Robot handset, robot hand, jig for pipette, and control method of robot

Abstract

To provide a robot handset, a robot hand, a jig for a pipette, and a control method of a robot capable of stably positioning the pipette with respect to the robot hand by a simple procedure.SOLUTION: A robot handset 14 includes: a robot hand 10; and a jig 13 fixed to a pipette 100. The jig 13 includes: a support configured to be able to support the pipette 100; and two engagement members disposed at positions interposing the support. The robot hand 10 includes a first finger 30 and a second finger 40. The second finger 40 includes: two second claws; and columnar pins protruding from the second claws and each having a groove extending in a circumferential direction of the pin on a side surface thereof. The jig 13 and the second finger 40 are fixed to each other with the engagement members fitted into the grooves of the pins.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a set of a robot hand and a jig used to operate a pipette, a robot hand, a pipette jig, and a method for controlling a robot. [Background technology]

[0002] Various robots are used to automate work in factories and laboratories. A robot includes a robot arm driven by multiple axes and a robot hand attached to the tip of the robot arm (see, for example, Patent Documents 1 and 2).

[0003] In one type of robot used for dispensing liquids, the robot hand has a structure for holding a pipette. In dispensing, the robot hand first holds the pipette. Then, the robot arm drives the pipette arm to perform various steps, such as attaching a tip to the pipette and aspirating and dispensing liquid using the pipette. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-185010 [Patent Document 2] Japanese Patent Application Publication No. 2018-126857 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to smoothly perform dispensing operations, particularly the attachment of tips to pipettes, it is desirable to accurately determine the position of the pipette relative to the robot hand during the pipette gripping process. Conventionally, various structures have been proposed for positioning a workpiece relative to a robot hand.

[0006] For example, in the structure described in Patent Document 1, a protrusion on a jig attached to a pipette is engaged with a notch in a robot hand that grips the body of the pipette, thereby positioning the pipette relative to the robot hand. However, depending on the shapes of the protrusion and the notch, it may be difficult to achieve stable positioning.

[0007] Furthermore, Patent Document 2 describes a structure for holding a stereo camera on a robot hand. In this structure, the robot hand has holes and claws, and the stereo camera has protrusions and claws. The protrusions are fitted into the holes and the claws are meshed together in sequence, thereby fixing the stereo camera in a stable position relative to the robot hand. However, because the gripping process includes a first fixing operation between the holes and the protrusions and a second fixing operation between the claws, the time required for the gripping process is lengthened, resulting in reduced work efficiency.

[0008] Thus, from the viewpoint of stability of positioning and simplification of the gripping process including positioning, there is still room for improvement in the pipette gripping structure of a robot hand. [Means for solving the problem]

[0009] A robot handset, a robot hand, a pipette jig, and a robot control method for solving the above problems will be described below. [Aspect 1] A robot handset comprising: a robot hand attached to a robot arm having a first tip and a second tip that can be opened and closed along a first direction; and a jig fixed to a body of a pipette, wherein the jig comprises a support configured to be able to support the pipette and two engaging members arranged to sandwich the support; and the robot hand comprises a first finger fixed to the first tip, the first finger having a first claw configured to be able to press the top of the pipette; and a second finger portion fixed to a second tip portion of the jig, the second finger portion configured to be attachable to the jig, wherein the second finger portion comprises two second claw portions protruding in a second direction intersecting the first direction, the two second claw portions having arrangements corresponding to the two engaging members, and a columnar pin protruding from each second claw portion, the pin having a groove on its side extending in a circumferential direction, wherein the engaging members fit into the grooves of the pins, thereby fixing the jig and the second finger portion to each other.

[0010] The above configuration enables stable positioning of the pipette relative to the robot hand, which in turn enables stable transport of the pipette and smooth execution of subsequent processes. Furthermore, the procedure for the grasping process is prevented from becoming complicated, thereby improving work efficiency.

[0011] [Aspect 2] The jig has two bushing portions with holes extending in the first direction, one engagement member is attached to each bushing portion, the tip of the engagement member protrudes into the hole, the pin protrudes from the second claw portion in the first direction, and the engagement member fits into the groove when the pin is inserted into the hole, a robot handset as described in [Aspect 1]. According to the above configuration, the accuracy of positioning can be further improved and the positioning can proceed smoothly.

[0012] [Aspect 3] A robot handset as described in [Aspect 2], wherein the hole opens in a direction in which the second finger portion is positioned relative to the first finger portion in the first direction, and the pin is inserted into the hole by moving the second tip portion in a direction toward the first tip portion. According to the above configuration, the movement of the robot hand in the gripping process can be more effectively prevented from becoming complicated.

[0013] [Aspect 4] A robot handset described in any one of [Aspect 1] to [Aspect 3], wherein the engaging member is a ball plunger, and the ball portion at the tip of the ball plunger fits into the groove of the pin. According to the above configuration, the pipette can be accurately positioned relative to the robot hand.

[0014] [Aspect 5] A robot handset according to any one of [Aspect 1] to [Aspect 4], wherein the groove has a V-shape in cross section along the width direction of the groove. According to the above configuration, a good balance can be achieved between the ease of assembling the jig and the second finger portion and the strength of fixation between the jig and the second finger portion.

[0015] [Aspect 6] A robot handset according to any one of [Aspect 1] to [Aspect 4], wherein the groove has a U-shape in cross section along the width direction of the groove. According to the above configuration, the jig and the second finger portion can be assembled more easily.

[0016] [Aspect 7] A robot handset according to any one of [Aspect 1] to [Aspect 4], wherein the groove has an arc shape in a cross section along the width direction of the groove. According to the above configuration, the jig and the second finger portion are firmly fixed together.

[0017] [Aspect 8] A robot hand attached to a robot arm having first and second tip portions that can be opened and closed along a first direction, the robot hand comprising: a first finger portion fixed to the first tip portion, the first finger portion having a first claw portion configured to be able to press the top of a pipette; and a second finger portion fixed to the second tip portion, the second finger portion configured to be able to be assembled to a jig fixed to a body portion of the pipette, the second finger portion comprising two second claw portions protruding in a second direction intersecting the first direction, the second claw portions positioned so that the two second claw portions can be positioned to sandwich the pipette; and a columnar pin protruding from each second claw portion, the pin having a groove on its side extending circumferentially of the pin, the jig and the second finger portion being fixed to each other by an engaging member provided on the jig fitting into the groove of the pin. According to the above configuration, the pipette can be stably positioned relative to the robot hand, and the procedure for the gripping step is not complicated, thereby improving work efficiency.

[0018] [Aspect 9] A jig for pipettes that is attached to a robot hand while being fixed to the body of a pipette, comprising a support portion configured to be able to support the pipette, and two engaging members positioned to sandwich the support portion, wherein the engaging members fit into grooves formed on the sides of a columnar pin provided on the robot hand, thereby fixing the jig to the robot hand. According to the above configuration, the pipette can be stably positioned relative to the robot hand, and the procedure for the gripping step is not complicated, thereby improving work efficiency.

[0019] A method for controlling a robot equipped with the robot hand and the robot arm, which uses the robot handset described in [Aspect 10] [Aspect 3] to operate the robot hand relative to the pipette to which the jig is fixed, the method including: inserting the pin into the hole of the bushing portion by moving the second tip portion in a direction toward the first tip portion; pressing the top of the pipette with the first claw portion by moving the first tip portion in a direction toward the second tip portion; and fitting the engaging member into the groove of the pin by moving the second tip portion in a direction toward the first tip portion.

[0020] According to the above method, the pipette can be accurately grasped. The grasping process is carried out by the movement of the robot hand along the first direction. Therefore, the movement of the robot hand in the grasping process is prevented from becoming complicated, and work efficiency can be improved. [Effects of the Invention]

[0021] According to the present disclosure, the positioning of a pipette relative to a robot hand can be performed stably using a simple procedure. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a diagram showing a perspective structure of a robot hand and a jig according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a perspective structure of a first finger portion of a robot hand according to an embodiment. [Figure 3] FIG. 3 is a diagram illustrating a perspective structure of a second finger portion of a robot hand according to an embodiment. [Figure 4] FIG. 4 is a diagram showing a side structure of a pin in a robot hand according to one embodiment. [Figure 5] FIG. 5 is a perspective view showing the structure of a pipette jig according to one embodiment. [Figure 6] FIG. 6 is a perspective view showing the structure of a pipette jig according to one embodiment. [Figure 7] FIG. 7 is a perspective view of a bushing portion according to an embodiment. [Figure 8] FIG. 8 is a diagram showing a side structure of a second finger portion assembled to a jig in one embodiment. [Figure 9] FIG. 9 is a diagram showing the electrical configuration of the robot according to one embodiment. [Figure 10] FIG. 10 is a diagram showing a process of gripping the pipette according to one embodiment. [Figure 11] FIG. 11 is a diagram showing a process of gripping a pipette according to one embodiment. [Figure 12] FIG. 12 is a diagram showing a process of gripping the pipette according to one embodiment. [Figure 13] FIG. 13 is a diagram showing a side structure of a pin according to the first modified example. [Figure 14] FIG. 14 is a diagram showing a side structure of a pin according to the second modified example. DETAILED DESCRIPTION OF THE INVENTION

[0023] An embodiment of a robot handset, a robot hand, a pipette jig, and a robot control method will be described with reference to the drawings. In the following description, the axial direction of each component corresponds to the direction when the pipette is held by the robot handset.

[0024] [Overall configuration of the robot hand and pipette jig] As shown in FIG. 1, a robot hand 10 is attached to the tip of a robot arm 11. The robot hand 10 and the robot arm 11 form a robot 12. A jig 13 is fixed to a pipette 100, which is to be grasped. The robot hand 10 and the jig 13 form a robot handset 14. The robot hand 10 is assembled to the jig 13, so that the pipette 100 is grasped by the robot handset 14.

[0025] The robot arm 11 includes an arm section 20, a first tip section 21, and a second tip section 22. The first tip section 21 and the second tip section 22 are located at the tip of the arm section 20. The first tip section 21 and the second tip section 22 are configured to be openable and closable along one axial direction, the Z-axis direction. The Z-axis direction is an example of a first direction.

[0026] In the Z-axis direction, the movement direction of the first tip portion 21 when it performs an opening operation is the +Z direction, and the movement direction of the first tip portion 21 when it performs a closing operation is the -Z direction. When the second tip portion 22 performs an opening operation, the second tip portion 22 moves in the -Z direction, and when the second tip portion 22 performs a closing operation, the second tip portion 22 moves in the +Z direction. In the closing operation of the first tip portion 21, the first tip portion 21 moves toward the second tip portion 22, and in the closing operation of the second tip portion 22, the second tip portion 22 moves toward the first tip portion 21.

[0027] The X-axis direction is a direction perpendicular to the Z-axis direction. The X-axis direction is an example of a second direction. The direction in which the robot hand 10 and the pipette 100 are arranged relative to the tips 21 and 22 is the +X direction of the X-axis direction, and the direction opposite to the +X direction in the X-axis direction is the -X direction. The Y-axis direction is a direction perpendicular to both the X-axis direction and the Z-axis direction.

[0028] As long as the first tip portion 21 and the second tip portion 22 can be opened and closed in the Z-axis direction independently of each other, there are no limitations on other movements of the robot arm 11. The robot arm 11 is, for example, a vertical articulated robot.

[0029] The robot hand 10 includes a first finger 30 and a second finger 40. The first finger 30 is fixed to a first tip 21 of the robot arm 11. The second finger 40 is fixed to a second tip 22 of the robot arm 11. The fingers 30 and 40 are detachable from the tips 21 and 22. The second finger 40 is attached to a jig 13 when gripping the pipette 100.

[0030] The pipette 100 is a push-button type microvolume meter for liquids. The pipette 100 comprises a body 110 including a grip, a push button 120, and a shaft 130. The push button 120 is connected to the upper end of the body 110 and forms the top of the pipette 100. The shaft 130 extends from the lower end of the body 110. A tip 140 is attached to the distal end of the shaft 130. The pipette 100 is configured so that liquid can be aspirated into or discharged from the tip 140 by raising and lowering the push button 120.

[0031] The jig 13 is fixed to the body 110 of the pipette 100. The pipette 100 is held by the robot handset 14 in a state where it is oriented along the Z axis direction so that the push button 120 is positioned in the +Z direction relative to the body 110.

[0032] [Configuration of the first and second finger parts] The detailed configuration of the first finger portion 30 and the second finger portion 40 will be described with reference to FIGS.

[0033] 2, the first finger 30 includes a first base portion 31, a reach portion 32, and a first claw portion 33. The first base portion 31 has a plate shape along the YZ plane and has a first base hole 38. The first base portion 31 is fixed to the first tip portion 21 by passing a fixing member 39 such as a bolt through the first base hole 38 and fixing it to the first tip portion 21 of the robot arm 11. In this way, the first finger 30 is fixed to the first tip portion 21.

[0034] Reach portion 32 is supported by first base portion 31 and extends in the +Z direction from first base portion 31. First claw portion 33 protrudes in the +X direction from the tip of reach portion 32. Each portion of first finger portion 30 may be made up of multiple members, or some or all of first finger portion 30 may be a single member.

[0035] As shown in FIG. 3, the second finger portion 40 includes a second base portion 41, two second claw portions 42a and 42b, and two pins 43a and 43b. The second base portion 41 has a plate shape along the YZ plane and extends in the Y-axis direction. The second base portion 41 has a second base hole 48 in the center in the Y-axis direction. The second base portion 41 is fixed to the second tip portion 22 by passing a fixing member 49 such as a bolt through the second base hole 48 and fixing it to the second tip portion 22 of the robot arm 11. This fixes the second finger portion 40 to the second tip portion 22.

[0036] At one end of the second base portion 41 in the Y-axis direction, a second claw portion 42a protrudes in the +X direction from the edge in the -Z direction. At the other end of the second base portion 41 in the Y-axis direction, a second claw portion 42b protrudes in the +X direction from the edge in the -Z direction. The second claw portions 42a and 42b have a plate shape that extends along the XY plane. That is, the surfaces of the second claw portions 42a and 42b are flat surfaces that extend along the XY plane.

[0037] In the Y-axis direction, a gap is provided between the second claws 42a and 42b that allows the second claws 42a and 42b to be positioned with the shaft 130 of the pipette 100 sandwiched between them.

[0038] A pin 43a protrudes in the +X direction from second claw portion 42a. A pin 43b protrudes in the +X direction from second claw portion 42b. Pins 43a and 43b are positioned on a straight line along the Y-axis direction.

[0039] Each part of the second finger portion 40 except for the pins 43a and 43b may be made up of a plurality of members, or some or all of these may be made up of an integral member.

[0040] The detailed configuration of the pins 43a and 43b of the second finger portion 40 will be described with reference to FIG. 4, the pin 43a has a columnar shape and a groove 44a extending in the circumferential direction on its side. The cross-sectional shape of the pin 43a along the XY plane is circular. The groove 44a is located near the center of the pin 43a in the Z-axis direction and is formed around the entire circumference of the pin 43a.

[0041] The groove 44a has a V-shape in cross section along the width direction of the groove 44a. That is, the inner surface of the groove 44a is composed of two inclined surfaces 45s. The two inclined surfaces 45s are inclined at angles symmetrical with respect to the XY plane and intersect at the bottom of the groove 44a. The tip of the pin 43a is preferably tapered. This makes it easier to insert the pin 43a into the hole.

[0042] In one example, the length L of the pin 43a from the surface of the second claw portion 42a along the Z-axis direction is 7.5 mm. The width W of the groove 44a along the Z-axis direction is 1.5 mm, and the depth D of the groove 44a is 0.75 mm.

[0043] Pin 43b has the same structure as pin 43a and has groove 44b. Pins 43a and 43b are preferably made of metal. The materials of the members of fingers 30 and 40 other than pins 43a and 43b are not particularly limited as long as they are made of metal or resin.

[0044] [Configuration of pipette jig] The detailed configuration of jig 13, which is a pipette jig, will be described with reference to FIGS. As shown in FIGS. 5 and 6, the jig 13 includes a main body portion 50, a bracket 60, and two bushing portions 70a and 70b.

[0045] The main body 50 includes a jig base 51, a body support 52, and an extension 53. The jig base 51 extends in the Y-axis direction. The body support 52 is positioned so as to protrude in the -X direction from the center of the jig base 51 in the Y-axis direction. The surface of the body support 52 facing the -X direction is a curved surface that fits along the lower surface of the body 110 of the pipette 100.

[0046] An extension portion 53 protrudes in the -X direction from the end portion of the jig base portion 51 in the -Z direction. The extension portion 53 has a support recess 54 in the center in the Y-axis direction, recessed toward the +X direction. The inner surface of the support recess 54 is a curved surface having a shape that fits along the upper surface of the shaft portion 130 of the pipette 100.

[0047] The jig base portion 51 has two jig base holes 58a, 58b that sandwich the body support portion 52 in the Y-axis direction. The bracket 60 is a strip-shaped member whose width direction is in the Z-axis direction, and has a U-shape with a curved portion protruding in the -X direction when viewed from the Z-axis direction. The bracket 60 has a bracket hole 61a at one end of the U-shape that protrudes outward in the Y-axis direction, and a bracket hole 61b at the other end of the U-shape that protrudes outward in the Y-axis direction.

[0048] The bracket 60 is positioned in the -X direction relative to the jig base portion 51, and the two ends are arranged so that the body support portion 52 is sandwiched between them in the Y-axis direction. The bracket hole 61a and the jig base hole 58a are aligned, and a fixing member 59a is passed through the bracket hole 61a and the jig base hole 58a and fastened. Similarly, the bracket hole 61b and the jig base hole 58b are aligned, and a fixing member 59b is passed through the bracket hole 61b and the jig base hole 58b and fastened. The fixing members 59a and 59b include bolts and nuts. This fixes the bracket 60 to the jig base portion 51.

[0049] The surface of the bracket 60 facing the body support part 52 is a curved surface having a shape that fits along the lower surface of the body part 110 of the pipette 100. The body support part 52 and the bracket 60 define a support hole 55. The support hole 55 and the support recess 54 of the extension part 53 are aligned with a gap in the Z-axis direction.

[0050] By fastening the fixing members 59a, 59b with the lower part of the body 110 of the pipette 100 sandwiched between the body support part 52 and the bracket 60, the lower part of the body 110 is supported in the support hole 55, and the upper part of the shaft part 130 is supported in the support recess 54. In this way, the jig 13 is fixed to the pipette 100. In the above configuration, the body support part 52, the bracket 60, and the support recess 54 constitute a support part that supports the pipette 100.

[0051] The bushings 70a and 70b protrude from the extension portion 53 in the -Z direction. The two bushings 70a and 70b are disposed at positions sandwiching the support hole 55 and the support recess 54 in the Y-axis direction. The bushings 70a and 70b have bushing holes 71a and 71b that open in the -Z direction. A ball plunger 75a is attached to the bushing 70a, and a ball plunger 75b is attached to the bushing 70b. The ball plungers 75a and 75b are an example of engaging members and are components of the jig 13.

[0052] Each part of the jig 13 may be composed of a plurality of members. Furthermore, the main body 50 and some or all of the bushings 70a, 70b may be integral members. For example, the bushings 70a, 70b may be fixed to the extension 53 by fastening fixing members such as bolts to the bushings 70a, 70b through holes formed in the extension 53. Each part of the jig 13 may be made of metal or resin.

[0053] The detailed configurations of the bushings 70a and 70b and the ball plungers 75a and 75b will be described with reference to FIG. 7, the bushing portion 70a has a substantially rectangular parallelepiped shape and has a bushing hole 71a that opens in the -Z direction. The bushing hole 71a is a cylindrical hole that extends in the Z-axis direction.

[0054] Furthermore, the bushing portion 70a has a plunger hole 72a that opens in the +X direction. The plunger hole 72a is a cylindrical hole that extends in the X-axis direction. The end of the plunger hole 72a facing the -X direction is connected to the bushing hole 71a. That is, an opening is provided on the inner surface of the bushing hole 71a, and the space within the plunger hole 72a and the space within the bushing hole 71a communicate with each other through this opening.

[0055] The ball plunger 75a has a ball portion 76a at its tip. The ball portion 76a has a spherical surface and is biased in the −X direction by a spring disposed inside the ball plunger 75a.

[0056] Ball plunger 75a is inserted into plunger hole 72a and fixed to bushing portion 70a by screws or the like formed on the circumferential surface of ball plunger 75a. When ball plunger 75a is attached to bushing portion 70a, ball portion 76a protrudes from plunger hole 72a into bushing hole 71a. The bushing portion 70b has the same structure as the bushing portion 70a, and the ball plunger 75b has the same structure as the ball plunger 75a.

[0057] [Assembling the second finger and pipette jig] The distance between the two bushing holes 71a and 71b in the bushing portions 70a and 70b of the jig 13 and the distance between the two pins 43a and 43b in the second finger portion 40 are set to correspond to each other. That is, the distance between the two ball plungers 75a and 75b also corresponds to the distance between the two pins 43a and 43b.

[0058] Then, the pin 43a is inserted into the bushing hole 71a, and the pin 43b is inserted into the bushing hole 71b, whereby the pin 43a and the ball plunger 75a are assembled together, and the pin 43b and the ball plunger 75b are assembled together, thereby fixing the second finger 40 and the jig 13 to each other.

[0059] With reference to FIG. 8, the manner in which the pins 43a, 43b and the ball plunger 75a are assembled will be described in detail. 8, when the pin 43a is inserted into the bushing hole 71a, the ball portion 76a of the ball plunger 75a fits into the groove 44a of the pin 43a so as to be pressed against the groove 44a. In other words, the ball portion 76a is caught in the groove 44a. When the ball portion 76a is fitted into the groove 44a, the surface of the ball portion 76a contacts each of the two inclined surfaces 45s.

[0060] When the ball portion 76a is fitted in the groove 44a, the side of the pin 43a opposite the ball plunger 75a only needs to abut against the inner surface of the bushing hole 71a. When the pin 43a and the ball plunger 75a are assembled, the bottom surface of the bushing portion 70a, which is the surface located at the end of the bushing portion 70a in the -Z direction, abuts against the surface of the second claw portion 42a of the second finger portion 40.

[0061] The diameter of bushing hole 71a is slightly larger than the diameter of pin 43a. The diameters of bushing hole 71a and pin 43a, the position of plunger hole 72a, and the amount of protrusion of ball portion 76a into bushing hole 71a may be determined so that ball portion 76a fits into groove 44a when pin 43a is inserted into bushing hole 71a.

[0062] The position of ball plunger 75a relative to pin 43a is determined by fitting ball portion 76a into groove 44a. Pin 43b and ball plunger 75b are also assembled in the same manner as pin 43a and ball plunger 75a. This determines the position of jig 13 relative to second finger 40, and as a result, the position of pipette 100 relative to second finger 40.

[0063] As described above, in this embodiment, positioning is performed by the pins 43a and 43b having the grooves 44a and 44b and the ball plungers 75a and 75b, so that highly accurate positioning is possible.

[0064] The grooves 44a and 44b restrict the displacement of the jig 13 in the Z-axis direction. Furthermore, the pins 43a and 43b and the ball plungers 75a and 75b are assembled at two locations that sandwich the pipette 100 along the Y-axis direction in the XY plane, which also restricts the displacement of the jig 13 in the XY plane. Therefore, the position of the pipette 100 relative to the second finger 40 is stably determined.

[0065] In addition, the bottom surfaces of the bushing portions 70a, 70b and the surfaces of the second claw portions 42a, 42b abut against each other around the pins 43a, 43b, which also makes it easier to stabilize the position of the jig 13 and the pipette 100 relative to the second finger portion 40.

[0066] [Robot control method] 9 to 12, a method of controlling the robot 12 during the process of gripping the pipette 100 by the robot handset 14, that is, during the assembly of the robot hand 10 and the jig 13, will be described.

[0067] The configuration of the control device 15 that controls the driving of the robot 12 will be described with reference to Figure 9. The control device 15 includes a control unit 80 and a memory unit 81. The control unit 80 includes an arithmetic unit such as a CPU or MPU, and a memory such as a RAM. The memory unit 81 includes storage such as an SSD or HDD. The memory unit 81 stores a control program, and the control unit 80 executes the control program to cause each part of the robot 12 to perform various operations. The robot 12 and the control device 15 form a robot system 16.

[0068] The functions of the control device 15 related to the gripping process will be described below. The control device 15 is electrically connected to a first finger drive unit 91 and a second finger drive unit 92 provided in the robot 12. The first finger drive unit 91 includes a mechanism such as a motor for moving the first tip 21 to which the first finger 30 is connected. The second finger drive unit 92 includes a mechanism such as a motor for moving the second tip 22 to which the second finger 40 is connected.

[0069] Based on the control device 15 inputting a drive signal to the first finger drive unit 91, the motor and other components of the first finger drive unit 91 are driven, thereby moving the first tip 21 in the Z-axis direction. Based on the control device 15 inputting a drive signal to the second finger drive unit 92, the motor and other components of the second finger drive unit 92 are driven, thereby moving the second tip 22 in the Z-axis direction.

[0070] The control device 15 controls the movement timing, movement direction, and movement amount of the first tip portion 21 and the first finger portion 30 through control of the drive of the first finger portion drive unit 91. The control device 15 controls the movement timing, movement direction, and movement amount of the second tip portion 22 and the second finger portion 40 through control of the drive of the second finger portion drive unit 92.

[0071] The movement of the robot hand 10 in the gripping process based on the control of the control device 15 will be described with reference to FIGS. In the gripping process, the pipette 100 is placed in a predetermined position with the jig 13 attached. At the start of the gripping process, the robot hand 10 is positioned so that the first claw 33 of the first finger 30 is positioned in the +Z direction relative to the push button 120 of the pipette 100, and the second claws 42a, 42b and pins 43a, 43b of the second finger 40 are positioned in the -Z direction relative to the bushings 70a, 70b of the jig 13.

[0072] For example, when the robot hand 10 moves in the +X direction, the top of the pipette 100 to the jig 13 enters between the first finger portion 30 and the second finger portion 40, and the claw portions 33, 42a, 42b are positioned at the above-mentioned positions.

[0073] 10, when the robot hand 10 is positioned, first, the second finger 40 is moved in the +Z direction together with the second tip 22. As a result, a portion of the pin 43a is inserted into the bushing hole 71a, and a portion of the pin 43b is inserted into the bushing hole 71b. In this state, the pipette 100 and the jig 13 may be lifted up entirely in the +Z direction by the second finger 40.

[0074] 11, next, the first finger 30 is moved in the −Z direction together with the first tip 21. As a result, the first claw 33 comes into contact with the push button 120, and the push button 120 is lightly pressed by the first claw 33.

[0075] 12, the second finger 40 is then further moved in the +Z direction together with the second tip 22. That is, while the top of the pipette 100 is being pressed, the pins 43a and 43b move forward in the +Z direction. As a result, the ball plunger 75a fits into the pin 43a, and the ball plunger 75b fits into the pin 43b, and the jig 13 and the second finger 40 are fixed to each other.

[0076] In this way, the pipette 100 is grasped by the robot handset 14. According to the grasping process of this embodiment, the pipette 100 is grasped by the movement of the fingers 30, 40 in the Z-axis direction. Therefore, the grasping process does not require complex movements of the robot hand 10 or multi-step procedures, thereby improving work efficiency.

[0077] The operation of the robot 12 after the gripping step is not particularly limited as long as the steps of attaching a tip and dispensing are performed. The purpose of such a step is not particularly limited, and the gripping step may be, for example, one step in the manufacturing of a product or various tests.

[0078] Note that the procedure of the gripping step may be different from that described above as long as the push button 120 is pressed by the first claw 33 and the jig 13 and the second finger 40 are fixed to each other by assembling the pins 43a, 43b and the ball plungers 75a, 75b. Also, during part of the gripping step, the first finger 30 and the second finger 40 may be moved simultaneously.

[0079] [Variations of pin grooves] Modified examples of the shapes of the grooves 44a and 44b of the pins 43a and 43b will be described below. Note that although modified examples of the pin 43a will be described below, similar modified examples can also be applied to the pin 43b.

[0080] FIG. 13 shows a first modified example. In this first modified example, the groove 46a of the pin 43a has a U-shape in cross section along the width direction of the groove 46a. That is, the inner surface of the groove 46a is composed of one bottom surface 47d and two side surfaces 47s. The bottom surface 47d is a cylindrical surface along the Z-axis direction, and the side surfaces 47s are surfaces along the XY plane. The two side surfaces 47s face each other with the bottom surface 47d in between. The width of the groove 46a in the Z-axis direction is smaller than the diameter of the ball portion 76a of the ball plunger 75a.

[0081] In the above configuration, when the ball portion 76a is fitted in the groove 46a, the ball portion 76a contacts the ends of the two side surfaces 47s at point-like areas. In this configuration, the contact area between the ball portion 76a and the groove 46a is smaller than when the pin 43a has the V-shaped groove 44a.

[0082] Therefore, the ball portion 76a becomes more likely to come out of the groove 46a, while the force required to fit the ball portion 76a into the groove 46a becomes smaller. Therefore, the fixation between the jig 13 and the second finger portion 40 becomes weaker, but the assembly of the pin 43a and the ball plunger 75a, i.e., the assembly of the jig 13 and the second finger portion 40, becomes easier.

[0083] 14 shows a second modified example. In the second modified example, the groove 48a of the pin 43a has a generally U-shaped arc in a cross section along the width direction of the groove 48a. That is, the inner surface of the groove 48a is composed of a single curved surface 49s. The curved surface 49s has a curvature that matches the surface of the ball portion 76a.

[0084] In the above configuration, when ball portion 76a of ball plunger 75a is fitted in groove 48a, ball portion 76a contacts curved surface 49s over a planar area. In this configuration, the contact area between ball portion 76a and groove 48a is larger than when pin 43a has V-shaped groove 44a.

[0085] Therefore, the force required to fit the ball portion 76a into the groove 48a increases, while the ball portion 76a becomes more difficult to remove from the groove 48a. Therefore, although the force required to assemble the jig 13 and the second finger portion 40 increases, the fixation between the jig 13 and the second finger portion 40 becomes stronger.

[0086] The required ease of assembly and strength of fixation between jig 13 and second finger portion 40 varies depending on the application of robot handset 14, in other words, the work to be performed by robot 12. Therefore, the shape of the grooves in pins 43a and 43b can be determined depending on the required ease of assembly and strength of fixation.

[0087] As described above, according to the above embodiment, the following effects can be obtained. (1) The ball plungers 75a, 75b fit into the grooves of the pins 43a, 43b, thereby fixing the jig 13 and the second finger portion 40 to each other. This allows for stable positioning of the pipette 100 relative to the robot hand 10. This allows for stable transport of the pipette 100 and smooth execution of subsequent processes. Furthermore, the procedure for the gripping process is prevented from becoming complicated, thereby improving work efficiency.

[0088] (2) With the pins 43a and 43b inserted into the bushing holes 71a and 71b of the bushing portions 70a and 70b, the ball plungers 75a and 75b are fitted into the grooves, thereby improving the positioning accuracy and enabling smooth positioning.

[0089] (3) The bushing holes 71a, 71b are open in the -Z direction, and the ball plungers 75a, 75b can be assembled to the pins 43a, 43b by moving the second finger 40 in the +Z direction. This prevents the movements of the robot hand 10 during the gripping process from becoming complicated.

[0090] (4) The gripping process includes inserting the pins 43a, 43b into the bushing holes 71a, 71b, pressing the top of the pipette 100 with the first claw 33, and fitting the ball plungers 75a, 75b into the grooves of the pins 43a, 43b. Since the movements of the robot hand 10 that achieve these steps are all along the Z-axis, the movements of the robot hand 10 in the gripping process are kept from becoming complicated, which can improve work efficiency.

[0091] (5) In a configuration in which the grooves of the pins 43a, 43b have a V-shape in cross section along the width direction of the groove, a good balance is achieved between the ease of assembling the jig 13 and the second finger portion 40 and the strength of the fixation between the jig 13 and the second finger portion 40.

[0092] (6) In the configuration in which the grooves of the pins 43a, 43b have a U-shape in cross section along the width direction of the groove, the jig 13 and the second finger portion 40 can be easily assembled. (7) In the configuration in which the grooves of the pins 43a and 43b have an arc shape in cross section along the width direction of the groove, the jig 13 and the second finger portion 40 are firmly fixed together.

[0093] [Other variations] The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility. The structure of the first claw 33 may be different from that of the above embodiment, as long as it is configured to be able to press the top of the pipette 100. Furthermore, the structure of the first finger 30 is not limited as long as it includes such a first claw 33. For example, in the above embodiment, the first claw 33 is supported by the reach portion 32 located in the -X direction relative to the first claw 33, but the support structure of the first claw 33 may include a member that supports the first claw 33 from the Y-axis direction. Furthermore, the length of the reach portion 32 and the size of the first claw 33 may be adjustable according to the size and shape of each part of the pipette 100.

[0094] The engaging members provided in the jig 13 and engaging with the grooves of the pins 43a and 43b are not limited to the ball plungers 75a and 75b. The engaging members may be, for example, pin plungers, as long as they have a tip that can be caught in the grooves of the pins 43a and 43b.

[0095] The support structure of the jig 13 for the pipette 100 may be different from that of the above embodiment, as long as it can support the body 110 of the pipette 100 and its vicinity in the center of the jig 13. Engagement members may be disposed at two locations on either side of the support portion.

[0096] As long as the jig 13 and the second finger portion 40 are fixed to each other by the engaging members fitting into the grooves of the pins 43a and 43b, the orientation of the pins 43a and 43b and the bushing holes 71a and 71b in the robot handset 14, the shape and protruding direction of the second claw portions 42a and 42b, the structure of the bushing portions 70a and 70b, etc. may be different from those in the above embodiment. [Explanation of symbols]

[0097] 10. Robot hand 11...Robot arm 12...Robot 13...Jig 14...Robot handset 21...First tip 22...Second tip 30…1st finger part 33...First claw part 40…Second finger part 42a, 42b...Second claw part 43a, 43b...Pin 44a,44b,46a,48a...Groove 54...Support recess 55...Support hole 70a, 70b...Bush section 71a, 71b... bushing holes 75a, 75b...Ball plunger 100...pipettes

Claims

1. a robot hand attached to a robot arm having a first tip portion and a second tip portion that are openable and closable along a first direction; a jig fixed to a body of the pipette, the jig includes a support portion configured to be able to support the pipette, and two engaging members arranged at positions sandwiching the support portion; the robot hand comprises: a first finger portion fixed to the first tip portion, the first finger portion having a first claw portion configured to be able to press a top portion of the pipette; and a second finger portion fixed to the second tip portion, the second finger portion configured to be able to be assembled to the jig; The second finger portion includes two second claw portions protruding in a second direction intersecting the first direction, the two second claw portions having arrangements corresponding to the two engaging members, and a columnar pin protruding from each second claw portion, the pin having a groove on a side surface extending in a circumferential direction of the pin, The engagement member is fitted into the groove of the pin, thereby fixing the jig and the second finger portion to each other. Robot handset.

2. the jig includes two bushings having holes extending in the first direction, one of the engagement members attached to each bushing, and a tip end of the engagement member protruding into the hole; the pin protrudes from the second claw portion in the first direction, The engaging member is fitted into the groove with the pin inserted into the hole. The robotic handset of claim 1 .

3. the hole is open in a direction in which the second finger portion is positioned relative to the first finger portion in the first direction, The second tip portion moves in a direction toward the first tip portion, thereby inserting the pin into the hole. The robotic handset of claim 2 .

4. The engaging member is a ball plunger, and a ball portion at the tip of the ball plunger is fitted into the groove of the pin. The robotic handset of claim 1 .

5. The groove has a V-shape in cross section along the width direction of the groove. The robotic handset of claim 1 .

6. The groove has a U-shape in cross section along the width direction of the groove. The robotic handset of claim 1 .

7. The groove has an arc shape in a cross section along the width direction of the groove. The robotic handset of claim 1 .

8. A robot hand attached to a robot arm having a first tip portion and a second tip portion that can be opened and closed along a first direction, a first finger fixed to the first tip portion, the first finger having a first claw configured to be able to press the tip of the pipette; a second finger portion fixed to the second tip portion, the second finger portion being configured to be attachable to a jig fixed to a body portion of the pipette; the second finger portion comprises two second claw portions protruding in a second direction intersecting the first direction, the second claw portions being positioned so that the two second claw portions can be arranged with the pipette in between, and a columnar pin protruding from each second claw portion, the pin having a groove on its side extending in the circumferential direction of the pin; An engaging member provided on the jig is fitted into the groove of the pin, thereby fixing the jig and the second finger portion to each other. Robot hand.

9. A jig that is attached to a robot hand while being fixed to the body of a pipette, a support configured to be able to support the pipette; two engaging members arranged at positions sandwiching the support portion, The engaging member fits into a groove formed on the side of a columnar pin provided on the robot hand, thereby fixing the jig to the robot hand. Pipette jig.

10. A method for controlling a robot including the robot hand and the robot arm, using the robot handset according to claim 3, and operating the robot hand relative to the pipette to which the jig is fixed, comprising: moving the second tip portion in a direction toward the first tip portion to insert the pin into the hole of the bushing portion; moving the first tip portion in a direction toward the second tip portion to press the tip of the pipette with the first claw portion; moving the second tip in a direction toward the first tip to engage the engagement member with the groove of the pin; A method for controlling a robot including:

Images