1. An automatic working device comprising:
a robot hand that grips a target workpiece of workpieces;
a piece that indicates types of the workpieces;
supply vessels each of which supplies the corresponding workpiece to the robot hand and has a predetermined place at which the piece is provided;
a control unit configured to control a gripping operation of the robot hand; and
a first sensing unit configured to detect a gripping result on the basis of whether the piece is gripped by the robot hand,
wherein the control unit comprises a determining unit that determines the type of the workpiece on the basis of the gripping result detected by the first sensing unit.
2. The automatic working device according to claim 1, wherein
each of the supply vessels further has one or more places at which the piece is provided,
the automatic working device further comprises a second sensing unit configured to detect a gripping position at which the piece is gripped by the robot hand, and
the determining unit determines the type of the workpiece on the basis of the gripping position and the gripping result of the piece.
3. The automatic working device according to claims 2, wherein the robot hand grips the workpiece by sandwiching the workpiece therebetween.
4. The automatic working device according to claims 2, wherein the robot hand grips the workpiece by adsorbing the workpiece.
5. The automatic working device according to claims 2, wherein
the supply vessel is held to be downward inclined from a predetermined wall surface of a working booth on which a work operation is performed by the robot hand toward a working area of the robot hand, and
the workpiece of the supply vessel moves in the supply vessel toward the robot hand due to its own weight whenever the workpiece is taken out from the supply vessel by the robot hand.
6. The automatic working device according to claim 1, wherein
the automatic working device further comprises one or more pieces that are provided in each of the supply vessels and whose combination of arrangement positions is different in accordance with the types of the workpieces, and
the determining unit determines the type of the workpiece on the basis of a combination of gripping positions and gripping results of the pieces.
7. The automatic working device according to claims 6, wherein the robot hand grips the workpiece by sandwiching the workpiece therebetween.
8. The automatic working device according to claims 6, wherein the robot hand grips the workpiece by adsorbing the workpiece.
9. The automatic working device according to claims 6, wherein
the supply vessel is held to be downward inclined from a predetermined wall surface of a working booth on which a work operation is performed by the robot hand toward a working area of the robot hand, and
the workpiece of the supply vessel moves in the supply vessel toward the robot hand due to its own weight whenever the workpiece is taken out from the supply vessel by the robot hand.
10. The automatic working device according to claim 2, wherein
the automatic working device further comprises one or more pieces that are provided in each of the supply vessels and whose combination of arrangement positions is different in accordance with the types of the workpieces, and
the determining unit determines the type of the workpiece on the basis of a combination of gripping positions and gripping results of the pieces.
11. The automatic working device according to claims 10, wherein
the supply vessel is held to be downward inclined from a predetermined wall surface of a working booth on which a work operation is performed by the robot hand toward a working area of the robot hand, and
the workpiece of the supply vessel moves in the supply vessel toward the robot hand due to its own weight whenever the workpiece is taken out from the supply vessel by the robot hand.
12. The automatic working device according to claim 10, further comprising a storage unit that stores therein a determination table that associates the types of the workpieces with a combination of presence or absence of the pieces.
13. The automatic working device according to claims 1, wherein the robot hand grips the workpiece by sandwiching the workpiece therebetween.
14. The automatic working device according to claims 13, wherein
the supply vessel is held to be downward inclined from a predetermined wall surface of a working booth on which a work operation is performed by the robot hand toward a working area of the robot hand, and
the workpiece of the supply vessel moves in the supply vessel toward the robot hand due to its own weight whenever the workpiece is taken out from the supply vessel by the robot hand.
15. The automatic working device according to claims 1, wherein the robot hand grips the workpiece by adsorbing the workpiece.
16. The automatic working device according to claims 1, wherein
the supply vessel is held to be downward inclined from a predetermined wall surface of a working booth on which a work operation is performed by the robot hand toward a working area of the robot hand, and
the workpiece of the supply vessel moves in the supply vessel toward the robot hand due to its own weight whenever the workpiece is taken out from the supply vessel by the robot hand.
17. The automatic working device according to claim 16, further comprising a taking-out path that is provided to be downward inclined from the working area toward the predetermined wall surface and takes out a vessel for work completion into which the workpiece after work completion is taken by the robot hand to an outside of the working booth, wherein
the vessel for work completion moves along the taking-out path toward the predetermined wall surface due to its own weight when a pressing force is added by the robot hand toward the predetermined wall surface.
18. The automatic working device according to claim 17, wherein
the vessel for work completion includes a finished product vessel into which a non-defective product is taken and a defective product vessel into which a defective product is taken among the workpieces after work completion, and
the robot hand throws a distinction member that distinguishes the finished product vessel from the defective product vessel into the finished product vessel or the defective product vessel before the work operation is started.
19. The automatic working device according to claim 1, further comprising a storage unit that stores therein a determination table that associates the types of the workpieces with a combination of presence or absence of the piece.
20. An automatic working device comprising:
a gripping means for gripping a target workpiece of workpieces;
an indicating means for indicating types of the workpieces;
supply means for supplying the corresponding workpiece to the gripping means, the supplying means having a predetermined place at which the indicating means is provided;
a controlling means for controlling a gripping operation of the gripping means; and
a sensing means for detecting a gripping result on the basis of whether the indicating means is gripped by the gripping means,
wherein the controlling means comprises a determining means for determining the type of the workpiece on the basis of the gripping result detected by the sensing means.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1-30. (canceled)
31. A fluorescent cell marker of the structure:
F\u2014S1-S2-L
including the substructure:
where:
F is a fluorophore;
S1-S2 is a spacer linking F to L;
L is a lipid selected from the group consisting of diacyl- and dialkyl-glycerolipids, including glycerophospholipids;
m and n are independently 3 to 6;
R1 is O or S; and
* is other than H.
32. The fluorescent cell marker of claim 31 where F is selected from the group consisting of: fluorophores of fluorescein, Oregon Green, Pennsylvania Green, Tokyo Green, eosin, BODIPY, BODIPY TR, Alexa Fluor 350, Alexa Fluor 405, Alexa Fluor 488, Alexa Fluor 568, Alexa Fluor 594, Texas Red, Lucifer Yellow, tetramethylrhodamine and their derivatives.
33. The fluorescent cell marker of claim 31 where F is selected from the group consisting of: fluorophores of fluorescein, BODIPY and their derivatives.
34. The fluorescent cell marker of claim 31 where the sum of m and n is 6 to 9 and * is C or N.
35. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and S1 is a C3-5-diaminoalkyl derivative selected from the group consisting of: 1,3-diaminopropyl, 1,4-diaminobutyl, or 1,5-aminopentyl derivatives.
36. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and S1 is a C3-5-aminoalkylthioureidyl.
37. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and S1 is 5-((5-aminopentyl) thioureidyl.
38. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and S2 is selected from the group including: \u2014CO(CH2)3CO\u2014, \u2014CO(CH2)4CO\u2014 (adipate), \u2014CO(CH2)5CO\u2014 and \u2014CO(CH2)5NHCO(CH2)5CO\u2014.
39. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and S2 is \u2014CO(CH2)4CO\u2014 (adipate).
40. The fluorescent cell marker of claim 31 where F is the fluorophore of fluorescein or one of its derivatives and the structure includes the substructure:
where m and n are independently 3 to 5 and * is other than H.
41. The fluorescent cell marker of claim 31 where F is the fluorophore of BODIPY or one of its derivatives and S1 is a C3-5-alkionyldiamine.
42. The fluorescent cell marker of claim 31 where F is the fluorophore of BODIPY or one of its derivatives and S1 is propionyl ethyldiamine.
43. The fluorescent cell marker of claim 31 where F is the fluorophore of BODIPY or one of its derivatives and S2 is selected from the group consisting of: \u2014CO(CH2)3CO\u2014, \u2014CO(CH2)4CO\u2014 (adipate) and \u2014CO(CH2)5CO\u2014.
44. The fluorescent cell marker of claim 31 where F is the fluorophore of BODIPY or one of its derivatives and S2 is \u2014CO(CH2)4CO\u2014 (adipate).
45. The fluorescent cell marker of claim 31 where F is the fluorophore of BODIPY or one of its derivatives and the structure includes the substructure:
where p, q and r are independently 3 to 5 and * is other than H.
46. The fluorescent cell marker of claim 45 where the sum of p, q and r is 8.
47. The fluorescent cell marker of claim 46 where p is 2, q is 2 and r is 4.
48. The fluorescent cell marker of claim 31 where L is selected from the group consisting of: diacylglycerolipids, phosphatidate, phosphatidyl choline, phosphatidyl ethanolamine, phosphatidyl serine, phosphatidyl inositol, phosphatidyl glycerol, and diphosphatidyl glycerol derived from one or more of trans-3-hexadecenoic acid, cis-5-hexadecenoic acid, cis-7-hexadecenoic acid, cis-9-hexadecenoic acid, cis-6-octadecenoic acid, cis-9-octadecenoic acid, trans-9-octadecenoic acid, trans-11-octadecenoic acid, cis-11-octadecenoic acid, cis-11-eicosenoic acid or cis-13-docsenoic acid.
49. The fluorescent cell marker of claim 48 where the lipid is derived from one or more cis-desaturated fatty acids.
50. The fluorescent cell marker of claim 49 where L is selected from the group consisting of: 1,2-O-dioleoyl-sn-glycero-3-phosphatidylethanolamine (DOPE), 1,2-O-distearyl-sn-glycero-3-phosphatidylethanolamine (DSPE) and rac-1,2-dioleoylglycerol (DOG).
51. A fluorescent cell marker with the structure:
designated KODE-fluorescein (I) and where M is typically H, but may be replaced by another monovalent cation such as Na+, K+ or NH4+.
52. A fluorescent cell marker with the structure:
designated KODE-Oregon Green (II) and where M is typically H, but may be replaced by another monovalent cation such as Na+, K+ or NH4+.
53. A fluorescent cell marker with the structure:
designated KODE-Tokyo Green (III) and where M is typically H, but may be replaced by another monovalent cation such as Na+, K+ or NH4+.
54. A fluorescent cell marker with the structure:
designated KODE-Pennsylvania Green (IV) and where M is typically H, but may be replaced by another monovalent cation such as Na+, K+ or NH4+.
55. A fluorescent cell marker with the structure:
designated KODE-BODIPY (V) and where M is typically H, but may be replaced by another monovalent cation such as Na+, K+ or NH4+.
56. A method of marking cells or multi-cellular structures including the step of:
Contacting a suspension of cells or multi-cellular structures with a cell marker of claim 31 for a time and at a temperature sufficient to allow incorporation of the marker into the membrane of the cell or multi-cellular structure.
57. A cell or multi-cellular structure incorporating a cell marker of claim 31.
58. A cell or multi-cellular structure produced by the method of claim 56.