Automated cap remover and handler for containers with threaded or plugged cap and container handling system provided therewith

Abstract

An automated cap remover and handler (1) for containers (C) with threaded or plugged cap (K), the automated cap remover and handler (1) comprising: (i) a cap holder (2) configured to selectively apply a lateral holding force onto a cap (K) of a container (C) placed at a working position; (ii) a container holder (3) configured to selectively apply a lateral holding force onto the container (C) placed at the working position; and (iii) an opening effector (4) configured to selectively apply a rotating and / or linear force on the cap (K) to separate the cap (K) from engagement with the container (C), wherein a cam / eccentric rotary actuator (5,6) is provided for controlling the application of the lateral holding force onto the cap (K) and / or onto the container (C).

Description

[0001] AUTOMATED CAP REMOVER AND HANDLER FOR CONTAINERS WITH THREADED OR PLUGGED CAP AND CONTAINER HANDLING SYSTEM PROVIDED THEREWITH

[0002] Technical Field

[0003] The present disclosure relates to an automated cap remover and handler for containers with threaded or plugged cap, and to a container handling system provided with the automated cap remover and handler.

[0004] Background

[0005] In the fields of biomonitoring and bioburden testing, water testing, pharmaceutical, cosmetics, food processing, semiconductor production, electronics, and environmental (water) monitoring, common laboratory testing procedures frequently require the handling, more specifically the opening and / or closing of containers that hold a liquid to be added or removed to / from the container or processed within the container. Such containers are typically closed by a removable and frequently re-attachable cap that is combined with the container by a threaded or plugged engagement so as to selectively close or provide access to an opening of the container.

[0006] The term "container" is to be understood in the context of this disclosure to refer to various receptacles for liquids in the above context of testing, independent of shape, and typically comprises bottles, flasks, reagent tubes, cups and the like. The size or volume of such containers may be typically in the range of several ml to a few liters.

[0007] Automation is becoming a privileged approach used by, for example, pharmaceutical companies in their critical processes in order to reduce the risk of cross-contamination, increase quality and improve throughput. There is a general industry trend towards fully automated processes.

[0008] Nevertheless, the automation of a process requires a significant level of investment and available space to comply with regulations. Automation may require large systems with potentially dangerous devices enclosed in cells that may also be costly to maintain. This is why many users seekfor solutions that are less costly and / or require less room or footprint and / or are more easily implemented to automate certain - up now predominantly manual - processes or parts thereof.

[0009] This is why an alternative way to automate certain processes is to design small integrated dedicated modules that are capable of performing specific tasks. Such systems may be designed to fit into an existing lab infrastructure and can greatly facilitate their integration therein. Other examples are collaborative robots as these robots can safely interact with humans and thus can be more easily integrated into a laboratory or production environment and into existing work processes and procedures without significant investments.

[0010] Nevertheless, those solutions have some key limitations. For instance, collaborative robots are often less performant than their non-collaborative counterparts. Dedicated handling devices have existed for a long time, but their main challenge is to integrate enough functionality to carry out a significant enough part of a process workflow to effectively free an operator of a relevant amount of otherwise manual labour and time.

[0011] Container cap management is often necessary as screwed or plugged containers are commonly used in tests where the risks of cross contamination are to be limited by closing the container between each step.

[0012] Several solutions exist for managing container handling inside robotic cells. Integrators can obtain this function by combining different actuators and effectors to perform each motion or step. This often results in a bulky system that can achieve a number of the functions but prevents further interaction with operators.

[0013] On the market, two categories of solutions can be distinguished:

[0014] • A universal robot with a rotating gripper and accessories at a movable arm combined with a fixed support or stand (the robot has a specialized end effector attached to a distal end of an arm that is able to grip the container cap and rotate it; the fixed support or stand is used to hold and immobilize the container during the rotation of the cap). While this concept enables some workflow flexibility thanks to the freedom of movement of the arm of the universal robot, it requires a rather complex system and significant investment and space, particularly to secure the working range so as to allow sufficient space for the motions of the robot arms and to also limit the risk of accidents, possibly resulting in injuries to lab personnel; and • systems with a dedicated cap management station which is a combination of effectors to handle the steps and manipulations on the cap and container necessary for a particular process. While this solution is less flexible, it allows a greater throughput.

[0015] The management of screwed or plugged container caps is one of the more complex tasks for automation as it requires a combination of hand pressure on the cap and the container and a rotation to unscrew the cap. This can be done with a series of effectors or complex robotics, but it increases costs and dimensions / footprint of the devices.

[0016] Further, in a serial process it is often required to open containers and close them when they are not used. For example, during a pipetting step, the cap must be removed from the container and temporarily safely stored. This operation requires a combination of container / cap handling and pipetting that is complex to do.

[0017] US 5,271,296 A discloses an example of an automated container cap remover including a rotatable support base adapted to receive a container having a screw-on cap which is to be removed. The support base is mounted for rotation on a central support shaft and is driven by means of a gear mechanism driven by an electric motor. On either side of the support base are substantially parallel lead screws which extend between a top wall and a bottom wall of a housing and which are journaled at either end for rotation. A gripper housing is mounted upon the lead screws by means of a gripper plate which supports the gripper housing. Threaded bushings extend through opposite sides of the gripper plate and receive the lead screws. The gripper housing is free to rotate relative to the gripper plate. Extending outwardly from the gripper housing and spaced below the gripper plate is a torque plate which is fixed to the gripper housing and which rotates therewith. The torque plate is biased against rotation by a spring which extends between the torque plate and any stationary member. The bottom of the gripper housing is provided with a circular opening which opens into a cone shaped chamber. The motor when actuated not only rotates the lead screws to lower the gripper plate, but also rotates the support base in the direction required to unscrew the cap on a right-hand container thread. The gripper plate descends until the walls of the cone shaped chamber in the gripper housing contact and grip the container cap. This gripping of the cap as a downward force continues to be applied by the gripper housing produces a torque in the proper direction to unscrew the cap from the container. US 2013 / 0239527 Al discloses a method for automatically handling a sample container, wherein a lid of the sample container is gripped by a gripper head and the lid is removed by a combined movement out of a translational and rotational movement from the sample container.

[0018] DE 10 2011 081 748 Al discloses a device for the automated unscrewing and / or establishment of a screw connection between a first and a second screw connection component.

[0019] US 2007 / 0095024 Al discloses a system for removing and replacing caps for vials in a fixed array.

[0020] CN 114441790 A discloses a sample analyzer comprising a gripping device, a capping device and a sampling device, and a sampling method,

[0021] The present disclosure aims at providing an automated cap remover and handler for containers with threaded or plugged cap, particularly for containers with threaded (screw- on) cap, and a container handling system provided with the automated cap remover and handler, which are compatible with existing products (containers / caps) and workflows in order to facilitate the transition to automation and can automate at least the steps of handling the cap to open / close the container while occupying a limited footprint.

[0022] Summary

[0023] According to the present disclosure this object is solved by providing an automated cap remover and handler for containers with threaded or plugged cap with the features of claim 1, and a container handling system with the features of claim 12 provided with the automated cap remover and handler. Preferred embodiments are defined in the dependent claims.

[0024] The present disclosure in particular provides an automated cap remover and handler for containers with threaded or plugged cap, preferably for containers with threaded (screw- on) cap, the automated cap remover and handler comprising (i) a cap holder configured to selectively apply a lateral holding force onto a cap of a container placed at a working position, (ii) a container holder configured to selectively apply a lateral holding force onto the container placed at the working position, and (iii) an opening effector configured to selectively apply a rotating and / or linear force on the cap to separate the cap from engagement with the container, wherein a cam / eccentric rotary actuator is provided for controlling the application of the lateral holding force onto the cap and / or onto the container.

[0025] The application of lateral holding forces onto the cap and onto the container by means of the cap and container holder provides the effect that the automated cap remover and handler is compatible with existing products that are made for manual use and workflows and thus facilitates the transition to automation. Further, the application of lateral holding forces allows handling of the screwed / plugged containers with limited footprint by handling the cap and the container from the sides and from above the container and leaving the bottom area free for potential placement of other handling devices.

[0026] The cam / eccentric rotary actuator that is provided for controlling the application of the lateral holding force onto the cap and / or onto the container can be integrated in a relatively small device and requires only relatively simple actuators in the form of two rotary motors at most for effecting the mechanical motions to grip and hold the cap and the container. The opening effector that is configured to selectively apply the rotating and / or linear force on the cap to separate the cap from engagement with the container adds only one further actuator in the form of a further rotary motor, for example, that unscrews the cap and translates rotation to a linear motion as a consequence of the inclination of the thread and the relative movement between the opening effector and the cap holder. In case of a plugged cap a linear actuator may be used but a rotary motor in combination with a spindle / nut may be used as well in this situation.

[0027] The relative simplicity of the mechanical setup of the cap remover and handler in combination with the reduced footprint limits the burden of automating a process and can lead to an optimization of an automated system that can perform a series of specific tasks with limited impact on lab layout, procedures and workflows.

[0028] Preferably, for applying the lateral holding force onto the cap, the opening effector may be arranged as an intermediary between the cap holder and the cap.

[0029] Preferably, the cap holder and the container holder respectively include a biasing means, preferably a spring, for permanently generating the lateral holding force. Preferably, the biasing means for generating the lateral holding force is arranged to bias at least a pair of moveable arms / prongs against an outer periphery of the cap / container / effector and the cam / eccentric rotary actuator is arranged to bear and control the applied lateral holding force depending on a rotational position thereof.

[0030] The automated cap remover and handler may further comprise a motor for rotating the cam / eccentric rotary actuator provided for controlling the application of the lateral holding force onto the cap (K) and / or onto the container (C), the motor arranged to be operated by means of a controller or, if plural motors are provided, arranged to be independently operated from each other, preferably by means of the controller.

[0031] The opening effector may comprise a motor for generating an uncapping torque, preferably by means of a rotation and / or linear motion of the opening effector relative to the cap holder, the uncapping torque being smaller than the lateral holding force applied by the cap holder and the container holder.

[0032] The opening effector may be configured to be opened to allow introduction of the cap into a space of the opening effector for accommodating at least a part of the cap, and to be closed to be in engagement with the cap within the space.

[0033] The opening effector may comprise two or more segments circumferentially arranged about the space for accommodating at least a part of the cap and to be movable towards and away from the cap's periphery, preferably by a pivoting motion.

[0034] The opening and closing motion of the opening effector, more specifically of its segments, may be induced by the lateral holding force applied by the cap holder.

[0035] A bearing, preferably a sliding or rolling-element bearing, may be arranged between the opening effector and the cap holder so as to allow a friction-reduced relative (rotational and / or linear) sliding motion between the two while the cap holder applies the lateral holding force onto the cap via the opening effector as the intermediary.

[0036] The operation of the cam / eccentric rotary actuators and the operation of the opening effector may be synchronized in a defined sequence to grip the container and the cap, move and separate the cap from the container, put back the cap to close the container, and release the cap and / or container. The present disclosure in particular also provides a container handling system comprising an automated cap remover and handler as described herein, a magazine and / or a conveyor for selectively conveying / presenting containers to a working position of the automated cap remover / handler where the containers can be opened and closed, and at least one working station where a content of the containers can be processed, for example a pipetting station, a vortexing station and / or an imaging device or other automated liquid handling devices.

[0037] The container handling system allows to manage the risks of cross contamination in a serial process and the relative simplicity of the mechanical setup in combination with the reduced footprint of the automated cap remover and handler provides the possibility to be fit and integrated inside another automated system to expand its automated functionality. For instance, it could be fit within a pipetting robot and enable a safe automation of closed container pipetting in a single device. The automated cap remover and handler could be also associated with another part of a process as it can be arranged above the bottom of the container. Thus, scanning or mixing of the container's content could be performed at the same location of the cap opener. This enables the integration of this functionality in a small, automated cell or a small instrument.

[0038] In the container handling system, the working station may be placed at the working position of the automated cap remover and handler or adjacent the working position along a conveying path of the magazine or conveyor.

[0039] In the container handling system, the components of the container handling system may be provided inside an isolator comprising automated liquid handling devices.

[0040] Brief description of the drawings

[0041] Preferred embodiments will be described below by reference to the following exemplary schematic drawings:

[0042] Figure 1 is a schematic representation of an automated cap remover and handler as described herein to demonstrate the basic kinematics of its components.

[0043] Figure 2 is a schematic representation of an automated cap remover and handler as described herein to show the steps for separating a screwed cap from a container. Figure 3 is a perspective view of the opening effector in isolation according to an exemplary embodiment.

[0044] Figure 4 is a perspective view of the cap holder and the container holder in isolation according to the exemplary embodiment.

[0045] Figure 5 is a perspective side view of the automated cap remover and handler according to the exemplary embodiment.

[0046] Figure 6 is a schematic representation of a container handling system according to an exemplary embodiment in a side view and in a top view, with straight arrows indicating respective directions.

[0047] Figure 7 is a schematic representation of a container handling system according to another exemplary embodiment in a top view.

[0048] Detailed description

[0049] For the purposes of the present application, terms such as "horizontal", "vertical", "perpendicular", "parallel", and similar terms are - if not already explicitly indicated - considered to be "essentially horizontal", "essentially vertical", "essentially perpendicular", "essentially parallel", provided that this does not negatively affect functionality. Preferably, the term "essentially" is to denote a deviation of at most 10°, more preferably of at most 5°, even more preferably of at most 4° or 3°, still even more preferably of at most 2° or 1° from being horizontal, vertical, parallel and perpendicular, respectively.

[0050] Figure 1 shows a very schematic representation of an automated cap remover and handler 1 for containers C with threaded or plugged cap K as described herein to demonstrate the basic components and their kinematics. The upper two representations show side views of the cap remover in a schematic cross section and the lower representation shows a top view.

[0051] The cap remover and handler 1 comprises a cap holder 2 configured to selectively apply a lateral holding force onto a cap K of a container C placed at a working position, and a container holder 3 configured to selectively apply a lateral holding force onto the container C placed at the working position (preferably independent from the cap holder 2). A cam / eccentric rotary actuator 5,6 is provided for each of the cap holder and container holderfor controlling the application of the lateral holding force onto the cap K and / or onto the container C.

[0052] The cap holder 2 and the container holder 3 respectively include a biasing means, preferably a spring, for permanently generating the lateral holding force. More specifically, the biasing means for generating the lateral holding force is arranged to permanently bias at least a pair of moveable pressure arms / prongs 20,30 towards each other and thus against an outer periphery of the cap / container K, C when the same is placed in-between. Each cam / eccentric rotary actuator 5,6 is provided between the associated moveable arms / prongs 20,30 and is arranged to bear and thus control the applied lateral holding force depending on a rotational position thereof to thereby control the extent of possible closing movement of the arms / prongs towards each other. The arms / prongs 20,30 via their biasing means apply the necessary pressure on the container and the cap to generate the uncapping torque necessary for the unscrewing of the cap while holding the container in a fixed position against the torque. Both arms / prongs may be linked by the biasing means, for example a pulling spring, that applies the necessary force on both arms to generate the torque. Other arrangements of applying the biasing force in the closing direction are feasible.

[0053] The contour of the cam / eccentric rotary actuator may be formed to determine the magnitude and temporal cycle of the movement stroke of the arms / prongs 20,30 towards and away from each other upon rotation of the cam. The arms / prongs can be arranged to be moved simultaneously upon rotation of the respective cam or one arm may be fixed while only the other arm is moved relative to the fixed arm. Of course, more than two arms may be provided distributed about the periphery of the cap / container.

[0054] The moveable arms / prongs 20,30 protrude beyond the cam / eccentric rotary actuator 5,6 in a plane perpendicular to the drawing sheet of Figure 1 so as to be able to grip or pinch the cap K and container C as described below (see Figure 4). The cam / eccentric rotary actuators 5,6 may be independently operated from each other, for example by means of a controller that activates an electric or hydraulic motor for rotating the rotary actuator.

[0055] As shown in Figure 4 the moveable arms / prongs 20,30 may be supported and guided for the parallel movement in a common plane by a number of parallel fixed guide rods 24, 34 extending through sliding bearings in the moveable arms / prongs 20,30. A bell-shaped opening effector 4 configured to selectively apply a force on the cap K for effecting a rotational and linear movement relative to the (fixed) container to separate the cap K from engagement with the container C is arranged as an intermediary between the arms / prongs 20 of the cap holder 2 and the cap C. The opening effector 4 is configured to be opened or expanded to allow introduction of the cap K into a space of the opening effector 4 for accommodating at least a part of the cap K, and to be closed to be in engagement with the cap K when the same is at least partially located within the space.

[0056] In the embodiment shown in Figures 1, 2 and 3 the bell-shaped opening effector 4 comprises two segments 42 circumferentially arranged about the space at opposed sides for accommodating at least a part of the cap K and to be movable, preferably by a pivoting motion about hinges at one distal end portion, towards and away from the cap's periphery. The opening effector 4 may comprise more than two segments 42 circumferentially arranged about the space, preferably in equal spacing.

[0057] Figure 2 schematically shows the steps of separating a screwed-on cap from a container, such as a bottle having the following steps (from left to right):

[0058] • Step I: Both, the cap holder 2 and the container holder 3 as well as their respective moveable arms / prongs 20,30, and the rotary actuators / cams 5,6 are in the open position so that container C with cap K can be introduced.

[0059] In this step, the rotary actuators / cams 5,6 are oriented such that the cap holder 2 and the container holder 3 are opened, i.e. the respective moveable arms / prongs 20,30 are pushed apart from each other.

[0060] • Step II: The rotary actuators / cams 5,6 have been turned so that their shorter axes are essentially aligned with an imaginary direct connecting line (not shown) between the respective moveable arms / prongs 20,30 of the cap holder 2 and the container holder 3, thereby holding / clamping the container C and the cap K.

[0061] • Step III: The bell-shaped opening effector 42 rotates cap holder 2 with the clamped cap K, thereby unscrewing the cap K from the container C. In this step, the cap holder 2 and the container holder 3 are in their closed state.

[0062] • Step IV: After the container has been completely unscrewed, rotary actuator / cam 6 rotates so that its longer axis is essentially aligned with an imaginary direct (i.e. shortest) connecting line between the respective moveable arms / prongs 30, thereby moving these and the container holder 3 into an open position, such that the container C (now without cap K) can be removed. Following step IV the container C may be used / handled in another process, for example, a pipetting process, a filtration process, a decantation process, a liquid transfer process, or any other handling process, while cap K is still securely held in cap holder 2. This allows for the cap K - if need be - to again be screwed onto the container C and also minimizes the risk of a potential contamination being introduced into the container C via cap K.

[0063] In the exemplary variant of Figure 3 the opening effector 4 is in contact with the container cap K with the other distal end portion of the two elongated segments 42 protruding downward from a circular upper section 45. The lower ends of the elongated segments 42 contain recesses (or protrusions) which, in a closed pivoted position (as shown on the left side of Figure 3), define the space for accommodating and gripping the cap K. In the open pivoted position (as shown on the right side of Figure 3), the elongated segments 42 allow the cap to enter the space. The circular upper section 45, in the closed pivoted position, forms a continuous cylinder that is rotatably supported between the bearings 43 in the arms / prongs 20 of the cap holder 2 (see Figure 4). A biasing means (for example a pulling spring) keeps the segments 42 of the opening effector 4 in the open position to always free the cap K if no force is applied to the segments 42 by the moveable arms / prongs 20.

[0064] While a pivoting motion of the segments 42 is applied in the exemplary embodiment to change between the closed position and the open position, other kinematics like a parallel motion (for example induced by a conus linearly inserted / retracted between parallel concentric segments) may be applied instead.

[0065] The opening effector 4 in the exemplary embodiment comprises a motor 41 (see Figure 5) forgenerating an uncapping torque, preferably by means of a rotation and / or linear motion of the opening effector 4 relative to the cap holder 2, the uncapping torque being smaller than the lateral holding force applied by the cap holder 2 and the container holder 3.

[0066] The opening and closing motion of the opening effector 4 away from and towards the cap K is induced by the lateral holding force applied by the cap holder 2 onto the movable segments 42 pressing them against the cap's periphery. More specifically, depending on the rotary position of the cam, the arms / prongs 20,30 of the cap holder 2 and of the container holder 3 are either pressing on the movable segments 42 and the container C or not. If both are pressed, the motor 41 makes the opening effector 4 turn and unscrew the cap K of the container C (see Figure 2). A bearing 43, preferably a sliding or rolling-element bearing, may be arranged between the opening effector 4 (for example the circular upper section 45) and the cap holder 2 so as to allow a friction-reduced relative rotational motion and / or linear sliding motion between the two while the cap holder 2 applies the lateral holding force onto the cap K via the opening effector 4 as the intermediary (see Figure 4).

[0067] When the uncapping operation is done, the cam / eccentric rotary actuator 6 of the container holder 3 is rotated to expand and push apart from each other the moveable arms / prongs 30 against the bias force to release the grip on the periphery of the container C. The arms / prongs 20 of the cap holder 2 may remain in the closed position so as to retain the cap K within the space of the opening effector 4.

[0068] The operation (rotation) of the cam / eccentric rotary actuators 5,6 and the operation (rotation or linear motion) of the opening effector 4 may be synchronized to grip the container C and the cap K, move and separate the cap K from the container C, put back the cap K to close the container C, and release the cap K and container C. The steps for closing the container may be temporally delayed in order to perform certain processing steps on the content of the (open) container in the meantime, for example.

[0069] The arms / prongs 20,30 of the cap holder 2 and of the container holder 3 and the movable segments 42 of the opening effector 4 may be formed such that their interface with the cap / container is adapted to the size / shape of the cap / container to be handled. To this end various exchangeable inserts adapted to a respective type of container / cap may be used to set up the cap remover and handler for different types of containers.

[0070] The automated cap remover and handler 1 as described above may be integrated in a container handling system. Examples of such container handling systems 7, 8 are shown in Figures 6 and 7. Such a system may be set up with one or more additional components and handling stations according to the process that is to be automated. It may, for example, comprise a magazine and / or a conveyor 50 for selectively conveying and sequentially presenting a number of containers C with cap K to a working position of the automated cap remover / handler 1 where the containers can be opened and closed, and at least one working station where a content of the containers can be processed. The working station(s) may be selected from a pipetting station / robot 54 (see the example of Figure 7), a vortexing station 51 (see the examples of Figures 6 and 7), imaging / scanning devices (not shown) for reading information on the containers or for determining a filling level or for visually detecting substances in the containers. A labelling station for attaching information / data to the containers may also be a working station in this concept as well as a separate container storage location 55 (see Figure 7).

[0071] A support 53 may be provided to hold the cap remover / handler 1 and a working station (in this example a vortexing station 51 with a vortexing motor 52). The cap remover / handler 1 may be movable in a vertical direction (up and down) along the support 53 (and pivoted sideways, if required) to position the open container C on the working station (e.g. the vortexing station 51) and raise the cap K and subsequently lower the cap and re-attach it to the container.

[0072] Since the cap holder 2 and container holder 3 engage with the cap / container from a lateral side via the arms / prongs from above and at positions above the bottom of the container, the vicinity of the bottom of the container is free so that the working station may be placed at or under the working position of the automated cap remover / handler or adjacent the working position along a conveying path of the magazine or conveyor.

[0073] As shown in Figure 7 components of the container handling system 8 including the cap remover and handler 1, magazine / conveyor 50 and / or, if desired, the vortexing station 51 and pipetting station / robot or other working stations, if desired, may be provided inside an automated working cell isolated from the environment in a closed enclosure 56. In this concept the cap remover and handler 1 may serve as automated support for the pipetting station / robot and / or for the vortexing station 51 (or other working stations) so that pipetting and / or vortexing and the associated container (tube) manipulation and handling may be automated and combined in a small space with a high throughput.

[0074] The system can handle a magazine of closed containers (tubes). The containers (tubes) are sequentially transferred to the working position of the cap remover and handler 1 where the cap is removed as described above (and temporally retained, for example, by the cap holder 2). Then, the open container (tube) is transferred under the pipetting location of the pipetting station / robot. After the pipetting, the container (tube) is transferred back to the working position of the cap remover and handler 1 where it is closed and vortexed.

[0075] One could imagine an operator working with this system (not necessarily in a closed enclosure 56), having several systems in front of her / him and only managing the pipetting while the system would automatically present (open / close) the correct tube and perform the vortexing. This could preserve the operator's hand with less manual screwing / pulling of caps to do and would reduce the risk of cross-contamination or handling errors with a relatively simple system.

Claims

Claims1. An automated cap remover and handler (1) for containers (C) with threaded or plugged cap (K), the automated cap remover and handler (1) comprising:(i) a cap holder (2) configured to selectively apply a lateral holding force onto a cap (K) of a container (C) placed at a working position;(ii) a container holder (3) configured to selectively apply a lateral holding force onto the container (C) placed at the working position; and(iii) an opening effector (4) configured to selectively apply a rotating and / or linear force on the cap (K) to separate the cap (K) from engagement with the container (C), wherein a cam / eccentric rotary actuator (5,6) is provided for controlling the application of the lateral holding force onto the cap (K) and / or onto the container (C).

2. The automated cap remover and handler (1) according to claim 1, wherein, for applying the lateral holding force onto the cap (C), the opening effector (4) is arranged as an intermediary between the cap holder (2) and the cap (C).

3. The automated cap remover and handler (1) according to claim 1 or 2, wherein a bearing (43), preferably a sliding or rolling-element bearing, is arranged between the opening effector (4) and the cap holder (2) so as to allow a friction-reduced relative sliding motion between the two while the cap holder (2) applies the lateral holding force onto the cap (K) via the opening effector (4) as the intermediary.

4. The automated cap remover and handler (1) according to any one of claims 1 to 3, wherein the cap holder (2) and the container holder (3) respectively include a biasing means, preferably a spring, for generating the lateral holding force.

5. The automated cap remover and handler (1) according to claim 4, wherein the means for generating the lateral holding force is arranged to bias at least a pair of moveable arms / prongs (20,30) against an outer periphery of the cap / container / effector (K,C,4) and the cam / eccentric rotary actuator (5,6) is arranged to bear and control the applied lateral holding force depending on a rotational position thereof.

6. The automated cap remover and handler (1) according to any one of claims 1 to 5, further comprising a motor for rotating the cam / eccentric rotary actuator (5,6) provided for controlling the application of the lateral holding force onto the cap (K)and / or onto the container (C), the motor arranged to be operated by means of a controller, or, if plural motors are provided, the motors arranged to be independently operated from each other, preferably by means of the controller.

7. The automated cap remover and handler (1) according to any one of claims 1 to 6, wherein the opening effector (4) comprises a motor (41) for generating an uncapping torque, preferably by means of a rotation and / or linear motion of the opening effector (4) relative to the cap holder (2), the uncapping torque being smaller than the lateral holding force applied by the cap holder (2) and the container holder (3).

8. The automated cap remover and handler (1) according to any one of claims 1 to 7, wherein the opening effector (4) is configured to be opened to allow introduction of the cap (K) into a space of the opening effector (4) for accommodating at least a part of the cap (K), and to be closed to be in engagement with the cap (K) within the space.

9. The automated cap remover and handler (1) according to claim 8, wherein the opening effector (4) comprises two or more segments (42) circumferentially arranged about the space for accommodating at least a part of the cap (K) and to be movable towards and away from the cap's periphery, preferably by a pivoting motion.

10. The automated cap remover and handler (1) according to claim 8 or 9, wherein the opening and closing motion of the opening effector (4) is induced by the lateral holding force applied by the cap holder (2).

11. The automated cap remover and handler (1) according to any one of claims 1 to 10, wherein the operation of the cam / eccentric rotary actuators (5,6) and the operation of the opening effector (4) are synchronized to grip the container (C) and the cap (K), move and separate the cap (K) from the container (C), put back the cap (K) to close the container (C), and release the cap (K) and container (C).

12. A container handling system (7;8) comprising(a) an automated cap remover and handler (1) according to any one of claims 1 to 11;(b) a magazine and / or a conveyor (50) for selectively conveying / presenting containers (C) to a working position of the automated cap remover and handler (1) where the containers (C) can be opened and closed; and(c) at least one working station (51) where a content of the containers (C) can be processed.

13. The container handling system (7) according to claim 12, wherein the working station (51) is placed at the working position of the automated cap remover and handler (1) or adjacent the working position along a conveying path of the magazine or conveyor (50).

14. The container handling system (8) according to claim 12 or 13, wherein the components of the container handling system (8) are provided inside an isolator (56) comprising automated liquid handling devices.

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