following mainly describes feature group B, which is a technical idea extracted from the first embodiment and its modified examples.

[0290] Feature B group describes the background technology as follows: "Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold a workpiece by clamping it with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The group also states, "In recent years, it has been proposed to fix a tool (instrument) other than the above-mentioned hand to the tip of a robot arm, and have the robot work using that tool. In such a configuration, the robot is dedicated to one task, and it is practically difficult to have the robot work on multiple tasks. Here, for example, it is possible to fix a tool using the above-mentioned robot hand. If a robotic arm can hold a tool, it can be used to transport a workpiece while also working with a tool. However, simply clamping a tool to hold it would be more unstable than the above-described configuration in which the tool is fixed, raising concerns that precision work would be difficult. In particular, when the robot arm's posture is quickly changed to improve work efficiency, it is expected that the weight of the tool may cause problems such as the tool's position being displaced. In other words, while using a robotic hand to hold a tool is desirable in terms of increasing the variety of tasks a robot can perform, concerns remain regarding improving work efficiency. Thus, there is still room for improvement in the configuration of the robotic hand when it comes to holding a tool with a robotic hand. This was developed in light of the following background and issues.

[0291] Feature B1. A robot hand (hand 100) is applied to a robot arm (robot body 12) having a plurality of joints, and is equipped with a pair of opening / closing members (clamping members 106) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the opening / closing members, The pair of opening and closing members each have a wall surface portion (an inner surface 121 of the base portion 111) that sandwiches a holding object (a bracket 193 of a pipette 191), A robot hand provided with a hand-side engaging portion (hand-side engaging portion 123) on at least one of the pair of opening / closing members, which engages with a holding object side engaging portion (bracket-side engaging portion 195) formed on the holding object in accordance with the change in the relative distance between the opening / closing members to sandwich and hold the holding object between the wall surface portion, and which engages with the holding object side engaging portion to regulate the displacement and change in orientation of the holding object along the wall surface portion.

[0292] When a robot hand simply clamps and holds an object, the weight of the object can cause the object to shift position when the robot arm's posture changes. This shift becomes more pronounced as the robot arm's operating speed increases, potentially hindering efforts to improve work efficiency. In this regard, with this configuration, when the robot hand (opening / closing member) is closed to clamp and hold an object between the wall surface, the hand-side engaging portion and the object-side engaging portion engage, and the engagement of these engaging portions restricts the displacement and orientation of the object along the wall surface. In other words, this suppresses positional shifts in the object, contributing to improved work efficiency.

[0293] Furthermore, the hand-side engaging portion and the object-side engaging portion are configured to engage in response to the closing operation of the opening / closing member, eliminating the need for a separate actuator or the like to achieve the above-mentioned restricting function. In other words, the above concerns can be resolved while preventing the hand-related configuration from becoming bulky. Therefore, this configuration contributes to improving work efficiency while saving space for the hand.

[0294] Feature B2. A robot hand (hand 100) is applied to a robot arm (robot body 12) having a plurality of joints, and is equipped with a pair of opening / closing members (clamping members 106) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the opening / closing members, Each of the opening and closing members has a wall surface (an inner surface 121 of the base portion 111) that sandwiches a holding object (a bracket 193 of a pipette 191), A robot hand having a concave or convex hand-side engaging portion (hand-side engaging portion 123) formed on at least one of the wall portions, which engages with a held object-side engaging portion (bracket-side engaging portion 195) formed on the held object in accordance with the change in the relative distance of the opening / closing member to sandwich and hold the held object between the wall portions, and which engages with the held object-side engaging portion to regulate the displacement and change in orientation of the held object along the wall portion.

[0295] When a robot hand simply clamps and holds an object, the weight of the object can cause the object to shift position when the robot arm's posture changes. This shift becomes more pronounced as the robot arm's operating speed increases, potentially hindering efforts to improve work efficiency. In this regard, with this configuration, when the robot hand (opening / closing member) is closed to clamp and hold an object between the wall surface, the hand-side engaging portion and the object-side engaging portion engage, and the engagement of these engaging portions restricts the displacement and orientation of the object along the wall surface. In other words, this suppresses positional shifts in the object, contributing to improved work efficiency.

[0296] Furthermore, the hand-side engaging portion is a recess or protrusion formed on the wall surface, and the hand-side engaging portion and the object-side engaging portion are configured to engage in conjunction with the closing operation of the opening / closing member. In other words, there is no need to provide a separate actuator or the like to achieve the above-mentioned restricting function, and the hand-related configuration can be prevented from becoming bulky. Therefore, this configuration contributes to improving work efficiency while saving space in the hand.

[0297] Feature B3. The hand-side engagement portion is a first contact surface (for example, an upper surface and a lower surface of the hand side engaging portion 123) that faces a first direction (for example, a vertical direction) perpendicular to the arrangement direction of the opening / closing members and contacts the holding object side engaging portion; a second contact surface (for example, the front and rear surfaces of the hand-side engaging portion 123) that faces a second direction (for example, the front-rear direction) perpendicular to each of the first direction and the arrangement direction and contacts the holding object-side engaging portion; The robot hand according to Feature B1 or Feature B2,

[0298] According to this characteristic configuration, displacement in a first direction is prevented by the first abutment surface abutting against the engagement portion on the side of the object to be held, and displacement in a second direction is prevented by the second abutment surface abutting against the engagement portion on the side of the object to be held. With this configuration, the first abutment surface and the second abutment surface can easily restrict displacement and changes in orientation of the object to be held along the wall surface.

[0299] Feature B4: A robot hand according to Feature B1 or Feature B2, wherein the hand-side engaging portion is formed with a corner that engages with a corner formed on the hold target-side engaging portion.

[0300] By providing corners on the hand-side engaging portion and the held object-side engaging portion, it is possible to easily restrict changes in the orientation of the held object along the wall surface.

[0301] Feature B5 (Non-contact): A robot hand described in any one of Features B1 to B4, wherein the hand-side engagement portion is formed so that when the object to be held is clamped and held, a gap is created between the hand-side engagement portion and the object-side engagement portion in the alignment direction of the opening / closing members.

[0302] According to this characteristic configuration, the object-side engaging portion and the hand-side engaging portion do not abut in the arrangement direction (clamping direction) of the open-close member. In other words, the role of clamping the object is played by the wall portion, and the division of roles between the wall portion and the hand-side engaging portion is clear. This configuration prevents stress from concentrating on the hand-side engaging portion, thereby suppressing deformation or damage to the hand-side engaging portion. In other words, it is possible to improve the durability of the open-close member and easily realize a configuration that can withstand repeated use.

[0303] Feature B6: The robot hand according to any one of Features B1 to B5, wherein the hand-side engagement portion has a convex shape that protrudes from the wall surface portion.

[0304] The configuration described in this feature contributes to reducing the weight of the opening / closing member while achieving the effects described in feature B1, etc. Reducing the weight of the opening / closing member (robot hand) helps to adopt robots with low output. Furthermore, robots with low output tend to occupy a smaller area when installed, which is advantageous in increasing the number of tasks that a robot can perform in a limited area.

[0305] Feature B7: The robot hand according to any one of Features B1 to B6, wherein the hand-side engagement portion is formed on the wall surface portions of both of the opening / closing members.

[0306] According to this characteristic configuration, stress generated in the hand-side engaging portion can be dispersed to both opening / closing members, thereby contributing to improving the durability of the hand.

[0307] Feature B8: The robot hand according to any one of Features B1 to B7, wherein the wall portion is configured to abut against the object to be held at least around the hand-side engagement portion.

[0308] This configuration contributes to miniaturization of the robot hand while suppressing the concentration of stress on the hand-side engagement portion.

[0309] Feature B9. The retention object is a first retention object; The opening and closing member has a clamping portion (beaker clamping portion 142) for clamping and holding a second object to be held (beaker 181); A connecting portion (base portion 111) connecting the clamping portion and the distance variable mechanism; is provided, The robot hand according to any one of Features B1 to B8, wherein the wall portion is formed at the connecting portion.

[0310] This configuration allows for smooth operation of each object to be held without changing the hand depending on the object. This is desirable for increasing the number of operations that a robot can perform in a limited space. Furthermore, since the wall surface, hand-side engagement portion, and clamping portion can be configured to suit the object to be held, it is possible to stably perform the clamping function. For example, this configuration is advantageous in reducing operational errors compared to a configuration in which one clamping portion is used to clamp two different objects to be held. Furthermore, since there is no need to add a configuration (such as a distance-adjusting mechanism) related to driving the opening / closing member, the complexity of the drive configuration can be effectively suppressed.

[0311] In particular, by separating the clamping part and the distance variable mechanism through the intervening connecting part, restrictions on the size and shape of the second object to be held can be alleviated.Furthermore, by forming a wall part (including the hand-side engaging part) on this connecting part, it is possible to prevent the robot hand from becoming too large.

[0312] Feature B10. The wall surface portion and the hand-side engaging portion are configured to hold the first holding object along the connecting portion, The robot hand according to Feature B9, wherein the clamping portion extends to the side opposite to the side where the first object to be held is held.

[0313] As shown in Feature B1, in a configuration in which the engagement between the hand-side engaging portion and the object-side engaging portion restricts displacement of the object along the wall, a certain degree of precision is required for the alignment of the two engaging portions. Here, as shown in Feature B8, if a clamping portion for clamping and holding the second object is provided on the open / close member, there is a concern that the above-mentioned alignment may become difficult if the clamping portion comes into contact with the second object. In this regard, according to the configuration shown in this feature, the clamping portion extends on the side opposite to the side holding the first object, thereby preventing contact between the clamping portion and the object when holding the first object. This is advantageous for enabling smooth holding of the first object.

[0314] Feature B11 (Robot System): A robot system comprising a robot arm equipped with a robot hand described in any one of Features B1 to B10, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0315] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0316] Incidentally, the technical ideas shown in the above feature group A may be applied to features B1 to B11.

[0317] <Feature C group> Coexistence of dial operation part and beaker clamp part The following mainly describes feature group C, which is a technical idea extracted from the second embodiment and its modified examples.

[0318] Feature C group is about the background technology that states, "Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to clamp a workpiece with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The group states, "Here, when the object to be clamped differs depending on the task, etc., a robot hand is provided for each object, and if the robot hand is configured to be automatically replaced as needed, the tasks that the robot can engage in can be increased. In addition, by determining the shape of the movable claws according to the shape, size, etc. of the object, it is possible to suitably prevent the object from falling off. However, a certain amount of space is required to install replacement jigs and various robot hands near the robot. For example, when a robot is installed on a table in a research lab or laboratory, i.e., when a robot is installed on a table, If the installation area of ​​a robot system is limited, installing a replacement robot hand may reduce the work area. This can hinder the expansion of the tasks that a robot can perform. To address this issue, a robot hand can be equipped with multiple pairs of movable claws, each of which can be used depending on the task. This would increase the number of tasks that a robot can perform without preparing a replacement robot hand. However, this approach requires a drive mechanism to operate each pair, which is expected to result in a larger robot hand. A larger robot hand places greater constraints on the robot's movement in order to avoid collisions with surrounding components such as jigs. This is undesirable in expanding the tasks that a robot can perform. Thus, there is still room for improvement in the configuration of the robot hand in order to allow a robot to perform multiple tasks in a limited space.

[0319] Feature C1. A robot hand (hand 200) that can be attached to the tip (flange portion 28) of a robot arm (robot body 12) having multiple joints, and that is equipped with a pair of opening / closing members (clamping members 206) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the opening / closing members, Each of the opening / closing members has a base portion (base portion 211) extending in the same direction as the rotation center axis (sixth axis AX6) of the tip end portion (flange portion 28) of the robot arm, The base portion has: a first clamping unit (beaker clamping unit 242) for clamping and holding a first object (e.g., a beaker 281) to be conveyed; a second clamping portion (dial operating portion 222) formed at a location different from the first clamping portion and configured to clamp a second object (for example, a dial 298 of a stirrer 296) that is the object of rotation; is provided, A robot hand in which the distance from the center position (center position CP4) of the second clamping section to the rotation center axis is smaller than the distance from the center position (center position CP3) of the first clamping section to the rotation center axis.

[0320] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on the opening / closing member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the opening / closing member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the driving configuration can be effectively suppressed.

[0321] In particular, in the open / close member described above, the first clamping portion and the second clamping portion are provided at different locations on the base portion. This is preferable for preventing one of the clamping portions from interfering with the other clamping the object. The second clamping portion, which clamps the second object to be rotated, is configured to have a smaller distance from the rotation axis to its center position than the first clamping portion, which clamps and holds the first object to be transported. This allows for minimal change in the robot's posture when the second clamping portion is used to clamp and rotate the second object, primarily by rotating the tip of the robot arm. This is preferable for rotating the second object while avoiding collisions with peripheral components such as jigs. Note that when transporting the first object, there is little need to change the posture of the robot arm while keeping it in one location. In other words, there is little need to worry about the inconvenience of the robot arm becoming difficult to move due to the increased distance from the rotation axis. For the above reasons, it is possible to increase the number of tasks that the robot can perform while allowing the two types of clamping units to coexist naturally.

[0322] In addition, the statement in this feature that "the distance from the center position (center position CP4) of the second clamping portion to the rotation center axis is smaller than the distance from the center position (center position CP3) of the first clamping portion to the rotation center axis" can also be changed to "the distance from the center position (center position CP4) of the second clamping portion to the rotation center axis when the second object is clamped by the second clamping portion is smaller than the distance from the center position (center position CP3) of the first clamping portion to the rotation center axis when the first object is clamped by the first clamping portion."

[0323] Feature C2. The first clipping portion and the second clipping portion extend from the side portions of the base portion, The robot hand according to feature C1, wherein the extending direction of the first clamping portion is different from the extending direction of the second clamping portion.

[0324] As shown in this feature, by making the extension directions of the first clamping portion and the second clamping portion different, it is possible to prevent one of the clamping portions from getting in the way when the other clamping portion is used to clamp an object, thereby contributing to the coexistence of both clamping portions.

[0325] Feature C3. The first clamping portion extends from a side portion of the base portion, The robot hand according to feature C1, wherein the second clamping portion extends from the side of the base portion to the opposite side from the first clamping portion.

[0326] As shown in this feature, if the first clamping portion and the second clamping portion are configured to extend in opposite directions, it is possible to effectively prevent one of the clamping portions from getting in the way when the other clamping portion is used to clamp an object, thereby contributing to the coexistence of both clamping portions.

[0327] Feature C4. A robot hand described in any one of Features C1 to C3, wherein the location of the first clamping portion on the base portion and the location of the second clamping portion are offset in the axial direction of the rotation center axis.

[0328] As shown in this feature, if the locations of the clamping parts are offset in the direction of the rotation center axis (the longitudinal direction of the base part), it is possible to more effectively prevent one of the clamping parts from getting in the way when the other clamping part is clamping an object. This is preferable in terms of achieving coexistence of both clamping parts.

[0329] Feature C5. A robot hand described in any one of Features C1 to C4, wherein the first clamping portion and the second clamping portion are arranged so that the first clamping portion is closer to the base end (upper end 212) of the base portion than the second clamping portion.

[0330] When an object is clamped and held, the greater the distance between the clamping portion and the central axis of rotation, the greater the stress (moment) generated at the base end of the base. Therefore, by arranging the first clamping portion, which is farther from the central axis of rotation to the center position, closer to the base end of the base than the second clamping portion, the stress can be reduced. In contrast, the second clamping portion clamps the second object but is not configured to hold the second object (i.e., support its weight). Therefore, arranging it farther from the base end of the base is unlikely to result in the disadvantage of increased stress. For these reasons, when using both the first and second clamping portions, it is technically significant to arrange the first clamping portion closer to the base end of the base than the second clamping portion.

[0331] The "base end" in this feature can also be "a fixed portion fixed to the slidable member (slide block 104) of the distance variable mechanism."

[0332] Feature C6: A stopper portion (projection portion 216) is provided at the base end portion (upper end portion 212) of the base portion, which abuts when the relative distance between the opening and closing members is changed to be smaller, A robot hand described in feature C5 is configured such that when the stopper portions are in contact with each other, the second clamping portions are separated from each other to avoid contact between the second clamping portions, and the first clamping portions are separated from each other to avoid contact between the first clamping portions.

[0333] If the second clamping portion is disposed on the tip side of the base portion, there is a concern that the function of clamping and rotating the second object may not be properly performed if the opening / closing member is distorted, etc. Therefore, as shown in this feature, by providing a stopper portion at the base end of the base portion and configuring the device to prevent the first clamping portions and the second clamping portions from contacting each other when closed, it is possible to prevent such inconvenience from occurring.

[0334] Feature C7. A robot hand described in any one of Features C1 to C6, wherein the first clamping portion and the second clamping portion are configured so that the area in which the first object clamped by the first clamping portion is located partially overlaps with the area in which the second object clamped by the second clamping portion is located.

[0335] As shown in this feature, if the area where the first object is located and the area where the second object is located can be configured to partially overlap, the area occupied by the robot hand and the object being held can be prevented from becoming too large, which is preferable in terms of easing restrictions on the placement of jigs, etc. and the movement of the robot.

[0336] Feature C8. The outer periphery of the second object that is clamped by the second clamping unit is circular; A robot hand described in any one of features C1 to C7, wherein the second clamping portion is configured to abut against the outer peripheral portion at at least three points in the circumferential direction of the outer peripheral portion.

[0337] When a first clamping unit and a second clamping unit are provided side by side, repeated transport of a first object by the first clamping unit may cause slight distortion of the base unit, which may affect the second clamping unit. If such distortion causes the contact point between the second clamping unit and the second object (periphery) to shift, slippage between the second object and the second clamping unit may occur during a rotation operation. This concern is expected to be more pronounced when two contact points are set around the rotation center of the second object. In this regard, with this characteristic configuration, when the second object is clamped, the second clamping unit contacts the outer periphery of the second object at three or more points. This reduces the effects of the distortion and prevents incomplete rotation of the second object.

[0338] In order to realize the technical idea of ​​this feature, for example, the second clamping portion may be formed in an arc shape, and the curvature of the second clamping portion may be set to be smaller than the curvature of the outer peripheral portion of the second object.

[0339] Feature C9. The base portion has an extension portion (protrusion 224) extending from a side portion of the base portion, The robot hand according to feature C8, wherein the second clamping portion is formed so as to straddle the base portion and the extension portion.

[0340] As shown in this feature, by forming the second clamping portion so as to straddle the base portion and the extension portion extending from the side of the base portion, it is possible to increase the distance between the contact point with the outer periphery of the second object, thereby more effectively achieving the effect shown in feature C8.

[0341] Feature C10 (Robot System): A robot system including a robot hand and a robot arm according to any one of Features C1 to C9, and a drive control unit (robot controller 15 and upper controller 16) that controls the drive of the robot hand and the robot arm, the first clamping portion of the robot hand extends to one side from the base portion, The drive control unit, when performing a rotational operation on the second object, executes a first control to rotate the robot hand in a first direction (e.g., clockwise) around the rotation central axis while clamping the second object with the second clamping unit, and after executing the first control, executes a second control to move the second clamping unit away from the second object and rotate the robot hand in a second direction (e.g., counterclockwise) opposite to the first direction around the rotation central axis, and after executing the second control, executes a third control to clamp the second object again with the second clamping unit and rotate the robot hand in the first direction around the rotation central axis.

[0342] If the first clamping portion extends from the base portion, contact between the first clamping portion and peripheral components such as a jig is likely to occur when rotating the second object. Therefore, as shown in this feature, when rotating the second object, the robot hand is configured to rotate in a first direction, then release the second object, rotate in a second direction, and then clamp the second object and rotate in the first direction again. This makes it easier to avoid contact between the first clamping portion and peripheral components such as a jig, compared to a configuration in which the robot hand rotates only in the first direction. This allows the first clamping portion and the second clamping portion to coexist favorably. In particular, because the first clamping portion extends only on one side from the base portion, the angle of rotation in the first direction is not limited to an extremely small value, compared to a configuration in which the first clamping portion extends on both sides. This is effective in suppressing a decrease in the efficiency of the rotation operation.

[0343] Feature C11 (Robot System): A robot system comprising a robot arm equipped with a robot hand described in any one of Features C1 to C9, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0344] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0345] Incidentally, the technical ideas shown in the above-mentioned Feature Group A to Feature Group B may be applied to Feature Group C1 to Feature Group C11.

[0346] <Feature D Group> Syringe attachment installation The following mainly describes feature group D, which is a technical idea extracted from the third embodiment and its modifications.

[0347] Feature D group is about the background art of "Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold (clamp) a workpiece by pinching it with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The group states, "Here, when the object to be clamped differs depending on the work, etc., a robot hand is provided for each object, and if the robot hand is configured to be automatically replaced as needed, the number of tasks that the robot can engage in can be increased. In addition, by determining the shape of the movable claws according to the shape, size, etc. of the object to be clamped can be suitably prevented from falling off, etc. However, a certain amount of space is required to install replacement jigs and various robot hands near the robot. For example, when a robot is installed on a table in a research lab or laboratory, In cases where the installation area of ​​a robot system is limited, the installation of a replacement robot hand may restrict the work area. This can hinder the expansion of the tasks that a robot can perform. To address this issue, a robot hand can be equipped with multiple pairs of movable claws, each of which can be used depending on the task. This would increase the number of tasks that the robot can perform without preparing a replacement robot hand. However, this approach requires a drive mechanism to operate each pair, which is expected to result in a larger robot hand. A larger robot hand would place greater constraints on the robot's movement in order to avoid collisions with peripheral components such as jigs. This is undesirable in expanding the tasks that a robot can perform. Thus, there is still room for improvement in the configuration of the robot hand in order to enable a robot to perform multiple tasks in a limited space.

[0348] Feature D1. A robot hand (hand 300) is applied to a robot arm (robot body 12) having a plurality of joints, and is equipped with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, Each of the clamping members has a base portion (base portion 311) extending in the same direction as the rotation center axis (sixth axis AX6) of the tip end portion (flange portion 28) of the robot arm, The base portion has: a first clamping portion (beaker clamping portion 362) extending from a side of the base portion and configured to clamp a first object to be conveyed (e.g., a beaker 381) at a position offset from the rotation center axis; a second clamping portion for clamping a second object (e.g., a filter 385) that is a component that is attached or detached by rotating the second object coaxially with the rotation center axis; A robotic hand is provided.

[0349] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0350] In particular, the clamping member described above includes a first clamping unit that clamps a first object to be transported and a second clamping unit that clamps a second object, which is a part that is attached or detached by rotation. The first clamping unit clamps the first object at a position offset from the central axis of rotation, while the second clamping unit clamps the second object coaxially with the central axis of rotation. This configuration prevents the first clamping unit from interfering with the transport operation when the first clamping unit is used to transport the first object, or from interfering with the attachment and detachment operation when the second clamping unit is used to attach or detach the second object. In other words, the two types of clamping units can coexist naturally while increasing the number of tasks that the robot can perform.

[0351] Feature D2: A robot hand according to Feature D1, wherein the second clamping portion is disposed on the tip end side of the base portion, and the first clamping portion is disposed on the base end side of the base portion.

[0352] When an object is clamped at a position offset from the base (rotation center axis), the weight of the first clamping unit may cause deformation such as distortion. However, by locating the first clamping unit on the base end side, the effects of distortion and other deformations can be suppressed, preventing such effects from reaching the second clamping unit. Furthermore, when clamping a second object coaxially with the rotation center axis, the influence of the moment due to the weight of the second object and other factors can be minimized by oriented the tip of the robot hand downward. In other words, even if the base is lengthened to some extent to separate the first clamping unit and the second clamping unit, the influence of the weight of the second object can be prevented from becoming excessively large. Thus, there is technical significance in locating the first clamping unit on the base end side and the second clamping unit on the tip end side of the base unit.

[0353] Feature D3. A robot hand described in Feature D1 or Feature D2, wherein when the first clamping portion is clamping the first object, the base portion is parallel or approximately parallel to the first object, and the second clamping portion is arranged in a position that is side-by-side with the first object clamped by the first clamping portion.

[0354] As shown in this feature, by configuring the first object clamped by the first clamping unit and the base unit so that they are parallel or approximately parallel, it is possible to prevent the area occupied by the robot hand and the first object being clamped from becoming too large. Furthermore, by configuring the second clamping unit to be positioned side-by-side with the first object clamped by the first clamping unit, it is possible to minimize the overall length of the base unit. This is preferable for preventing strong constraints on movement when clamping the first object.

[0355] Feature D4. A robot hand described in any one of Features D1 to D3, wherein the clamping member is configured so that the second clamping portion and the first clamping portion do not overlap when viewed in the direction of the rotation center axis.

[0356] According to the configuration shown in this feature, when the first clamping portion clamps the first object, the second clamping portion can be prevented from hindering the approach or becoming a factor that increases the constraints on movement.

[0357] Feature D5: A robot hand according to any one of Features D1 to D4, wherein the first clamping portion is arc-shaped to surround the first object.

[0358] The clamping member shown in feature D1 etc. has a first clamping portion that extends in a direction intersecting with the rotation center axis. Therefore, compared to a clamping member that does not have a configuration corresponding to the first clamping portion, there is a concern that the clamping member may be more likely to collide with a worker, a jig, etc. when attaching or removing a second object. In the configuration shown in this feature, the first clamping portion has an arc shape that surrounds the first object, so that the impact caused by the collision can be mitigated and damage to the robot hand, etc. can be suitably suppressed.

[0359] Feature D6. A robot hand described in any one of Features D1 to D5, wherein the clamping member is configured such that, when the second clamping portion is clamping the second object, a gap is formed between the first clamping portion in the circumferential direction centered on the central axis of rotation.

[0360] The clamping member described in feature D1 and the like has a first clamping portion extending in a direction intersecting the central axis of rotation. Therefore, compared to a clamping member that does not have a configuration equivalent to a first clamping portion, there is a concern that the clamping member may be more likely to collide with a worker or a jig during the installation or removal of a second object. In the configuration described in this feature, when the second clamping portion is clamping the second object, a gap is formed between the first clamping portion and the second clamping portion. In the event of a collision, the second clamping portion is allowed to deform by the amount of this gap. This is advantageous for mitigating the impact of the collision and protecting the robot hand, etc.

[0361] Feature D7: A robot hand described in any one of Features D1 to D6, wherein the second clamping portion has a first abutment portion (upper surface portion 355) that abuts against the second object from the base end side of the base portion when the second clamping portion is clamping the second object.

[0362] When attaching a second object to an attachment target (for example, tip 383a of syringe 383), the second object needs to be rotated. Here, according to the configuration shown in this feature, when rotating the second object, the first contact portion can push the second object toward the attachment target, or the first contact portion can prevent the second object from displacing away from the attachment target. This configuration can prevent the second object from spinning freely, contributing to smoother attachment work.

[0363] Although it is possible to suppress freewheeling of the second object even in a configuration without a first contact portion by increasing the clamping force, it is expected that the greater the distance from the base end of the base portion to the second clamping portion, the more likely it is that bending of the base portion originating from the base end will occur as a result of the increased clamping force. As shown in Feature D1, etc., when a clamping member includes both a first clamping portion and a second clamping portion, it is undesirable for the first clamping portion to be affected by such bending in order to properly perform its function of clamping the first object. In this regard, the configuration shown in this feature can suitably suppress freewheeling without excessively increasing the clamping force of the second object, thereby suppressing the above-mentioned effect on the first clamping portion and allowing both clamping portions to coexist favorably.

[0364] Feature D8: The second clamping portion has a second abutment portion (lower surface portion 356) that abuts against the second object from the tip side of the base portion while clamping the second object, and the gap between the first abutment portion and the second abutment portion is larger than the clamped portion of the second object (main body portion 385a), so that the second object can slide away from the attachment object (e.g., tip portion 383a of syringe 383) while maintaining its clamped state by the second clamping portion. This is a robot hand described in Feature D7.

[0365] When removing the second object from the attachment target, the second object needs to be rotated. In this configuration, the gap between the two contact portions is larger than the clamped portion of the second object, and the second object can slide away from the attachment target while remaining clamped by the second clamping portion. This configuration makes it possible to remove the second object without having to move the hand away from the attachment target, thereby reducing the inconvenience of the first contact portion interfering with the rotation of the second object. This configuration is advantageous in simplifying the creation of an operation program for operating the robot.

[0366] Feature D9. The second object has a disk portion (main body portion 385a), A robot hand described in any one of features D1 to D8, wherein the second clamping portion is configured to abut against the outer surface of the disc portion at at least three points in the circumferential direction of the outer surface.

[0367] According to this feature, when the second object is clamped, the second clamping portion contacts the outer peripheral surface of the second object (disk portion) at three or more points. This is preferable for preventing slippage between the second object and the second clamping portion during rotation. Furthermore, this feature prevents the clamping force for the second object from becoming excessively large. In other words, the above-mentioned disadvantages caused by the second clamping portion being disposed on the tip side of the base portion can be mitigated.

[0368] Feature D10. A robot hand described in any one of Features D1 to D9, wherein the second clamping portion is a recess provided in opposing portions (inner surfaces 317) of the base portion, and the rear wall portion (rear surface portion 351) of the recess is formed so that its central portion does not abut against the second object, and portions located on both sides of the central portion abut against the second object.

[0369] According to this feature, when the second object is clamped, the second clamping portion contacts the outer peripheral surface of the second object (disk portion) at four points. This is preferable for preventing slippage between the second object and the second clamping portion during rotation. Furthermore, this feature prevents the clamping force for the second object from becoming excessively large. In other words, this contributes to mitigating the above-mentioned disadvantages caused by arranging the second clamping portion on the tip side of the base portion.

[0370] In order to realize the technical idea of ​​this feature, for example, the inner wall of the recess may be discontinuous at the center, or the inner wall may be bent so that the center becomes a corner.

[0371] Feature D11. A robot system including a robot hand and a robot arm according to any one of Features D1 to D10, and a drive control unit (robot controller 15 and upper controller 16) that controls the drive of the robot hand and the robot arm, the first clamping portion of the robot hand extends to one side from the base portion, The drive control unit executes a first control to rotate the robot hand in a first direction (e.g., clockwise) around the rotation center axis while clamping the second object with the second clamping portion when attaching the second object to an attachment target, executes a second control to release the clamping of the second object and rotate the robot hand in a second direction opposite to the first direction (e.g., counterclockwise) around the rotation center axis after executing the first control, and executes a third control to clamp the second object again and rotate the robot hand in the first direction around the rotation center axis after executing the second control.

[0372] If the first clamping unit extends from the base, contact between the first clamping unit and peripheral components such as a jig is likely to occur during installation of a second object. Therefore, as shown in this feature, when installing a second object, the robot hand is configured to rotate in a first direction, then release the second object, rotate in the second direction, and then clamp the second object and rotate in the first direction again. This makes it easier to avoid contact between the first clamping unit and peripheral components such as a jig, compared to a configuration in which the robot hand rotates only in the first direction. This allows the first clamping unit and the second clamping unit to coexist favorably. In particular, because the first clamping unit extends from the base only on one side, the angle at which it is rotated in the first direction is not limited to an extremely small value, compared to a configuration in which the first clamping unit extends on both sides. This is effective in preventing a decrease in installation efficiency.

[0373] Feature D12. A robot system including a robot hand and a robot arm according to any one of Features D1 to D10, and a drive control unit (robot controller 15 and upper controller 16) that controls the drive of the robot hand and the robot arm, the first clamping portion of the robot hand extends to one side from the base portion, The drive control unit, when removing the second object from an attachment target, executes a first control to rotate the robot hand in a second direction (e.g., clockwise) around the rotation center axis while clamping the second object with the second clamping portion, executes a second control after executing the first control to release the clamping of the second object and rotate the robot hand in a first direction opposite to the first direction (e.g., counterclockwise) around the rotation center axis, and executes a third control after executing the second control to clamp the second object again and rotate the robot hand in the second direction around the rotation center axis.

[0374] If the first clamping unit extends from the base unit, contact between the first clamping unit and peripheral components such as a jig is likely to occur during removal of the second object. Therefore, as shown in this feature, when removing the second object, the robot hand is configured to rotate in the second direction, then release the second object and rotate in the first direction, and then clamp the second object and rotate in the second direction again. This makes it easier to avoid contact between the first clamping unit and peripheral components such as a jig, compared to a configuration in which the robot hand rotates only in the second direction. This allows the first clamping unit and the second clamping unit to coexist favorably. In particular, because the first clamping unit extends only on one side from the base unit, the angle at which it is rotated in the second direction is not limited to an extremely small value, compared to a configuration in which the first clamping unit extends on both sides. This is effective in preventing a decrease in the efficiency of the removal operation.

[0375] The technical idea of ​​this feature may be combined with the technical idea of ​​feature D11.

[0376] Feature D13. A robot system comprising a robot arm equipped with a robot hand described in any one of Features D1 to D10, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0377] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0378] Incidentally, the technical ideas shown in the above-mentioned feature group A to feature group C may be applied to feature D1 to feature D13.

[0379] <Feature Group E> Syringe holding posture The following mainly describes feature group E, which is a technical idea extracted from the third embodiment and its modifications.

[0380] The following feature group E is related to the background art that states, "Some robots, such as collaborative robots that constitute a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold (clamp) a workpiece by pinching it with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The feature group E states, "Here, when the object to be clamped differs depending on the work, etc., a robot hand is provided for each object, and if the robot hand is configured to be automatically replaced as needed, the number of tasks that the robot can engage in can be increased. In addition, by determining the shape of the movable claws according to the shape, size, etc. of the object to be clamped can be suitably prevented from falling off, etc. However, a certain amount of space is required to install replacement jigs and various robot hands near the robot. For example, if a robot is set up on a table in a research lab or laboratory, When placing a robot system in a limited installation area, the installation of a replacement robot hand can constrict the work area. This can hinder efforts to increase the number of tasks that a robot can perform. To address this concern, a robot hand can be equipped with multiple pairs of movable claws, each of which can be used depending on the task. This would increase the number of tasks that a robot can perform without preparing a replacement robot hand. However, this approach requires a drive mechanism to operate each pair, which is expected to result in a larger robot hand. A larger robot hand places greater constraints on the robot's movement in order to avoid collisions with peripheral components such as jigs. This is undesirable in terms of increasing the number of tasks that a robot can perform. Thus, there is still room for improvement in the configuration of a robot hand in order to allow a robot to perform multiple tasks in a limited space.

[0381] Feature E1. A robot hand (hand 300) that is applied to a robot arm (robot body 12) having multiple joints and that is equipped with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, Each of the clamping members has a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, The base portion has: a first clamping portion (beaker clamping portion 362) extending from a side of the base portion and configured to clamp a first object (e.g., a beaker 381) at a position away from the base portion; a second clamping portion (syringe clamping portion 322) for clamping a cylindrical or rod-shaped second object so as to be parallel or approximately parallel to a virtual plane (virtual plane FP2) on which the first clamping portion is located; A robotic hand is provided.

[0382] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0383] In particular, in the configuration showing this feature, a first clamping unit that clamps a first object is formed so as to extend from a side portion of the base unit, and can clamp the first object at a position (offset position) away from the base unit. A second clamping unit that clamps a cylindrical or rod-shaped second object is also provided parallel or approximately parallel to the imaginary plane on which the first clamping unit is located. This allows an area located in a specific direction relative to the base unit (the area on the side from which the first clamping unit extends) to be shared by the first clamping unit, the first object, and the second object, thereby increasing the number of tasks that the robot can perform and contributing to space-saving in the system.

[0384] Feature E2: The robot hand according to Feature E1, wherein the base portion extends in the same direction as the tip end (flange portion 28) of the robot arm.

[0385] As shown in this feature, if the base portion is configured to extend in the same direction as the tip portion of the robot arm, in both cases where a first object is clamped and moved by the first clamping portion and where a second object is clamped and moved by the second clamping portion, it is possible to preferably suppress the restrictions on the posture of the robot arm from becoming too strong in order to avoid collision between the object and the robot arm.

[0386] In addition, the characteristic "extending in the same direction as the tip (flange portion 28) of the robot arm" may be changed to "extending in the same direction as the central axis of rotation of the tip (flange portion 28) of the robot arm."

[0387] Feature E3 (Start): A robot hand (hand 300) is applied to a robot arm (robot body 12) having multiple joints, and is equipped with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members. Each of the clamping members has a base portion (base portion 311) extending in the same direction as the tip end portion (flange portion 28) of the robot arm, The base portion has: a first clamping portion (beaker clamping portion 362) extending from a side of the base portion and configured to clamp a first object (e.g., a beaker 381) at a position away from the base portion; a second clamping portion (syringe clamping portion 322) for clamping a cylindrical or rod-shaped second object so as to be parallel or approximately parallel to a virtual plane (virtual plane FP2) on which the first clamping portion is located; A robotic hand is provided.

[0388] As shown by this feature, by providing a first clamping unit for a first object and a second clamping unit for a second object side by side on a clamping member, work related to each object can be smoothly performed without changing the hand depending on the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing work errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the drive configuration can be effectively prevented.

[0389] In particular, in this configuration, the first clamping unit that clamps the first object is formed to extend from the side of the base unit, allowing the first object to be clamped at a position (offset) away from the base unit. This is preferable for realizing a clamping mode in which the side of the first object is clamped. A second clamping unit that holds a cylindrical or rod-shaped second object is also provided parallel or approximately parallel to the imaginary plane on which the first clamping unit is located. This allows an area located in a specific direction relative to the base unit (the area on the side from which the first clamping unit extends) to be shared by the first clamping unit, the first object, and the second object, thereby increasing the number of tasks that the robot can perform and contributing to space-saving system design.

[0390] In addition, the characteristic "extending in the same direction as the tip (flange portion 28) of the robot arm" may be changed to "extending in the same direction as the central axis of rotation of the tip (flange portion 28) of the robot arm."

[0391] Feature E4. A robot hand described in any one of Features E1 to E3, in which the area in which the first clamping portion clamps the first object and the area in which the second clamping portion clamps the second object may partially overlap.

[0392] As shown in this feature, if the area for the first object and the area for the second object are configured to partially overlap, the robot hand can be prevented from becoming too large and constraints on the placement of jigs, etc. and the movement of the robot can be relaxed.

[0393] Feature E5: A robot hand described in any one of Features E1 to E4, wherein the second clamping portion has a regulating portion (inclined portion 335, 336) that regulates the change in distance between the second object and the first clamping portion when the second object is being clamped.

[0394] This configuration makes it possible to prevent problems such as the second object rotating around the clamping point and colliding with the first clamping unit, which is preferable for reducing the distance between the first clamping unit and the second clamping unit in the longitudinal direction of the base, i.e., for preventing the robot hand having multiple clamping units from becoming larger.

[0395] Feature E6: A robot hand described in any one of Features E1 to E5, wherein the second clamping portion is a groove-shaped recess provided on an opposing portion (inner surface 317) of the base portion and extending parallel or approximately parallel to the imaginary plane, and the groove-shaped recess is open at least on the same side as the side from which the first clamping portion extends.

[0396] The second clamping unit according to this feature allows at least a portion of the cylindrical or rod-shaped second object to be positioned on the same side as the first clamping unit when viewed from the base unit, which is preferable in that it prevents the robot hand and the clamped second object from occupying too large an area and alleviates restrictions on the placement of jigs and the movement of the robot.

[0397] Feature E7. A robot hand described in any one of Features E1 to E5, wherein the second clamping portion is a groove-shaped recess provided on opposing portions (inner surfaces 317) of the base portion and extending parallel or approximately parallel to the imaginary plane, and the groove-shaped recess is formed so as to span two side surfaces (front surface 318, rear surface 319) of the base portion that sandwich the opposing portions.

[0398] The second clamping unit according to this feature allows at least a portion of the cylindrical or rod-shaped second object to be positioned on the same side as the first clamping unit when viewed from the base unit, which is preferable in that it prevents the robot hand and the clamped second object from occupying too large an area and alleviates restrictions on the placement of jigs and the movement of the robot.

[0399] Furthermore, the second clamping portion, which is a groove-shaped recess, extends across the two side surfaces that sandwich the opposing surface, making it possible to clamp the middle portion of a cylindrical or rod-shaped second object, which is preferable for improving stability when clamping the second object while preventing the exclusive area from becoming bulky as described above.

[0400] Feature E8. The groove-shaped recess has an inclined surface (inclined portions 335, 336) inclined toward the bottom (bottom portion 331) of the recess, The robot hand described in feature E6 or feature E7, wherein the inclined surface has a function of guiding the second object to the bottom of the recess when clamping the second object, and regulating a change in the distance between the second object and the first clamping portion while the second object is being clamped.

[0401] According to this feature, when a cylindrical or rod-shaped second object is clamped, the second object is prevented from shifting position, and the second object is guided to a predetermined position on the bottom side. This prevents the second object from being clamped incompletely. After the second object is clamped, the inclined surface restricts changes in the distance from the first clamping unit. This prevents problems such as the second object rotating around the clamping point and colliding with the first clamping unit. The above configuration is effective in reducing the distance between the first clamping unit and the second clamping unit in the longitudinal direction of the base, i.e., in preventing a robot hand having multiple clamping units from becoming large.

[0402] Feature E9: A robot hand described in any one of Features E6 to E8, in which the base portion has a tool hole (insertion hole 115) extending in the longitudinal direction of the base portion and into which a tool is inserted when fixing the clamping member to the movable member (slide block 104) of the distance-variable mechanism.

[0403] To prevent the second object from falling out of the groove-shaped recess (second clamping portion) and to smoothly perform the guiding function described in Feature E7, etc., it is preferable to enlarge the cross section of the base portion (cross section perpendicular to the longitudinal direction) to a certain extent. However, simply increasing the cross section of the base portion can result in an increase in the weight of the robot hand. In this regard, by forming a tool hole that runs vertically through the base portion as described in this feature, the weight increase can be suitably mitigated by the configuration for fixing the clamping member.

[0404] For example, it is preferable to form a tool hole so as to cut across the groove-shaped recess (inclined surface and bottom). Simply deepening the groove-shaped recess reduces the strength of the base, so it is necessary to ensure the thickness of the base (solid portion) even at the bottom of the recess. In this regard, by forming the groove-shaped recess as described above, it is possible to avoid a lack of strength in the base where the groove-shaped recess is formed, while suitably mitigating the effect of reducing weight increase.

[0405] Feature E10. A robot hand described in any one of Features E1 to E9, wherein the first clamping portion is capable of clamping the first object so as to be parallel or approximately parallel to the base portion.

[0406] As shown by this feature, by clamping the first object so that it is parallel or approximately parallel to the base portion, the area occupied by the first object and the robot hand clamping the first object can be reduced.

[0407] Feature E11. The first clamping unit clamps the first object at a position away from the base unit, and the second clamping unit clamps the second object between the base units; A robot hand described in any one of features E1 to E10, wherein the first clamping portion and the second clamping portion are arranged so that the first clamping portion is closer to the base end portion of the base portion than the second clamping portion.

[0408] In a configuration in which a first object is clamped at a position farther from the base, stress (moment) generated in the attachment portion of the hand or the base end of the clamping member tends to increase the further away from the base. Therefore, by arranging the first clamping portion closer to the base end of the base than the second clamping portion, concerns about the above-mentioned stress when multiple clamping portions coexist can be suitably alleviated. Note that, for example, it is preferable to form the first clamping portion so that it protrudes from the base end portion of the base, and form the second clamping portion in the middle or tip portion of the base.

[0409] Feature E12. The base portion is an offset portion that offsets the first clamping portion from the tip end of the arm, The robot hand according to any one of features E1 to E10, wherein the second clamping portion is formed in an intermediate portion of the base portion.

[0410] Although offsetting the first clamping unit is beneficial, the presence of the base unit can increase the size of the robot hand. In this regard, if the second clamping unit is located in the middle of the base unit, it is possible to increase the number of tasks that the robot hand can perform while preventing the robot hand from becoming larger.

[0411] Feature E13. A robot system comprising a robot arm equipped with a robot hand described in any one of Features E1 to E12, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0412] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0413] Incidentally, the technical ideas shown in the above-mentioned feature group A to feature group D may be applied to feature E1 to feature E13.

[0414] <Feature Group F> Specialized for syringes, clamped in two different positions The following mainly describes feature group F, which is a technical idea extracted from the third embodiment and its modified examples.

[0415] The following feature group F is about the background art that states, "Some robots, such as collaborative robots that make up a robot system, are equipped with an arm (robot arm) formed with multiple joints, and a hand (robot hand) attached to the tip of the robot arm. Some robot hands are configured to be able to hold (clamp) a workpiece by pinching it with a pair of movable claws (see, for example, Patent Document 1: JP 2018-1281 A)." The feature group F states, "Here, when the object to be clamped differs depending on the work, etc., a robot hand is provided for each object, and if the robot hand is configured to be automatically replaced as needed, the number of tasks that the robot can engage in can be increased. In addition, by determining the shape of the movable claws according to the shape, size, etc. of the object to be clamped can be suitably prevented from falling off, etc. However, a certain amount of space is required to install replacement jigs and various robot hands near the robot. For example, if a robot is set up on a table in a research lab or laboratory, When placing a robot system in a limited installation area, the installation of a replacement robot hand can constrict the work area. This can hinder efforts to increase the number of tasks that a robot can perform. To address this concern, a robot hand can be equipped with multiple pairs of movable claws, each of which can be used depending on the task. This would increase the number of tasks that a robot can perform without preparing a replacement robot hand. However, this approach requires a drive mechanism to operate each pair, which is expected to result in a larger robot hand. A larger robot hand places greater constraints on the robot's movement in order to avoid collisions with peripheral components such as jigs. This is undesirable in terms of increasing the number of tasks that a robot can perform. Thus, there is still room for improvement in the configuration of a robot hand in order to allow a robot to perform multiple tasks in a limited space.

[0416] Feature F1. A robot hand (hand 300) that is applied to a robot arm (robot body 12) having a plurality of joints and that clamps an injector (syringe 382) that is a combination of a syringe (syringe 383) and a plunger (plunger 384), A pair of clamping members (clamping members 306), a distance varying mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members; Equipped with Each of the clamping members has a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, The base portion has: a first clamping portion (syringe clamping portion 322) for clamping the syringe; a second clamping portion (plunger clamping portion 323) for clamping the operation portion (head 384b) of the plunger; A robotic hand is formed.

[0417] As shown by this feature, by providing a first clamping part for the syringe and a second clamping part for the plunger (operating part) side by side on the clamping member, multiple tasks can be smoothly performed without changing the hand depending on the type of work related to the syringe, etc. This is preferable for increasing the number of tasks that a robot can perform in a limited space.

[0418] In the case of a syringe, for example, the operating part of the plunger can be always the clamped object, but it is undesirable for the plunger to move when the operating part is clamped and the syringe is moved. In this respect, there is technical significance in using the syringe as the clamped object. On the other hand, when multiple syringes are used in an experiment, the syringes are often set upright on a stand, etc., and clamping the operating part is preferable in terms of compactly arranging the syringes and saving space. In other words, there are great benefits to using two clamping parts with different clamped parts on a syringe.

[0419] Furthermore, because the clamping parts are formed separately for the two parts (syringe and operating part) with different shapes, the clamping function can be stably performed despite the simple structure. For example, compared to a configuration in which two different parts are clamped with a single clamping part, this is advantageous in reducing operational errors. Furthermore, because the configuration related to driving the clamping members (such as a distance-adjusting mechanism) can be shared between the clamping parts, the configuration related to the hand can be prevented from becoming complicated.

[0420] Incidentally, the configuration shown in this characteristic can also be described as "a robot hand (hand 300) that is applied to a robot arm (robot body 12) having a plurality of joints and that clamps an instrument (syringe 382) having a cylindrical portion (syringe 383) and an operating portion (head 384b of plunger 384) provided on one end of the cylindrical portion, the robot hand comprising a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, each of the clamping members having a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, the base portion having a first clamping portion (syringe clamping portion 322) that can clamp the cylindrical portion and a second clamping portion (plunger clamping portion 323) that can clamp the operating portion."

[0421] Feature F2. A robot hand (hand 300) that is applied to a robot arm (robot body 12) having a plurality of joints and that clamps an injector (syringe 382) that is a combination of a syringe (syringe 383) and a plunger (plunger 384), A pair of clamping members (clamping members 306), a distance varying mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members; Equipped with Each of the clamping members has a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, The base portion has: a first clamping portion (syringe clamping portion 322) for clamping the syringe so that the syringe faces in a direction intersecting with the longitudinal direction of the base portion; a second clamping portion (plunger clamping portion 323) for clamping the operation portion (head 384b) of the plunger so that the syringe faces the same direction as the longitudinal direction of the base; A robotic hand is formed.

[0422] As shown by this feature, by providing a first clamping part for the syringe and a second clamping part for the plunger (operating part) side by side on the clamping member, multiple tasks can be smoothly performed without changing the hand depending on the type of work related to the syringe, etc. This is preferable for increasing the number of tasks that a robot can perform in a limited space.

[0423] In the case of a syringe, for example, the operating part of the plunger can be always the clamped object, but it is undesirable for the plunger to move when the operating part is clamped and the syringe is moved. In this respect, there is technical significance in using the syringe as the clamped object. On the other hand, when multiple syringes are used in an experiment, the syringes are often set upright on a stand, etc., and clamping the operating part is preferable in terms of compactly arranging the syringes and saving space. In other words, there are great benefits to using two clamping parts with different clamped parts on a syringe.

[0424] Furthermore, because the clamping parts are formed separately for the two parts (syringe and operating part) with different shapes, the clamping function can be stably performed despite the simple structure. For example, compared to a configuration in which two different parts are clamped with a single clamping part, this is advantageous in reducing operational errors. Furthermore, because the configuration related to driving the clamping members (such as a distance-adjusting mechanism) can be shared between the clamping parts, the configuration related to the hand can be prevented from becoming complicated.

[0425] In particular, in the configuration shown in this feature, the base portion has a certain length by providing the first clamping portion and the second clamping portion together, but the first clamping portion can clamp the syringe so that it faces in a direction intersecting the longitudinal direction of the base portion, and this prevents the length of the base portion from interfering with clamping when clamping the syringe.

[0426] The second clamping portion is configured to clamp the syringe so that it faces in the same direction as the longitudinal direction of the base portion, but if the second clamping portion is arranged at the tip portion of the base portion, the length of the base portion can be prevented from interfering with clamping when clamping the operating portion of the plunger.

[0427] Incidentally, the configuration shown in this feature is "applied to a robot arm (robot body 12) having a plurality of joints, and is a robot hand (hand 300) that clamps an instrument (injector 382) having a cylindrical portion (syringe 383) and an operating portion (head 384b of plunger 384) provided on one end side of the cylindrical portion, and is provided with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, and each of the clamping members is It is also possible to provide a robot hand having a base portion (base portion 311) extending in a direction intersecting the arrangement direction of the clamping members, the base portion being formed with a first clamping portion (syringe clamping portion 322) that has the cylindrical portion as the clamping object and can clamp the instrument so that it faces in a direction intersecting the longitudinal direction of the base portion, and a second clamping portion (plunger clamping portion 323) that has the operating portion as the clamping object and can clamp the instrument so that it faces in the same direction as the longitudinal direction of the base.

[0428] Feature F3: A robot hand according to Feature F1 or Feature F2, wherein the base portion extends in the same direction as the tip end (flange portion 28) of the robot arm.

[0429] As shown by this feature, if the base portion is configured to extend in the same direction as the tip portion of the robot arm, in both cases where the syringe (instrument) is clamped and moved by the first clamping portion and where the syringe (instrument) is clamped and moved by the second clamping portion, it is possible to preferably suppress the restrictions on the posture of the robot arm from becoming too strong in order to avoid collision between the syringe (instrument) and the robot arm.

[0430] Furthermore, when a syringe is clamped, the stress (moment) generated in the attachment portion of the hand and the base end of the clamping member tends to increase as the distance from the attachment portion increases. In other words, if two clamping portions are provided on the clamping member, the clamping portion farther from the attachment portion may be at a disadvantage. In this regard, by configuring the base portion on which the two clamping portions are formed to extend in the same direction as the tip end of the robot arm, as shown in this feature, the above-mentioned concerns about using two clamping portions in combination can be suitably alleviated.

[0431] In addition, the characteristic "extending in the same direction as the tip (flange portion 28) of the robot arm" may be changed to "extending in the same direction as the central axis of rotation of the tip (flange portion 28) of the robot arm."

[0432] Feature F4. A robot hand described in any one of Features F1 to F3, wherein the first clamping portion and the second clamping portion are arranged so that the second clamping portion is on the tip side of the base portion and the first clamping portion is on the base end side of the base portion.

[0433] When multiple syringes are used in an experiment, etc., it is preferable to arrange the syringes upright on a stand, etc., in order to save space. Here, if the second clamping unit, which is the object to clamp the operating unit of the plunger, is arranged on the tip side of the base, it is possible to reduce the difficulty of avoiding collisions between the robot hand and instruments other than the target instrument, compared to when the second clamping unit is arranged in the middle part of the base. Furthermore, when a syringe is clamped by the first clamping unit, even if the first clamping unit is arranged in the middle part of the base, it is easy to avoid collisions with instruments other than the target instrument.

[0434] Feature F5. The base portion extends in the same direction as the tip end (flange portion 28) of the robot arm, A robot hand described in any one of Features F1 to F3, wherein the first clamping portion and the second clamping portion are arranged so that the second clamping portion is on the tip side of the base portion and the first clamping portion is on the base end side of the base portion.

[0435] As shown by this feature, if the base portion is configured to extend in the same direction as the tip portion of the robot arm, in either case where the syringe (instrument) is clamped and moved by the first clamping portion or where the syringe (instrument) is clamped and moved by the second clamping portion, it is possible to preferably suppress the constraints on the posture of the robot arm from becoming too strong in order to avoid collision between the syringe (instrument) and the robot arm.

[0436] Furthermore, when a syringe is clamped, the stress (moment) generated in the attachment portion of the hand and the base end of the clamping member tends to increase as the distance from the attachment portion increases. In other words, if two clamping portions are provided on the clamping member, the clamping portion farther from the attachment portion may be at a disadvantage. In this regard, by configuring the base portion on which the two clamping portions are formed to extend in the same direction as the tip end of the robot arm, as shown in this feature, the above-mentioned concerns about using two clamping portions in combination can be suitably alleviated.

[0437] When multiple syringes are used in an experiment, etc., it is preferable to arrange the syringes upright on a stand, etc., in order to save space. Here, if the second clamping unit, which is the object to clamp the operating unit of the plunger, is arranged on the tip side of the base, it is possible to reduce the difficulty of avoiding collisions between the robot hand and instruments other than the target instrument, compared to when the second clamping unit is arranged in the middle part of the base. Furthermore, when a syringe is clamped by the first clamping unit, even if the first clamping unit is arranged in the middle part of the base, it is easy to avoid collisions with instruments other than the target instrument.

[0438] Feature F6. The first clamping portion is a groove-shaped recess provided on the opposing surfaces (inner surfaces 317) of the base portion, and extending across two side surfaces (front surface 318 and rear surface 319) of the base portion that sandwich the opposing surfaces, A robot hand described in any one of features F1 to F5, wherein the second clamping portions, when clamping the operating portion, are capable of preventing the operating portion from falling off the second clamping portions by making the gap between the second clamping portions smaller than the operating portion.

[0439] By forming the first clamping section, which is the object to clamp the syringe, in a grooved shape, there are advantages such as easing restrictions on approaching the syringe and stabilizing its posture. However, on the other hand, to prevent the syringe from falling off or shifting position, it is necessary to press the base section against the syringe with a certain amount of force. In contrast, if the second clamping section is configured to have a small gap to prevent the head section from falling off, it is not necessary to press the second clamping section strongly against the head. This eliminates the need for a large force. In this way, by arranging the first clamping section, which requires a relatively large force for clamping, on the proximal end of the base section and the second clamping section, which requires a relatively small force, on the distal end of the base section, the load on the base section (robot hand) can be reduced. This is preferable for preventing deformation such as bending of the base section.

[0440] Feature F7. The operation portion of the plunger has a planar shape extending in a direction intersecting the longitudinal direction of the plunger, A robot hand described in any one of features F1 to F6, wherein the second clamping portion faces the underside of the operating portion and has a first opposing portion (underside portion 346) that abuts or is close to the underside.

[0441] According to this feature, after the syringe is set in the holder or the like, the plunger can be pulled using the second clamping part. This configuration allows the robot to perform the task of sucking up liquid using the syringe. This is preferable for increasing the number of tasks that the robot can perform without replacing the hand.

[0442] Feature F8. The operation portion of the plunger has a planar shape extending in a direction intersecting the longitudinal direction of the plunger, A robot hand described in any one of features F1 to F7, wherein the second clamping portion faces the upper surface of the operating portion and has a second opposing portion (upper surface portion 345) that abuts or is close to the upper surface.

[0443] According to this characteristic configuration, after the syringe is set in the holder or the like, the plunger can be pushed in using the second clamping part. This configuration allows the robot to be used for discharging liquid from the syringe. This is preferable for increasing the number of tasks that the robot can perform without replacing the hand.

[0444] Feature F9. The operation portion of the plunger has a planar shape extending in a direction intersecting the longitudinal direction of the plunger, A robot hand described in feature F7 or feature F8, wherein the second clamping portion is a recess provided on the opposing surfaces (inner surface 317) of the base portion, and the rear surface of the recess serves as an abutment portion that abuts against the side surface of the operating portion.

[0445] By configuring the rear surface of the concave second clamping portion to abut against the side surface of the operating unit, it is possible to avoid insufficient engagement of the first opposing portion and the second opposing portion. In particular, when combined with feature F6, it is not necessary to press the rear surface of the second clamping portion strongly against the side surface of the operating unit while the operating unit is being clamped, and even when the engagement is ensured by the abutment between the two, it is possible to suitably avoid this becoming a cause of deformation of the operating unit.

[0446] Feature F10 (holding an object at different points): A robot hand (hand 300) is applied to a robot arm (robot body 12) having multiple joints, and is equipped with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, Each of the clamping members has: a first clamping portion (syringe clamping portion 322) for clamping a first portion (e.g., syringe 383) of an object (e.g., syringe 382); a second clamping portion (plunger clamping portion 323) for clamping a second portion (e.g., plunger 384) of the object; A robotic hand is provided.

[0447] As shown by this feature, by providing a clamping member with a first clamping unit for a first portion of an object and a second clamping unit for a second portion, multiple tasks can be smoothly performed without changing the hand depending on the type of task related to the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to suit the object, it is possible to stably perform the clamping function. For example, this is advantageous in reducing operational errors compared to a configuration in which one clamping unit is used to clamp two different objects. Furthermore, since the configuration related to driving the clamping member (such as a distance-adjusting mechanism) can be shared between the clamping units, the complexity of the driving configuration can be effectively prevented.

[0448] Feature F11 (holding one object at different points): A robot hand (hand 300) is applied to a robot arm (robot body 12) having multiple joints, and is equipped with a pair of clamping members (clamping members 306) and a distance variable mechanism (opening / closing mechanism 102) for changing the relative distance between the clamping members, Each of the clamping members has: a first clamping unit (syringe clamping unit 322) for clamping a first portion (e.g., syringe 383) of an object (e.g., syringe 382) in a first direction (e.g., parallel to mounting surface 28a) relative to the tip of the robot arm (mounting surface 28a of flange portion 28); a second clamping portion (plunger clamping portion 323) for clamping a second portion (e.g., plunger 384) of the object so that the second portion (e.g., plunger 384) of the object is the clamping target and the object is clamped in a second direction (e.g., perpendicular to the mounting surface 28a) different from the first direction relative to the tip of the robot arm; A robotic hand is provided.

[0449] As shown in this embodiment, by providing a clamping member with a first clamping unit for a first portion of an object and a second clamping unit for a second portion, multiple tasks can be smoothly performed without changing the hand depending on the type of task related to the object. This is preferable for increasing the number of tasks that a robot can perform in a limited space. Furthermore, since the clamping unit can be formed to match the portion to be clamped, it is possible to stably perform the clamping function. Furthermore, since there are fewer restrictions on the orientation of the object when clamping the first portion and the second portion, it is possible to clamp the object in an efficient posture depending on the task. For these reasons, it is possible to advantageously increase the number of tasks that a robot can perform while saving space in the system.

[0450] Incidentally, the technical ideas shown in the above features F1 to F9 may be applied to features F10 to F11.

[0451] Feature F12. A robot system comprising a robot arm equipped with a robot hand described in any one of Features F1 to F11, and a drive control unit (robot controller 15 or upper controller 16) that controls the drive of the robot hand and the robot arm.

[0452] According to the robot system having this feature, it is possible to increase the number of tasks that can be performed while saving space for the system.

[0453] The technical ideas shown in the above Feature Group A to Feature Group E may be applied to Feature Group F1 to Feature Group F12.

[0454] <Feature Group G> Conveyor system The following mainly describes a group of features G, which are technical ideas extracted from the fourth embodiment and its modifications.

[0455] Feature G group is made in consideration of the following background and issues, etc., in relation to the background technology that states, "Some transport systems using transport robots are configured to take cases such as trays or returnable boxes containing workpieces, etc., from shelves or pallets and transport them to a work space, etc. In this type of transport system, for example, as shown in Patent Document 1, a system has been proposed that is configured to hold a box by hooking a pair of left and right claws onto opposite sides of the box (see, for example, Patent Document 1: JP 6-206634 A)." The background technology states, "In the above-mentioned transport system, when holding a case, it is necessary to ensure operating space above and on both the left and right sides of the case for inserting the above-mentioned claws, etc., and when arranging cases side by side, there are strong restrictions on the arrangement of the cases. In particular, when storing cases on shelves, etc., ensuring operating space reduces spatial efficiency, which can lead to inconveniences such as a decrease in the number of cases that can actually be stored. As such, in a transport system that transports cases using a transport robot, there is still room for improvement in the configuration related to case transport in order to densely arrange the cases and improve spatial efficiency."

[0456] Feature G1. A transport system (transport system 400) that transports a case (tray 500) in which multiple items (e.g., beakers, test tubes, etc.) are stored or placed using a transport robot (transport robot 401), The transport robot is provided with a support part (hand 550) capable of supporting the case during the transport, The support portion is a claw portion (hook member 561) that is inserted into an insertion portion (opening 515) formed on one side portion (wall portion 503) of the case and that, when inserted into the insertion portion, is hooked onto the one side portion from the back side in the insertion direction; a restricting portion (stopper member 581) that is provided below the claw portion and contacts the one side portion from the front side of the one side portion to restrict rotation of the case around the hooking point between the claw portion and the one side portion; and A conveying system configured to support the case from the front side of one side by restricting the rotation of the case around the hooking point with the restricting portion when the one side is lifted with the claw portion hooked onto the one side.

[0457] This feature allows a case to be supported from the front side of one side of the case, making it easier to ensure a working area for the transport robot required for supporting the case, i.e., a working area for approaching the case. In other words, even when cases are arranged on a shelf or the like with a small gap between the left and right cases or a small gap between the case and a partition or tabletop above the case, the case can be easily removed. In other words, cases can be densely arranged on a shelf or the like, increasing the number of cases that can be accommodated. While automating part of an experimental process, etc., by introducing the above-described transport system is desirable for reducing operator workload, the reduced number of cases that can be accommodated by the introduction of the transport system can reduce the benefits of automation. In this regard, this feature effectively alleviates such concerns.

[0458] Furthermore, by using the claws and the restricting members to support the case, it is not necessary to drive the claws and the restricting members individually using actuators, which contributes to simplifying the support structure. This is advantageous for miniaturizing the transport robot, increasing the degree of freedom of the transport path, and realizing a maneuverable system, for example. This benefit is particularly noticeable when the transport system is operated in a limited space, such as a laboratory.

[0459] For example, if the above-mentioned items are beakers or test tubes used in experiments, it is undesirable for foreign matter to get mixed into the samples in the beakers. In this regard, as shown in this feature, the elimination of the need to approach from above the case is also advantageous in terms of preventing foreign matter adhering to the transport robot from getting mixed in.

[0460] The "case" in this feature is not limited to a specific shape, and may be any shape, as long as it has at least one side provided with an insertion portion into which the tab is inserted and a portion against which the restricting portion abuts. Examples of such shapes include trays, stands, and returnable boxes.

[0461] Feature G2. A conveying system described in Feature G1, configured so that the hooking point with the claw portion on one side of the case is near the upper end of the one side, and the abutment point with the regulating portion on the one side is near the lower end of the one side.

[0462] As shown in feature G1, in a configuration in which the case is supported by the hooking of the claw portion and the rotation restriction by the restriction portion, the hooking point of the claw portion is located near the upper end and the abutting point (restriction point) of the restriction portion is located near the lower end, thereby increasing the distance between the two points and improving the stability when the case is supported. Note that, in realizing the configuration shown in this feature, it is preferable to dispose the insertion portion on one side portion in a position biased toward the upper end of the one side portion, for example.

[0463] Feature G3. A conveying system described in Feature G1 or Feature G2, wherein the support portion is configured so that when supporting the case, the regulating portion abuts the one side portion on both sides of the claw portion in a planar view of the case.

[0464] According to this characteristic configuration, rotation of the case is restricted on both sides of the claw portion, which is preferable for improving stability when the case is supported.

[0465] In addition, the configuration shown in this feature can also be described as "a robot transport system described in feature G1 or feature G2, which has a plurality of regulating parts, and the support part is configured such that when supporting the case, the claw part is positioned between the plurality of regulating parts in a planar view of the case."

[0466] Feature G4: A conveying system described in any one of Features G1 to G3, which is equipped with an alignment mechanism (pin 521 and guide member 571) that uses the weight of the case to align the case with the support part in the width direction of the case when lifting the case.

[0467] As shown in Feature G1, in a configuration that simply supports a case, misalignment of the support position can lead to operational errors, so there is technical significance in aligning the case when supporting it. Furthermore, a configuration that aligns the case can be expected to have the effect of properly supporting the case even if it is slightly misaligned from the expected position. However, the need for a separate operation for alignment can be an obstacle to improving transport efficiency. In this regard, with the configuration shown in this feature, the case is aligned using its own weight when lifting, eliminating the need for the separate operation described above. This is advantageous for improving transport efficiency.

[0468] Feature G5. The alignment mechanism has a protruding portion (pin 521) protruding from the one side of the case, and a groove-shaped portion (groove portion 572 of guide member 571) provided in the support portion and into which the protruding portion is inserted when the case is lifted, The groove-shaped portion is formed with a guide portion (inclined portion 574) that guides the protrusion toward the bottom side (bottom portion 573) of the groove-shaped portion, A conveying system according to feature G4, wherein the alignment mechanism aligns the case with the support portion by utilizing the weight of the case itself by guiding the protrusion to the bottom of the groove portion as the case is lifted.

[0469] As shown in this feature, if the protrusion formed on one side is configured to be guided toward the bottom side of the groove-shaped portion on the support portion side, the technical idea shown in feature G4 can be easily realized.

[0470] Feature G6. The conveying system according to Feature G5, wherein the groove portion constituting the alignment mechanism is positioned between the claw portion and the regulating portion in the vertical direction.

[0471] In a configuration in which alignment is performed using a groove provided on the support part as shown in Feature G5, the claw part, the groove part, and the regulating part are arranged in this order, which increases the distance between the claw part and the regulating part while preventing the support part from becoming large. This is preferable in terms of easing restrictions on the movement of the transport robot.

[0472] Feature G7: A conveying system according to Feature G5 or Feature G6, wherein the one side portion and the groove-shaped portion are configured to be out of contact with each other when the case is supported.

[0473] When the case is simply supported using the configuration described in Feature G1, any misalignment of the case can easily cause the case to fall off. The support portion described in Feature G1 performs its support function through cooperation between the claw portion and the restricting portion, so the restricting portion and one side portion must be firmly in contact to stabilize the case's position. In light of this, it is technically significant to ensure that the groove-shaped portion and one side portion do not come into contact while the case is being supported.

[0474] In particular, when combined with feature G6, contact between the groove-shaped portion and one side portion can cause the point that restricts the rotation of the case to move closer to the catch point of the claw portion (rotation center), so avoiding contact between the groove-shaped portion and one side portion is also preferable in terms of ensuring the distance between the catch point of the claw portion and the point that restricts the rotation.

[0475] Feature G8. The support portion is provided with a base portion (vertical plate portion 559 of bracket 551) that faces the one side portion of the case when the case is transported, the claw portion and the restricting portion protrude from the base portion toward the case, A conveying system according to any one of Features G1 to G7, wherein the regulating unit is configured to be extendable and retractable by a user's adjustment operation.

[0476] For example, if a container such as a test tube or beaker is set in the case, there is a concern that the liquid may spill depending on the position of the case. In this regard, if the length (amount of protrusion) of the restricting part is adjustable as shown in this feature, the position of the case while being supported can be optimized, eliminating the above concern.

[0477] Feature G9. A transport system according to any one of Features G1 to G8, wherein the claw portion faces upward and hooks onto a portion of the one side portion that is above the insertion portion.

[0478] As shown in feature G1, in a configuration in which the claws are hooked to lift the case (one side), by orienting the claws upward, it is possible to prevent the problem of the hooking margin becoming smaller as a result of lifting. In other words, it is possible to prevent the problem of the hooking margin becoming smaller and the support becoming unstable when the rotation is restricted by the restricting unit. Furthermore, with the configuration shown in this feature, even if the position of the case shifts left or right during transport, it is possible to prevent the case from falling off due to the hook being released. Furthermore, unlike when the claws are downward, even if the hooking margin is weak and the case slips, the case can be supported by the middle part of the claws, which effectively prevents the case from falling off. In other words, this is advantageous in stabilizing the support function without significantly tilting the case.

[0479] Feature G10. The support part is provided with a base part (vertical plate part 559 of bracket 551) that faces the one side part of the case when the case is transported, and a protruding part (base member 591) that protrudes from the base part and has the claw part formed at its tip part, A transport system described in any one of features G1 to G9, in which, when inserting the claw portion into the opening to hold the case, the attitude of the transport robot is controlled so that the support portion is inserted into the insertion portion at an angle with the tip portion of the protrusion facing diagonally downward.

[0480] As shown in Feature G1, in a configuration in which a case is supported using a claw portion and a restricting portion, it is preferable to set the gap between the hook portion of the claw portion and the contact portion of the restricting portion to be approximately the same as the thickness of one side. This configuration minimizes the change in the case's posture between when it is placed and when it is supported (transported). This is preferable for preventing movement of items within the case. For example, if a beaker containing liquid or the like is housed in the case, it is expected that the liquid or the like will easily spill due to shaking caused by a change in posture, and minimizing the change in posture is effective in preventing such spillage.

[0481] Here, if the contact point is adjustable by, for example, expanding or contracting the restricting portion using an actuator, the gap can be easily adjusted to the same thickness as the side, thereby minimizing the change in the case's posture. However, such a configuration not only complicates the support structure, but also requires additional operations to expand or contract the restricting portion, potentially reducing transport efficiency. In this regard, if the tip of the protrusion on which the claw portion is formed faces diagonally downward to control the posture during insertion, as shown in this feature, the restricting portion can be prevented from contacting the side of the case before lifting, even if the positional relationship between the claw portion and the restricting portion is fixed so that the gap is the same thickness as the side. In other words, the change in the case's posture can be reduced without the additional operations described above.

[0482] Feature G11. The support part is provided with a base part (vertical plate part 559 of bracket 551) that faces the one side part of the case when the case is transported, and a protruding part (base member 591) that protrudes from the base part and has the claw part formed at its tip part, A transport system described in any one of features G1 to G9, wherein when inserting the claw portion into the opening to hold the case, the attitude of the transport robot is controlled so that the support portion is inserted into the insertion portion with the tip of the protrusion tilted so that it faces diagonally downward, and then the attitude of the transport robot is controlled so that the claw portion is displaced upward while bringing the orientation of the tip of the protrusion closer to horizontal.

[0483] According to the configuration of this feature, in addition to the same effect as that of feature G10, the following effect can be expected. That is, after the claws are inserted, the posture of the transport robot is controlled so that the claws are displaced upward while the orientation of the tip of the protrusion approaches horizontal, thereby preventing the case from being lifted while the engagement between the claws and one side is small. This is preferable for preventing the case from falling off. Furthermore, because the change in orientation of the protrusion and the rise of the claws proceed simultaneously, even in a configuration in which the case is inserted in an angled state, the time required for the case to be caught can be prevented from increasing.

[0484] Feature G12. A conveying system described in Feature G10 or Feature G11, in which, when the claw portion is hooked onto the one side portion, the support portion is retracted so that the claw portion approaches the inner surface of the one side portion from inside the case.

[0485] If the hook portion and the side portion do not hook properly, i.e., if there is a gap between the hook portion and the inner surface of the side portion, the case will easily slip when hooked, and if the case slips and gets caught on the hook, an impact is likely to occur. For example, if a beaker containing liquid is housed in the case, the impact could cause the liquid to spill. Here, as shown in this feature, when hooking the hook on the side portion, the support portion can be retracted so that the hook portion approaches the inner surface of the side portion from the inside of the case, thereby reducing the gap. This reduces the large impact caused by the case slipping, and thus the occurrence of the above-mentioned inconvenience.

[0486] Feature G13: The transfer system according to any one of Features G10 to G12, wherein the protrusion amount of the restricting portion is formed to be smaller than the protrusion amount of the protruding portion.

[0487] This configuration is advantageous in that it avoids collision between the restricting portion and the one side portion (insertion portion) when inserting the claw portion into the one side portion without tilting the protruding portion significantly. Furthermore, reducing the tilt of the protruding portion during insertion is also preferable in that it avoids collision between the shelf or the like on which the case is placed and the support portion (transport robot) when approaching the case.

[0488] Feature G14. A transport system (transport system 400) including a transport unit (tray 500) used to transport an object (e.g., a beaker, a test tube, etc.) and a transport robot (transport robot 401) that transports the transport unit, The transport robot is provided with a support part (hand 550) capable of supporting the transport unit during the transport, The support portion is a claw portion (hook member 561) that is inserted into an insertion portion (opening 515) formed on one side portion (wall portion 503) of the transport unit and that hooks onto the one side portion from the back side in the insertion direction when inserted into the insertion portion; a regulating portion (stopper member 581) that is provided below the claw portion and abuts against the one side portion from the front side of the one side portion to regulate the rotation of the transport unit around the catch point between the claw portion and the one side portion; and A conveying system configured to support the conveying unit from the front side of the one side by regulating the rotation of the conveying unit around the hooking point with the regulating portion when the one side is lifted with the claw portion hooked onto the one side.

[0489] This configuration allows the transport unit to be supported from the front side of one side of the transport unit, making it easy to ensure the operating area for the transport robot required to support the transport unit, i.e., the operating area when approaching the transport unit. In other words, when arranging transport units on a shelf or the like, even if the gap between the left and right transport units is small or the gap between the transport unit and a partition or tabletop located above the transport unit is small, the transport unit can be easily removed. In other words, transport units can be densely arranged on a shelf or the like, allowing for a larger number of transport units to be accommodated. While automating part of an experimental process, etc., by introducing the above-described transport system is desirable for reducing operator labor, the reduced number of transport units that can be accommodated by the introduction of the transport system can reduce the benefits of automation. In this regard, this configuration can effectively alleviate such concerns.

[0490] Furthermore, by using the claws and the restricting parts to support the transport unit, it is not necessary to drive the claws and the restricting parts individually using actuators, which contributes to simplifying the support structure. This is advantageous for miniaturizing the transport robot, increasing the flexibility of the transport path, and realizing a maneuverable system, for example. This benefit is particularly noticeable when the transport system is operated in a limited space, such as a laboratory.

[0491] For example, if the above-mentioned items are beakers or test tubes used in experiments, it is undesirable for foreign matter to get mixed into the sample in the beaker. In this regard, as shown in this feature, eliminating the need to approach from above the transport unit is also advantageous in terms of preventing foreign matter adhering to the transport robot from getting mixed in.

[0492] Feature G15 (Hand Invention) This invention is applied to a transport robot (transport robot 401) that transports a case (tray 500) in which a plurality of items (e.g., beakers or test tubes) are stored or placed, and is a robot hand (hand 550) having a support part that supports the case during the transport, The support portion is a claw portion (hook member 561) that is inserted into an insertion portion (opening 515) formed on one side portion (wall portion 503) of the case, supports the case, and hooks onto the case from the back side in the insertion direction; a restricting portion (stopper member 581) that is provided below the claw portion and restricts rotation of the case around the catch point between the claw portion and the case by contacting a receiving portion (a contact point 519 of the wall portion 503) formed on the one side portion from the front side in the insertion direction; A robotic hand having

[0493] This configuration allows a case to be supported from the front side of one side of the case, making it easier to ensure a working area for the transport robot required for supporting the case, i.e., a working area for approaching the case. In other words, even when cases are arranged on a shelf or the like with a small gap between the left and right cases or a small gap between the case and a partition or tabletop above the case, the case can be easily removed. In other words, cases can be densely arranged on a shelf or the like, increasing the number of cases that can be accommodated. While automating part of an experimental process, etc., by introducing a transport robot as described above is desirable for reducing worker labor, the reduction in the number of cases that can be accommodated by the introduction of the transport robot can reduce the benefits of automation. In this regard, this configuration effectively alleviates such concerns.

[0494] Furthermore, by using the claws and the restricting parts to support the transport unit, it is not necessary to drive the claws and the restricting parts individually using actuators, which contributes to simplifying the support structure. This is advantageous for miniaturizing the transport robot, increasing the flexibility of the transport path, and realizing a maneuverable system, for example. This benefit is particularly noticeable when the transport system is operated in a limited space, such as a laboratory.

[0495] For example, if the above-mentioned items are beakers or test tubes used in experiments, it is undesirable for foreign matter to get mixed into the sample in the beaker. In this regard, as shown in this feature, eliminating the need to approach from above the transport unit is also advantageous in terms of preventing foreign matter adhering to the transport robot from getting mixed in.

[0496] Feature G16 (Hand Invention) This invention is applied to a transport robot (transport robot 401) that transports a transport unit (tray 500) on which a plurality of items (e.g., beakers or test tubes) are stored or placed, and is a robot hand (hand 550) that supports the transport unit during the transport, The support portion is a claw portion (hook member 561) that is inserted into an insertion portion (opening 515) formed on one side portion (wall portion 503) of the transport unit, supports the transport unit, and hooks onto the transport unit from the rear side in the insertion direction; a regulating portion (stopper member 581) that is provided below the claw portion and abuts against a receiving portion (abutment portion 519 of the wall portion 503) formed on one side portion from the front side in the insertion direction, thereby regulating rotation of the transport unit around the catch portion between the claw portion and the transport unit; A robotic hand having

[0497] This configuration allows the transport unit to be supported from the front side of one side of the transport unit, making it easy to ensure the operating area for the transport robot required to support the transport unit, i.e., the operating area when approaching the transport unit. In other words, when arranging transport units on a shelf or the like, even if the gap between the left and right transport units is small or the gap between the transport unit and a partition or tabletop located above the transport unit is small, the transport unit can be easily removed. In other words, transport units can be densely arranged on a shelf or the like, allowing for a larger number of transport units to be accommodated. While automating part of an experimental process, etc., by introducing a transport robot as described above is desirable for reducing operator labor, the introduction of the transport robot can reduce the number of transport units that can be accommodated, which can reduce the benefits of automation. In this regard, this configuration can effectively alleviate such concerns.

[0498] Furthermore, by using the claws and the restricting parts to support the transport unit, it is not necessary to drive the claws and the restricting parts individually using actuators, which contributes to simplifying the support structure. This is advantageous for miniaturizing the transport robot, increasing the flexibility of the transport path, and realizing a maneuverable system, for example. This benefit is particularly noticeable when the transport system is operated in a limited space, such as a laboratory.

[0499] For example, if the above-mentioned items are beakers or test tubes used in experiments, it is undesirable for foreign matter to get mixed into the sample in the beaker. In this regard, as shown in this feature, eliminating the need to approach from above the transport unit is also advantageous in terms of preventing foreign matter adhering to the transport robot from getting mixed in.

[0500] Incidentally, the technical ideas shown in the above features G1 to G13 may also be applied to features G14 to G16.

[0501] Furthermore, the technical ideas shown in the above-mentioned feature group A to feature group F may be applied to feature group G1 to feature group G16. [Explanation of symbols]

[0502] 10...Robot system, 11...Robot, 12...Robot body, 28...Flange portion, 28a...Mounting surface, 100...Hand, 102...Opening and closing mechanism, 103...Guide rail, 104...Slide block, 105...Drive unit, 106...Clasping member, 111...Base portion, 121...Inner surface, 122...Pipette clamping portion, 123...Hand side engagement portion, 124...Top portion, 125...Groove portion, 126...Pipette operation portion, 141...Extended portion, 142...Beaker clamping portion , 181... beaker, 182... tip, 183... cotton swab, 191... pipette, 193... bracket, 194... clamped portion, 195... bracket side engagement portion, 200... hand, 206... clamping member, 211... base portion, 216... stopper portion, 222... dial operation portion, 223... abutment portion, 224... convex portion, 241... extension portion, 242... beaker clamping portion, 281 to 283... beaker, 298... dial, 300... hand, 306... clamping member, 311... Base portion, 317...inner surface, 321...syringe clamping portion, 322...syringe clamping portion, 323...plunger clamping portion, 324...filter clamping portion, 331...bottom portion, 335, 336...inclined portion, 341...rear surface portion, 345...upper surface portion, 346...lower surface portion, 351...rear surface portion, 355...upper surface portion, 356...lower surface portion, 361...extension portion...

Claims

1. A robot hand that is applied to a robot arm having a plurality of joints and includes a pair of clamping members and a distance variable mechanism for changing the relative distance between the clamping members, Each of the clamping members has a base portion extending in the same direction as the rotation center axis of the tip end of the robot arm, The base portion has: a first clamping portion extending from a side of the base portion and configured to clamp a first object to be conveyed at a position offset from the central axis of rotation; a second clamping unit for clamping a second object, which is a part that is attached or detached by rotating, so as to be coaxial with the rotation center axis; A robotic hand is provided.

2. The robot hand according to claim 1 , wherein the second clamping portion is disposed on the tip end side of the base portion, and the first clamping portion is disposed on the base end side of the base portion.

3. 2. The robot hand according to claim 1, wherein the clamping member is configured such that, when the second clamping portion is clamping the second object, a gap is formed between the first clamping portion and the second clamping portion in a circumferential direction about the central axis of rotation.

4. The robot hand according to claim 1 , wherein the second clamping portion has an abutment portion that abuts against the second object from a base end side of the base portion when the second clamping portion is clamping the second object.

5. 5. A robot system comprising: a robot arm to which the robot hand according to claim 1 is attached; and a drive control unit that controls the drive of the robot hand and the robot arm.

Images