End effector and systems including a wear indicator based on mixing

Abstract

End effectors and systems including end effectors configured to provide colorimetric indicia of a wear state of the end effector are described. In one embodiment, the end effector includes: a base portion coupleable to a motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color. The end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows: 
     
         1 . An end effector comprising:
 a base portion coupleable to a motor;   a chamber including an optically translucent window and a chamber interior; and   a flowable material disposed in the chamber interior and having a color,   wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.   
     
     
         2 . The end effector of  claim 1 , wherein the flowable material includes a first flowable material having a first color, and a second flowable material having a second color different from the first color. 
     
     
         3 . The end effector of  claim 2 , wherein in an initial state the first flowable material is disposed in a first portion of the chamber interior and the second flowable material is disposed in a second portion of the chamber interior different from the first portion. 
     
     
         4 . The end effector of  claim 2 , wherein the first flowable material and the second flowable material are configured to mix due to movement of the end effector. 
     
     
         5 . The end effector of  claim 1 , wherein the flowable material is selected from the group consisting of a powder, a plurality of beads, a viscous fluid, and combinations thereof. 
     
     
         6 . The end effector of  claim 1 , further comprising a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior different than the first portion. 
     
     
         7 . The end effector of  claim 6 , wherein the second portion of the chamber interior is separated from the first portion of the chamber interior at least in part by the barrier, and wherein the barrier is breakable by a user such that when the barrier is broken the first portion of the chamber interior and the second portion of the chamber interior are in fluid communication. 
     
     
         8 . The end effector of  claim 6 , wherein the barrier includes one or more apertures configured to allow passage of the flowable material therethrough. 
     
     
         9 . The end effector of  claim 8 , wherein in an initial state the flowable material is disposed in the first portion of the chamber interior. 
     
     
         10 . The end effector of  claim 9 , wherein in an initial state the second portion of the chamber interior is free of the flowable material. 
     
     
         11 . The end effector of  claim 9 , wherein the flowable material is configured to enter the second portion of the chamber interior due to motion of the end effector. 
     
     
         12 . The end effector of  claim 1 , wherein at least a portion of the chamber is disposed adjacent to a periphery of the base portion. 
     
     
         13 . The end effector of  claim 1 , wherein a viewing portion of the chamber interior is visible to a user through the optically translucent window. 
     
     
         14 . The end effector of  claim 1 , further comprising a tag having a tag color representative of the colorimetric indicia of a wear state of the end effector. 
     
     
         15 . The end effector of  claim 14 , wherein the tag color is a color of the flowable material in a mixed state. 
     
     
         16 . A system comprising:
 an appliance including a motor; and   an end effector configured to receive motion of the motor, the end effector including:
 a base portion coupleable to the motor; 
 a chamber including an optically translucent window and a chamber interior; and 
 a flowable material disposed in the chamber interior and having a color, 
   wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.   
     
     
         17 . The system of  claim 16 , wherein the end effector is configured to receive motion from the motor about a central axis of the end effector, and wherein at least a portion of the chamber is disposed adjacent to a periphery of the end effector distal the central axis. 
     
     
         18 . The system of  claim 16 , wherein the flowable material includes a first flowable material having a first color, and a second flowable material having a second color different from the first color. 
     
     
         19 . The system of  claim 18 , wherein the first flowable material is disposed in a first portion of the chamber interior and the second flowable material is disposed in a second portion of the chamber interior different from the first portion. 
     
     
         20 . The system of  claim 16 , further comprising a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior, wherein in an initial state the flowable material is disposed in the first portion of the chamber interior and the second portion of the chamber interior is free of the flowable material.