Modular Robot Hand for Multi-Pipette Gripping and Operation
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Solution Overview
Problem
Existing robot hands for pipettes are limited in versatility, requiring multiple end effectors or arm tip tools for different pipette configurations, leading to increased work time and potential size issues, especially when operators and robots work together.
Innovation Solution
A robot hand design featuring a modular structure with interchangeable second finger members and operating mechanisms attached to a first finger member, allowing easy adaptation to various pipette configurations without replacing the entire hand.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple end effectors are prepared for different pipette configurations, then the robot can handle various pipette types, but the work time increases due to frequent replacement
Solution Approach 1:
The robot hand is designed with a universal first finger member that can accommodate multiple pipette configurations through interchangeable second finger members. The first finger member includes a common gripping structure and operating mechanism that works with various pipette types, while only the second finger members need to be replaced to adapt to different pipette configurations, thereby reducing replacement time while maintaining versatility
Solution Approach 2:
The end effector is divided into modular components: a reusable first finger member and replaceable second finger members. This segmentation allows the majority of the structure to remain in place while only the specific contact elements (second finger members) are swapped to match different pipette types, significantly reducing replacement time compared to replacing entire end effectors
2Adaptability or versatility
If a mechanism for attaching and detaching arm tip tools is mounted on the robot arm, then different tools can be attached, but the arm tip tool becomes large in size
Solution Approach 1:
The second finger members are designed to be nested within or attached to the first finger member structure. The attaching and detaching mechanism is integrated into the existing finger member geometry, allowing the replacement mechanism to be compact and not significantly increase the overall size of the arm tip tool while still providing tool interchangeability
3Adaptability or versatility
If the arm tip tool is made large to include attaching and detaching mechanisms, then tool interchangeability is enabled, but the operator has difficulty handling the pipette
Solution Approach 1:
The design provides different local qualities for different parts of the system. The first finger member maintains a standard size and shape that is easy for operators to handle during collaborative work, while the second finger members provide the specific functionality needed for different pipette types. This localized differentiation allows the operator-friendly first finger member to remain compact while the interchangeable second finger members provide the necessary adaptability
Data Source
AI summary
A robot hand for gripping and operating a pipette, the robot hand including: an electric gripper; a pair of first finger members opened and closed by the electric gripper; a pair of second finger members provided on the first finger member and having a pipette gripping surface; and an operating mechanism installed on the first finger member to operate an operation target of the pipette.