Self-disinfecting robot and method for disinfecting a robot

Abstract

The present disclosure relates to robots, and in particular to a self-disinfecting robot. According to a first aspect, the present disclosure relates to a self-disinfecting robot comprising an outer surface (20). The robot (1) comprises at least one light emitting component (12) arranged to illuminate at least a part of the outer surface (20) with disinfecting light from the inside of the robot. By projecting disinfecting light from the inside of the robot (1), a continuous and comprehensive disinfection of the outer surface (or selected parts thereof) can be provided, e.g. during service or operation, including when the robot is moving around. The solution also allows disinfection of e.g. crevices which are equally difficult to disinfect from the outside. Furthermore, the robot can also to some extent treat the surrounding environment, and in particular treat airborne particles surrounding the robot. The present disclosure also relates to a corresponding method for disinfecting a robot, a computer program and a computer program product.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to robots, and in particular to self-disinfecting robots. The present disclosure also relates to a corresponding method for disinfecting a robot, to a computer program and to a computer program product for performing the method. BACKGROUND

[0002] We are at the beginning of a new era where collaborative robots and service robots will be part of our daily life. Collaborative robots, also known as Cobots, are now completing mundane work next to humans inside factories. It is predicted that robots will be used more and more on production lines in food and beverage, FnB, industry, pharmaceutical laboratories, farms, hospitals, etc. However, the closer proximity of robots to humans (or products consumed by humans) implies strict requirements on their hygienic design and antibacterial surface properties.

[0003] The main purpose of these disinfected surfaces is to prevent harmful microorganisms from growing and spreading on the robot surface and elsewhere in the factory. Now, disinfected surfaces are typically achieved by cleaning the robot with e.g. toxic chemicals at certain time intervals, which can also harm the equipment.

[0004] Another key aspect of using service robots is mobility. Placing a robot on a mobile platform in an environment that can be contaminated can accelerate the spread of contaminants, as bacteria can be carried by the robot as it moves around. This problem cannot be solved by traditional cleaning.

[0005] Hence, there is a need to improve the way robots are disinfected. In particular, there is a need to improve the way robots are disinfected during their operation and service. SUMMARY

[0006] It is therefore an object of the present disclosure to alleviate at least some of the drawbacks of the prior art. It is an object to provide an alternative way of preventing harmful microorganisms from growing and spreading on the external surfaces of a robot. In particular, it is an object to provide a solution that is gentle to the environment and that also does not harm the robot or the staff in the factory.

[0007] According to a first aspect, the present invention relates to a self-disinfecting robot (herein referred to as robot) comprising an outer surface. The robot comprises at least one light emitting component arranged to illuminate at least a part of the outer surface with disinfecting light from inside the robot. By projecting disinfecting light from inside the robot, a continuous and comprehensive disinfection of the outer surface (or selected parts thereof) can be provided, e.g. during service or operation, including when the robot is moving around. The solution also allows disinfection of e.g. crevices which are equally difficult to disinfect from the outside. Furthermore, the robot can also to some extent treat the surrounding environment, and in particular airborne particles surrounding the robot.

[0008] According to some embodiments, the at least one light emitting component is configured to illuminate the outer surface (20) from the inside by emitting disinfecting light from underneath the outer surface or from along the sides of the outer surface. Thus, dirt and contamination on the outer (or external) surface of the robot will not prevent the disinfection process. This also allows the use of the proposed technology in crowded environments.

[0009] According to some embodiments, the at least one light emitting component comprises an internal light source configured to emit disinfecting light arranged inside the robot. Thereby, the illumination system itself is protected from external influences. The inner part / volume of the robot will also be disinfected to some extent, as part of the light will typically also illuminate the interior of the robot.

[0010] According to some embodiments, the at least one light emitting component comprises a light guide comprising an aperture, wherein the light guide is arranged to guide disinfecting light from an external light source, through the light guide and out through the aperture. Thus, an external light guide can be used for several robots. Also, as the light source is external to the robot, it is easier to repair if the light source is damaged, compared to if it is arranged inside the robot.

[0011] According to some embodiments, the robot is designed such that at least a part of the disinfecting light is able to pass through at least a part of the outer surface. Thereby, a light source positioned underneath the outer surface of the robot can be used for surface disinfection.

[0012] According to some embodiments, the at least one light emitting component is arranged to illuminate a part of the outer surface adjacent to one or more joints and / or interfaces of the robot. The proposed technology provides the possibility to disinfect the entire structure, or only parts of the robot, such as sensitive areas (dynamic and static seals) or grippers.

[0013] According to some embodiments, the outer surface is at least partly defined by a jacket, and wherein the light emitting component is configured to emit disinfecting light from a position inside the jacket or from a position integrated in the jacket.

[0014] According to some embodiments, the robot comprises an optical component configured to propagate the disinfection light along the outer surface to direct the light to the surface and / or to focus the light on parts of the outer surface.

[0015] According to some embodiments, the optical component comprises a light guide, a light diffusing material and / or a lens. Thereby, the entire outer surface (or parts thereof) can be properly illuminated using a limited number of light emitting components. For critical applications, the optical component can also provide local illumination to sensitive parts such as seals (dynamic, static), grippers, etc.

[0016] According to some embodiments, a part of the outer surface is defined by a sealing device, and wherein the at least one light emitting component is at least partially integrated in the sealing device, or wherein the sealing device is transparent to the disinfection light, and wherein the light emitting component is arranged to illuminate the outer surface from the side of the sealing device along the outer surface or from underneath the sealing device. Thereby, for example joints can be disinfected at which bacteria and dirt can otherwise enter the robot.

[0017] According to some embodiments, the robot comprises a control unit configured to control the at least one light emitting component and / or the optical component to illuminate at least a part of the outer surface with disinfection light from the inside of the robot. Thereby, the illumination can be controlled and adapted to the application.

[0018] According to some embodiments, the disinfection light has a wavelength of 200 nanometers to 500 nanometers. According to some embodiments, the outer surface is at least partially covered by a light catalyzing polymer or glass activated by a contaminant. In turn, the wavelength of the disinfection light becomes irrelevant.

[0019] According to some embodiments, the robot is mounted on a mobile platform, and the at least one light emitting component is configured to emit disinfection light on a surface on which the mobile platform is placed and / or on one or more transport means of the mobile platform to enable disinfection during movement of the mobile platform. Thereby, the robot structure itself can be used as a (non-contact) cleaning tool of the surrounding environment to disinfect airborne particles, the product itself, surrounding utensils, etc.

[0020] According to a second aspect, the disclosure relates to a method for disinfecting a robot comprising an outer surface. The method comprises illuminating at least a part of the outer surface with disinfection light from the inside of the robot.

[0021] According to some embodiments, the illumination is continuous, pulsed or triggered based on one or more predetermined criteria. Thereby, the disinfection can be adapted to the degree of contamination or only activated at a given time of the day, etc. to provide an effective disinfection.

[0022] According to some embodiments, the method comprises changing the intensity and / or wavelength of the disinfecting light based on one or more predetermined criteria. Thereby, in order not to cause any harm to the environment or people, while still providing an effective disinfection, the disinfection can be adapted based on the material, the presence of people, etc. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A self-disinfecting robot is illustrated, which is configured to illuminate a substantial part of its outer surface with disinfecting light.

[0024] Figures 2a to 2c Three example embodiments of light emitting components are illustrated.

[0025] Figure 3 Examples of structures of robot parts are illustrated.

[0026] Figures 4a to 4c A first example embodiment of implementing the proposed technology in a robot part comprising a structure of Figure 3 is illustrated.

[0027] Figures 5a to 5e A second example embodiment of implementing the proposed technology in a robot part comprising a structure of Figure 3 is illustrated.

[0028] Figures 6a to 6c A self-disinfecting robot is illustrated, wherein only the joints are disinfected.

[0029] Figure 7 A method for disinfecting a robot according to the second aspect is illustrated. DETAILED DESCRIPTION

[0030] An alternative to traditional cleaning is disinfection using ultraviolet light (UV light). Ultraviolet light has now been widely used in the food industry. It has proven possible to disinfect, clean and treat water, air and surfaces reliably with high-performance UV light sources and equipment. Thereby, the use of chemicals can be reduced or even avoided in an economic and environmentally friendly way. However, ultraviolet radiation can damage the polymer parts of the equipment and also harm humans. Therefore, due to health risks, humans should generally be kept from being exposed to any more ultraviolet light than necessary.

[0031] An alternative to ultraviolet light is blue light, which has almost equally good disinfecting effect. Blue light technology is used e.g. in clean rooms (e.g. manufactured by Led Tailor innovation - www.LEDtailor.fi) and has proven a significant reduction of microbial particles in the air (up to 98% for small particles).

[0032] However, in order to properly disinfect a surface, the entire surface must be illuminated. UV and blue light lamps for disinfection are often installed above the exposed area, such as in the ceiling or above the workbench. It can be difficult to achieve a sufficient degree of disinfection of a robot using UV light, especially while operating the robot, as the exposed surfaces of the robot can be obscured by objects, dust and contamination. It can also be difficult to reach crevices and the like with the light.

[0033] The present disclosure proposes a robot with a built-in disinfection arrangement that emits disinfection light to the exposed surfaces of the robot. According to one embodiment of the invention, the disinfection light is emitted from the inside of the robot, rather than from above the robot. It can illuminate only the most exposed areas of the robot, which is typically the gripper or the base, or it can illuminate the entire robot.

[0034] The proposed technology will now be described in more detail with reference to the appended drawings.

[0035] Figure 1 An example embodiment of a self-disinfecting robot 1 is illustrated, which is configured to illuminate a substantial part of its outer surfaces 20 (as illustrated by the dotted areas) with disinfection light from the inside of the robot 1. In Figure 1 In the illustrated embodiment, the robot 1 is an industrial robot, comprising a robot arm 16 that is jointly connected with the feet 11. However, the proposed technology can be used on any industrial robot 1. In some embodiments, the robot is mounted on a mobile platform. The mobile platform can comprise transport means, such as wheels or belts, so that the robot 1 can be moved around during operation. In operation, a robot tool, such as a gripper, is typically attached to the interface 17 at the outer part of the robot arm 16. The robot arm 16 comprises one or more robot arm segments, which are connected to each other via joints 19 and motion mechanisms, which are adapted to move the robot arm 16. Each motion mechanism typically comprises a motor unit and a brake unit (not shown).

[0036] The robot 1 comprises outer surfaces 20. The outer surfaces 20 are the surfaces of the robot that are in direct contact with the outside of the robot 1. At least one light emitting component 12 Figures 2a to 2c is arranged to illuminate at least a part of the outer surfaces 20 with disinfection light from the inside of the robot 1. For example, the light emitting component 12 is arranged inside the robot 1, and the robot or a part of the robot 1 is covered with a casing, such as a cover or a housing, which is transparent to the disinfection light. It should be noted that the proposed technology can be implemented in the robot 1 or in a separate part of the robot 1, such as in a robot arm segment, in a mobile robot platform or in a robot tool, such as a gripper.

[0037] In some embodiments, the disinfection light has a wavelength of 200 nanometers to 500 nanometers. In some embodiments, the disinfection light is ultraviolet light, i.e. 380 nanometers to 500 nanometers. However, as mentioned above, ultraviolet light is not suitable in all cases. It can be replaced by intense blue light (not in the ultraviolet spectrum), i.e. 200 nanometers to 380 nanometers (e.g. 365 nanometers), to obtain at least almost as good an effect as with ultraviolet light. With blue light, the disinfection light can be directed towards people without the health risks associated with ultraviolet light.

[0038] Alternatively, visible light photocatalysis activated by pollutants can be used. This implies a substance, more specifically a photocatalytic polymer activated by pollutants, is placed on the outer surface 20, and bacteria in contact with the substance activate their photocatalytic degradation under visible light. Thus, if the outer surface 20 is at least partly covered by a photocatalytic polymer or glass activated by pollutants, the disinfection light can be visible light (ordinary light).

[0039] In some embodiments, the at least one light emitting component 12 is configured to illuminate the outer surface 20 from the inside by emitting disinfection light from underneath the outer surface 20. For example, as Figure 2a illustrated, the light emitting component 12, here comprising a light source 121 in the form of a light diode, is arranged inside the robot 1, underneath (or below) the outer surface 20, emitting disinfection light through the outer surface 20. In turn, the disinfection light emitted by the light source 121 passes through the outer surface 20, i.e. through a material transparent to the disinfection light, e.g. a food compatible polymer. In other words, in some embodiments, the robot 1 is designed such that at least part of the disinfection light can pass through at least part of the outer surface 20. For example, the part of the outer surface can be transparent to the disinfection light, which part is positioned at an area exposed to contamination.

[0040] In some embodiments, as Figure 2b illustrated, the at least one light emitting component 12 is configured to illuminate the outer surface 20 from the side, i.e. laterally along the outer surface 20. In turn, an optical component in the form of a light guiding surface 124 can be used to distribute the light to selected parts of the outer surface 20.

[0041] As Figure 2c illustrated, the actual light source emitting the disinfection light can alternatively be arranged outside the robot 1. In turn, the at least one light emitting component 12 can comprise a light guide 122 comprising a plurality of apertures 123. The light guide 122 is arranged to guide disinfection light from an external light source 40 through the light guide 122 and out through the apertures 123. Thus, the external light source 40 can be positioned outside or externally to the robot 1.

[0042] In some embodiments, the robot 1 comprises optical components 14, 124 configured to propagate the disinfection light along the outer surface 20, direct the light to the surface and / or focus the light on portions of the outer surface 20. For example, the optical components can be a light diffusing material 14 (e.g. a light diffusing film) which can be arranged (e.g. glued or sprayed) at the outer surface 20 to provide a uniform illumination (see Figure 2a , Figure 2b or Figure 2c ). Alternatively, lenses can be used to focus the disinfection light on exposed portions of the outer surface 20.

[0043] Example implementations of the proposed technology in the robot portion of the robot 1, and more specifically in the robot arm segments, will now be described with reference to Figure 3 to Fig. 5.

[0044] In robots, topologically optimized structures with high strength load bearing structures are generally desired due to their low weight. Low weight is also a key requirement for robots which are placed on mobile robot platforms. Such topologically optimized structures are typically obtained by additive manufacturing (also known as 3D printing). Typical materials for load bearing structures can be metallic materials (high strength steel, titanium, aluminum and their alloys) or composite materials. Thus, engineering high stiffness materials can be preferred.

[0045] To allow light to pass through the largest area, it can also be beneficial to use topologically optimized structures with very high specific strength, as they typically comprise hollow structures with large openings for passing light through the structure without obscuring the internal light.

[0046] Figure 3 An example of the load bearing structure of the lower robot arm segment 18, herein simply referred to as "structure 15", is illustrated. The lower robot arm segment 18 comprises an arc-shaped cylindrical joint portion 181 designed to contain the gears and motors of the corresponding joint 19. When installed, the top and bottom bases of the cylindrical joint portion 181 are movably connected with the next arm segment, while the side of the cylindrical joint portion 181 defines a portion of the outer surface 20 of the robot 1.

[0047] Figures 4a to 4c A first example embodiment of the cylindrical joint portion 181 is illustrated. Figure 4a A cylindrical joint portion 181 seen from above (i.e. from the top base) is illustrated, Figure 4b A cylindrical joint portion 181 seen from the side is illustrated, and Figure 4c A cross-section of the cylindrical joint portion 181 along the dashed line A( Figure 4a ) is illustrated.

[0048] The cylindrical joint portion 181 comprises a part of the structure 15 and a sheath 13 wrapped around this part of the structure 15. A light source 121 emitting disinfecting light, here embodied as a lamp, is arranged inside the structure 15. The sheath 13 is a housing (with an upper edge 13a and a lower edge 13b) at least partly made of a material transparent to the disinfecting light. Thus, the light emitted by the light source 121 can pass through the sheath 13 and thereby illuminate the outer surface 20 from the inside. In other words, in some embodiments, the robot 1 comprises a hollow structure 15 and the at least one light emitting component 12 comprises a light source 121 arranged inside the hollow structure 15. In some embodiments, the outer surface 20 is at least partly defined by the sheath 13 and the light emitting component 12 is configured to emit disinfecting light from a position inside the sheath 13. In some embodiments, the sheath 13 is made of a light diffusing material, whereby the disinfecting light is evenly distributed at the outer surface 20 defined by the sheath 13. Due to the masking effect, the structure 15 can appear slightly darker from the outside compared to the rest of the cylindrical joint portion 181.

[0049] Figures 5a to 5e A second example embodiment of the cylindrical joint portion 181 is illustrated. Figure 5a The cylindrical joint portion 181 is illustrated as seen from above, i.e. from the top base, Figure 5b The cylindrical joint portion 181 is illustrated as seen from the side, and Figure 5c The cylindrical joint portion 181 is illustrated in cross-section along the dotted line A Figure 5a ) of the cylindrical joint portion 181. Figure 5d The cylindrical joint portion 181 is illustrated as seen diagonally from above, and Figure 5e An enlarged view of the cross-section B is shown, Figure 5c further detailing the placement of the light source, here illustrated as a diode, 121.

[0050] The present embodiment differs from the first embodiment in that the light emitting component comprises a plurality of light sources 121, here illustrated as light diodes integrated in the sheath 13. The diodes are arranged to illuminate the outer surface 20 from the inside of the robot 1. In other words, in some embodiments, the light emitting component 12 is configured to emit disinfecting light from a position inside the sheath 13 or from a position integrated in the sheath 13.

[0051] Another key aspect for using service robots is mobility. As mentioned above, placing a robot on a mobile platform in an environment that can be contaminated can be foreseen as the fastest way to spread contamination throughout the factory. Here, again, continuous disinfection using disinfecting light can be an "enabling condition" for the application and a decisive advantage compared to the daily flushing solution. For example, the light emitting means 12 can be arranged to disinfect the surface below and around the robot 1. This is particularly relevant for a robot 1 positioned on a mobile platform, i.e. a platform that enables the robot 1 to move around during operation. In other words, in some embodiments, the at least one light emitting means 12 is configured to emit disinfecting light on a surface on which the mobile platform is placed and / or on one or more transportation means of the mobile platform to enable disinfection during movement of the mobile platform. To achieve this, the light emitting means are for example arranged to emit light obliquely downward from the vertical sides of the mobile platform.

[0052] In some embodiments, the robot 1 comprises or is connected to a control unit 50. The control unit 50 comprises a processor and a memory. The control unit 50 is for example an external computer or a robot controller of the robot 1. The memory can comprise a computer program, wherein the computer program comprises computer program code to cause the control unit 50 or a computer connected to the control unit 50 to control the at least one light emitting means and / or the optical means 14, 124 to illuminate at least a portion of the outer surface with disinfecting light from the inside of the robot. More specifically, the control unit 50 is configured to perform the method which will be described hereinafter. The program can be stored on a computer readable medium, such as a memory stick or a CD ROM. The computer program product can comprise computer program code which, when the computer program code is executed by the control unit 50 or a computer connected to the control unit 50, performs the method described in connection with Figure 7 the method described for disinfecting a robot.

[0053] Figure 6a Another example embodiment of a self-disinfecting robot 1 is illustrated, wherein only the dynamic seals of the gripper and the joints 19 of the robot 1 are disinfected. In this example, the flushing area (e.g. made of stainless steel) is not illuminated. Instead, only the dynamic seals which are particularly difficult to reach by conventional cleaning are disinfected, since if bacteria accidentally enter the joint, the seal will prevent cleaning of the joint face, which can happen at high loads. The illumination can be done by using blue LEDs or another light source arranged in a ring or in a way that covers the contaminated area of the seal. In turn, the final design will comprise a stainless steel robot with blue light rings in different axes or seal pads.

[0054] In other words, in this example, the at least one light emitting component 12( Figure 6b 、 Figure 6c ) is arranged to illuminate a portion of the outer surface 20 adjacent to one or more joints 19 and / or interfaces 17 of the robot 1. Because dirt and bacteria can enter the robot at the joints 19, these areas are typically exposed.

[0055] Figure 6b is a conceptual illustration of a cross section of a joint 19. The joint typically comprises two parts 19a, 19b arranged to have relative movement between the two parts. Each part comprises a bearing structure 15 and an outer sleeve 13. A sealing gasket, herein referred to as a sealing device 30, is typically arranged in a gap between the joint parts 19a, 19b, or more specifically between their outer sleeves 13, to prevent fluid or other material from entering the joint 19 during operation or rinsing, and also to avoid that fluid, such as grease, can flow out from the joint 19 and potentially contaminate the food product being processed.

[0056] In other words, the outer surface 20 is in this example defined by both the outer sleeve 13 and the sealing device 30. The sealing device 30 is transparent to the disinfecting light. The light emitting component 12 is arranged at an edge 13a of the outer sleeve 13 facing the sealing device 30. Thereby, the gap between the parts 19a, 19b is disinfected. In turn, at least a portion of the disinfecting light will pass through the sealing device 30 and illuminate a portion of the outer surface 20 defined by the sealing device 30. In other words, the light emitting component 12 is arranged to illuminate the outer surface 20 (laterally) from the side of the sealing device 3 (along the outer surface 20) or from below the sealing device 30.

[0057] Figure 6c An alternative placement of the light emitting component 12 is illustrated in Fig. 2. In this example, the light emitting component 12 is integrated in the sealing device 30 and illuminates a portion of the outer surface 20 defined by the sealing device 30 from below. Figure 6a and Figure 6b Only examples of how the light emitting component 12 can be placed to illuminate the outer surface 20 defined by the sealing device 30 are illustrated. The light emitting component 12 can alternatively be arranged in other ways (e.g. the light emitting component can be integrated only partially in the sealing device 30).

[0058] Figure 7 A method for disinfecting a robot 1 comprising an outer surface 20 is illustrated. The method is performed during normal operation of the robot 1, or during cleaning and / or service. The method is typically implemented in a control system of the robot, such as in the robot controller 50( Figure 1 ).

[0059] The steps of the method can be defined in a computer program comprising instructions which, when the program is executed by a processor, e.g. a processor of the control unit 50, cause the control unit 50 to carry out the method. The steps of the method can also be defined in a computer-readable medium, e.g. in an internal memory of the control unit 50 and / or any other memory. The computer-readable medium comprises instructions which, when executed by the control unit 50, cause the control unit 50 to carry out the method.

[0060] The method comprises illuminating S1 at least a part of the outer surface 20 with disinfection light from inside the robot 1. The illumination can be continuous, pulsed or triggered only based on one or more predetermined criteria. For example, the illumination S1 can be adapted depending on the degree of contamination. For example, the disinfection light can be flickering, stroboscopic, to achieve optimal disinfection in different situations. In some embodiments, the illumination is triggered only at a given time of day, e.g. during night.

[0061] In some embodiments, the method comprises varying S2 the intensity and / or wavelength of the disinfection light based on one or more predetermined criteria. For example, the predetermined criteria are input from sensors monitoring the type and degree of contamination. The predetermined criteria can also include a schedule so that the illumination is varied at different times of day / night. For example, the intensity and wavelength can be varied based on the material, presence of people, degree of contamination, etc. For example, at night when there are no people, ultraviolet light which is more effective for disinfection can be used.

[0062] The application is not limited to the above preferred embodiments. Various alternatives, modifications and equivalents can be used. Therefore, the above embodiments should not be considered to limit the scope of the application, which is defined by the following claims.

Claims

1. A self-disinfecting robot (1) comprising a robot arm (16), the robot arm (16) comprising a plurality of robot arm sections connected to each other via joints (19) and a motion mechanism, the motion mechanism being adapted to move the robot arm (16), the robot arm (16) comprising an outer surface (20), characterized in that, The self-disinfecting robot (1) comprises: - at least one light emitting component (12) arranged to irradiate at least a portion of the outer surface (20) with disinfection light from inside the robot arm (16) of the self-disinfecting robot (1); or at least one light emitting component (12) configured to irradiate at least a portion of the outer surface (20) with visible light from inside the robot arm (16) of the self-disinfecting robot (1), wherein the outer surface is at least partially covered by a light catalyzing polymer or glass activated by a contaminant.

2. The self-disinfecting robot (1) according to claim 1, wherein the at least one light emitting component (12) is configured to irradiate the outer surface (20) from inside the self-disinfecting robot (1) by emitting the disinfection light or the visible light from underneath the outer surface (20) or from along the side of the outer surface (20).

3. The self-disinfecting robot (1) according to claim 1 or 2, wherein the at least one light emitting component (12) comprises: - an internal light source (121) configured to emit the disinfection light or the visible light arranged inside the self-disinfecting robot (1), and / or - a light guide (122) comprising at least one aperture (123), wherein the light guide is arranged to guide the disinfection light or the visible light from an external light source (40) through the light guide (122) and out through the at least one aperture (123).

4. The self-disinfecting robot (1) according to claim 1 or 2, wherein the self- disinfecting robot (1) is designed such that at least a portion of the disinfection light or the visible light is able to pass through at least a portion of the outer surface (20).

5. The self-disinfecting robot (1) according to claim 1 or 2, wherein the at least one light emitting component (12) is arranged to irradiate a portion of the outer surface (20) adjacent to one or more joints (19) and / or interfaces (17) of the self- disinfecting robot (1).

6. The self-disinfecting robot (1) according to claim 1 or 2, wherein the outer surface (20) is at least partially defined by a sheath (13), and wherein the light emitting component (12) is configured to emit the disinfection light or the visible light from a position inside the sheath (13) or from a position integrated in the sheath (13).

7. The self-disinfecting robot (1) according to claim 1 or 2, comprising: - an optical component (14, 124) configured to propagate the disinfection light or the visible light along the outer surface (20) to direct light to the surface and / or to focus light on a portion of the outer surface (20).

8. The self-disinfecting robot (1) according to claim 7, wherein the optical component (14, 124) comprises a light guiding surface, a light diffusing material and / or a lens.

9. The self-disinfecting robot (1) according to any one of claims 1, 2, 8, wherein a part of the outer surface (20) is defined by a sealing device (30) and the at least one light emitting component (12) is at least partially integrated in the sealing device (30) or the at least one light emitting component (12) is arranged to illuminate the outer surface (20) from the side of the sealing device (30) along the outer surface (20) or from underneath the sealing device (30).

10. The self-disinfecting robot (1) according to any one of claims 1, 2, 8, wherein the disinfecting light has a wavelength of 200 nanometers to 500 nanometers.

11. The self-disinfecting robot (1) according to any one of claims 1, 2, 8, wherein the robot is mounted on a mobile platform and wherein the at least one light emitting component (12) is configured to emit the disinfecting light or the visible light on a surface on which the mobile platform is placed and / or on one or more transportation means of the mobile platform to enable disinfection during movement of the mobile platform.

12. A method for disinfecting a self-disinfecting robot (1), the self-disinfecting robot (1) comprising a robot arm (16), the robot arm (16) comprising a plurality of robot arm segments connected to each other via joints (19) and a motion mechanism, the motion mechanism being adapted to move the robot arm (16), the robot arm (16) comprising an outer surface (20), the method comprising: - illuminating (SI) at least a part of the outer surface (20) with disinfecting light from an interior of the robot arm (16) of the self-disinfecting robot (1); or - illuminating at least a part of the outer surface (20) with visible light from an interior of the robot arm (16) of the self-disinfecting robot (1), wherein the outer surface is at least partially covered by a light catalyzing polymer or glass activated by a contaminant.

13. The method according to claim 12, wherein the illuminating (SI) is continuous, pulsed or triggered based on one or more predetermined criteria.

14. The method according to claim 12 or 13, comprising varying (S2) an intensity and / or a wavelength of the disinfecting light based on one or more predetermined criteria.

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