End effector, robot and robot system

Patent metadata

Field	Value
Publication number	US-10946530-B2
Application number	US-201816230562-A
Country	US
Kind code	B2
Filing date	Dec 21, 2018
Priority date	Dec 26, 2017
Publication date	Mar 16, 2021
Grant date	Mar 16, 2021

Abstract

There is provided an end effector that is attached to a tip end of a robot arm for providing dispensation using a pipette and a chip attached to the pipette. The pipette includes a press button configured to draw a liquid into the chip or to discharge the liquid drawn into the chip from the chip as the press button is pressed and operated. The end effector includes a holding part for holding the pipette, a motor, and a swing part that presses and operates the press button as the swing part is driven and swung by the motor.

First claim

What is claimed is:

1. An end effector attached to a tip end of a robot arm for providing dispensation using a pipette and a tip attached to the pipette, the pipette including a press button configured to draw a liquid into the tip or to discharge the liquid drawn into the tip from the tip as the press button is pressed and operated;
the end effector comprising:
a holding part for holding the pipette;
a motor;
a swing part that presses and operates the press button as the swing part is driven and swung by the motor; and
a rotating body driven by the motor,
wherein the swing part is connected to the rotating body.

2. The end effector according to claim 1 , wherein the rotating body includes:
a first gear attached to a rotation shaft of the motor, and
a second gear engaging with the first gear, and
the swing part is attached to the second gear.

3. The end effector according to claim 2 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

4. The end effector according to claim 3 , wherein
the roller is a rubber roller.

5. The end effector according to claim 1 , wherein
the first gear and the second gear are spur gears that engage with each other.

6. The end effector according to claim 5 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

7. The end effector according to claim 6 , wherein
the roller is a rubber roller.

8. The end effector according to claim 1 , wherein
the first gear and the second gear are bevel gears that engage with each other.

9. The end effector according to claim 8 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

10. The end effector according to claim 9 , wherein
the roller is a rubber roller.

11. The end effector according to claim 1 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

12. The end effector according to claim 11 , wherein
the roller is a rubber roller.

13. A robot comprising:
a robot arm;
an end effector being attached to a tip end of the robot arm for providing dispensation using a pipette and a tip attached to the pipette; and
a robot controller for controlling the robot arm and the end effector, wherein:
the pipette includes a press button configured to draw a liquid into the tip or to discharge the liquid drawn into the tip from the tip as the press button is pressed and operated; and
the end effector comprises:
a holding part for holding the pipette;
a motor;
a swing part that presses and operates the press button as the swing part is driven and swung by the motor; and
a rotating body driven by the motor, and

the swing part is connected to the rotating body.

14. The robot according to claim 13 , wherein
the rotating body includes:
a first gear attached to a rotation shaft of the motormotor, and
a second gear engaging with the first gear, and

the swing part is attached to the second gear.

15. The robot according to claim 14 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

16. The robot according to claim 13 , wherein
the first gear and the second gear are spur gears that engage with each other.

17. The robot according to claim 13 , wherein
the first gear and the second gear are bevel gears that engage with each other.

18. The robot according to claim 13 , wherein
the swing part is provided with a roller at a location where the swing part contacts the press button.

19. The end effector according to claim 18 , wherein
the roller is a rubber roller.

20. A robot system comprising:
a pipette;
a liquid and a container for receiving the liquid; and
a robot, wherein:
the robot comprises:
a robot arm,
an end effector being attached to a tip end of the robot arm for providing dispensation using the pipette and a tip attached to the pipette, and
a robot controller for controlling the robot arm and the end effector;

the pipette includes a press button configured to draw a liquid into the tip or to discharge the liquid drawn into the tip from the tip as the press button is pressed and operated; and
the end effector comprises:
a holding part for holding the pipette;
a motor;
a swing part that presses and operates the press button as the swing part is driven and swung by the motor; and
a rotating body driven by the motor; and
the swing part is connected to the rotating body.

Assignees

• Kawasaki Heavy Ind Ltd
• Medicaroid Corp

Inventors

• Iwasaki Yukio
• Ouchi Satoshi
• Mitsui Eiji
• Matsuoka Junichi
• Kitano Yukihiko

Classifications

• B01L3/0227 Primary

  Details of motor drive means (B01L3/0231, B01L3/0234 take precedence) · CPC title

• B01L9/00

  Supporting devices; Holding devices · CPC title

• B01L3/0275

  Interchangeable or disposable dispensing tips · CPC title

• B25J18/007

  the end effector rotating around a fixed point · CPC title

• B25J15/0019 Primary

  End effectors other than grippers · CPC title