End effector, robot and robot system
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.
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.