End effector

Abstract

The utility model relates to an end effector. The end effector comprises a clamping component, a driving component, a positioning component and a sealing component, the clamping part is used for clamping a target object; the output end of the driving part is connected with the clamping part and drives the clamping part to move; the positioning part is used for determining the position of the clamped target object or the position of taking and placing the clamped target object; the sealing part is arranged at the joint of the clamping part and the output end of the driving part, and the sealing part is in sliding connection with the driving part. Automatic taking and placing of a target object can be achieved, and an effective sealing structure is provided; corrosion of H2O2 to internal components in the VHP sterilization process is prevented; internal and external environments are isolated, so that the GMP low-dust environment requirement required in the production process of cell drug products can be ensured; the method can be used for automatic production of cell drug products in a GMPA-level environment.

Description

Technical Field

[0001] The utility model relates to the technical field of cell culture, in particular to an end effector. Background Art

[0002] Cell therapy is a treatment that uses living cells from a patient or donor to replace damaged or diseased cells or stimulate the body's immune response or regeneration, typically stem cells and immune cells.

[0003] In the field of cell therapy, the cultivation of in vitro cells is an important process. Currently, most of them are cultivated manually, which is more dependent on the technical proficiency of the operator and has a low degree of automation. In addition, since cell drug products have high environmental requirements during the production process, the automated equipment used needs to be able to meet the VHP disinfection requirements and meet the GMP environmental requirements required in the production process of cell drug products. Summary of the invention

[0004] Cell drug products should take measures to prevent contamination and cross contamination as much as possible during the production process, in accordance with the relevant requirements of GMP, that is, the GMP environment is a production environment that complies with a series of quality management principles and specifications to ensure the quality and safety of the produced cell products. One purpose of the utility model is to provide an end effector that can realize the automated picking and placement of the target object, with an effective sealing structure: to prevent H2O2 from corroding the internal components during the VHP disinfection process; to isolate the internal and external environments, which is conducive to ensuring the GMP low-dust environment requirements required in the production process of cell drug products; and to be used for the automated production of cell drug products in a GMPA-level environment.

[0005] The end effector of the utility model comprises a clamping component, a driving component, a positioning component and a sealing component; the clamping component is used for clamping a target object; the output end of the driving component is connected to the clamping component and drives the clamping component to move; the positioning component is used for determining the position of the clamped target object or the position of picking up and placing the clamped target object; the sealing component is arranged at the connection between the clamping component and the output end of the driving component, and the sealing component is slidably connected to the driving component.

[0006] The end effector of the utility model, through the cooperation of a clamping component, a driving component, a positioning component and a sealing component, clamps the target object through the clamping component, drives the clamping component to move, the positioning component determines the position of the clamped target object or the position of picking up and placing the clamped target object, and the sealing component seals the connection between the components, so as to realize the picking up and placing of the target object by the end effector, and at the same time has an effective sealing structure: preventing H2O2 from corroding internal components during VHP disinfection; isolating the internal and external environments, which is conducive to ensuring the GMP low-dust environment requirements required in the production process of cell drug products; and can be used for the automated production of cell drug products in a GMP-level environment.

[0007] As a preferred solution, the driving component includes a first driving assembly, the first driving assembly includes a first linear electric cylinder, a slide assembly, a fixed frame and a fixed cover plate, the output end of the first linear electric cylinder is connected to the slide assembly, the fixed frame is provided with a first fixed cavity, the first linear electric cylinder and the slide assembly are both arranged in the first fixed cavity, the fixed cover plate is covered on the first fixed cavity, the fixed cover plate is provided with a sealing port, and one end of the slide assembly extends out of the sealing port and is connected to the clamping component;

[0008] The sealing component comprises a first sealing assembly, the first sealing assembly comprises a sealing sleeve and a sealing ring, the sealing sleeve is provided with a first sealing groove, the sealing ring is fixedly arranged in the first sealing groove, and after the sealing ring is fixed in the first sealing groove, the thickness of the sealing ring is greater than the depth of the first sealing groove;

[0009] The sealing sleeve is arranged at the sealing port, the sealing ring is slidably connected with the slide plate assembly, and the slide plate assembly always covers the sealing ring when sliding.

[0010] The utility model realizes the linear motion of the clamping component by connecting the output end of the first linear electric cylinder with the slide assembly, and the setting of the fixed frame and the fixed cover plate. The first linear electric cylinder and the slide assembly are both arranged in the first fixed cavity, and the fixed cover plate is covered on the first fixed cavity. The fixed cover plate is provided with a sealing port, and one end of the slide assembly extends out of the sealing port and is connected with the clamping component to realize the sealing of the first linear electric cylinder and the slide assembly; by setting the thickness of the sealing ring to be greater than the depth of the first sealing groove, when the slide assembly is running, that is, when the slide assembly slides, the sealing ring is always in contact with the slide assembly, and the sealing sleeve is not in contact with the slide assembly. At the same time, when the slide assembly slides, the sealing ring is always covered. This structure can achieve sealing while ensuring the minimum contact surface, that is, the first drive assembly can also achieve good sealing in the state of motion, avoiding the sealing of the sealed structures such as the first linear electric cylinder in the first drive assembly, achieving effective sealing, preventing H2O2 corrosion, meeting the VHP disinfection requirements, and meeting the GMP environmental requirements required in the production process of cell drug products. It can be used in a Class A environment and can be used for the automated production of cell drug products.

[0011] Among them, the slide plate assembly always covers the sealing ring when sliding, and the edge of the slide plate assembly can be set to be longer than the edge of the shape formed by the sealing ring after being fixed in the first sealing groove. For example, if the shape of the sealing ring after being fixed in the first sealing groove is a rectangle, the length and width of the slide plate assembly are both larger than the length and width of the rectangle formed after the sealing ring is fixed in the first sealing groove.

[0012] As a preferred solution, the slide plate assembly includes a sealing pressure plate and a sealing panel, wherein the sealing panel is arranged between the sealing pressure plate and the sealing ring, and the sealing ring is slidably connected to the sealing panel.

[0013] The utility model provides a sealing panel so that when the slide plate assembly is in operation, the sealing ring is slidably connected to the sealing panel rather than the sealing ring being in contact with the sealing pressure plate, thereby reducing the loss of the sealing pressure plate caused by the slide plate assembly in operation. The sealing panel is preferably formed of a hard material, such as steel.

[0014] As a preferred solution, the clamping component includes a first clamping assembly, the first clamping assembly includes more than two side clamping jaws, and at least one side clamping jaw is connected to the first driving assembly.

[0015] In the first clamping assembly of the utility model, at least one of the side clamps is connected to the first drive assembly, specifically the slide assembly in the first drive assembly, so that the first drive assembly drives the side clamp connected thereto to move, thereby achieving the two side clamps cooperating to clamp the target object; the side clamps not connected to the slide assembly can be in a fixed state, preferably fixed to the fixed cover plate in the first drive assembly. In order to facilitate connection and sealing, a fixed protrusion can be provided on the fixed cover plate to fix the side clamps, and the side clamps and the fixed protrusions are fixed by screws, and the screw holes are blind holes that do not penetrate the inner side of the fixed cover plate.

[0016] As a preferred solution, the side clamping jaw comprises a side clamping jaw body and a limiting surface, wherein the limiting surface is arranged on the side clamping jaw body and is located on the inner side of the side clamping jaw body.

[0017] The structural arrangement of the side clamping jaws of the utility model clamps the target object through the side clamping jaw body, and limits the position of the target object through the limiting surface, thereby ensuring the position accuracy of the clamped target object.

[0018] Preferably, one end of the side clamp body is a fixed end, and the other end is a free end, and a flexible material layer is provided on the outer side of the free end of the side clamp body. The flexible material layer can be coated on the outer side of the free end, or can be sleeved on the outer side of the free end, so as to increase the friction between the side clamp and the clamped target object, and protect the side clamp to avoid corrosion such as H2O2 during disinfection. The flexible material refers to a material that can produce obvious elastic deformation under stress, and the deformation can be restored to the original shape, such as a silicone rubber material. The flexible material layer at the free end of the side clamp body can be a surface vulcanized rubber or a silicone sleeve.

[0019] Preferably, the inner side of the free end of the side clamp body is a curved surface, more preferably a conformable clamping curved surface. The curved surface can better fit the outer contour of the clamping target object such as a cell culture bottle or a saline bottle, making the clamping more stable and less likely to slip.

[0020] As a preferred solution, when the number of the side clamps is two, the two side clamps are arranged opposite to each other. Preferably, the two side clamps are symmetrically arranged.

[0021] Since most of the cell culture bottles and physiological saline bottles in the clamping targets are symmetrical structures, the side clamping jaws of the utility model are relatively arranged, preferably symmetrically arranged, which can be better suitable for clamping cell culture bottles and physiological saline bottles.

[0022] As a preferred solution, the clamping component includes a second clamping assembly, the driving component includes a second driving assembly, and the sealing component includes a second sealing assembly. The clamping direction of the second clamping assembly is different from that of the first clamping assembly. The second clamping assembly is connected to an output end of the second driving assembly, and the second sealing assembly is arranged at the connection between the second clamping assembly and the second driving assembly.

[0023] The second clamping component provided in the utility model has a clamping direction different from that of the first clamping component, and can clamp the target object from different directions. For example, if the clamping direction of the first clamping component is horizontal (left-right direction), the clamping direction of the second clamping component can be vertical (up-down direction). When the clamping direction of the second clamping component is vertical, it can also play a role in supporting the target object.

[0024] As a preferred solution, the second clamping assembly includes more than two groups of clamping jaw moving frames and more than two groups of support rods, the clamping jaw moving frame includes a clamping jaw moving frame body and a second sealing assembly fixing plate, a second fixed cavity is provided inside the clamping jaw moving frame body, the second driving assembly is arranged in the second fixed cavity, one end of the support rod is connected to the output end of the second driving assembly, and the other end of the support rod is a free end, the second sealing assembly is arranged at the opening of the second fixed cavity, and the second sealing assembly fixing plate is arranged at the connection between the second sealing assembly and the second fixed cavity.

[0025] The second clamping component of the utility model is provided with a second fixed cavity on the clamping jaw moving frame for fixing the second driving component. One end of the support rod is connected to the output end of the second driving component to realize that the second driving component drives the support rod to move. The second driving component is provided with more than two groups of clamping jaw moving frames and more than two groups of support rods, and different clamping directions of the target object different from those of the first clamping component are realized through the support rods; the second sealing component is provided at the opening of the second fixed cavity, and the second sealing component fixing plate is provided at the connection between the second sealing component and the second fixed cavity, so as to realize the sealing of the second driving component.

[0026] As a preferred solution, at least one group of the clamping jaw moving frames is connected to the first driving assembly, and the side clamping jaws are fixed on the clamping jaw moving frames.

[0027] In the utility model, at least one clamping jaw moving frame is connected to the first driving assembly, specifically connected to the slide assembly in the first driving assembly, so that the first driving assembly drives the clamping jaw moving frame connected thereto to move, and the movement of the clamping jaw moving frame drives the second driving assembly fixed in the second fixed cavity, and the support rod connected to the output end of the second driving assembly to move, so as to clamp the target object; the clamping jaw moving frame not connected to the slide assembly can be in a fixed state, preferably fixed to the fixed cover plate in the first driving assembly. In order to facilitate connection and sealing, a fixed protrusion can be set on the fixed cover plate to fix the side clamping jaws, and the side clamping jaws and the fixed protrusions are fixed by screws, and the screw holes are blind holes and do not penetrate the inner side of the fixed cover plate.

[0028] As a preferred solution, the second sealing component is provided with more than one second sealing groove, the second sealing groove is provided with more than one pleated structure and more than one through hole, the second sealing component is provided with a sealing edge, the sealing edge is provided with a first protrusion, and the second sealing component is formed of a flexible material; a first groove is provided on the clamping jaw movable frame body corresponding to the first protrusion of the second sealing component, and a second protrusion is provided corresponding to the sealing edge of the second sealing component, the first protrusion of the second sealing component is fixed in the first groove of the clamping jaw movable frame body, the edge of the sealing edge of the second sealing component abuts against the inner side of the second protrusion of the clamping jaw movable frame body, and the second sealing component fixing plate is pressed at the external connection between the clamping jaw movable frame body and the second sealing component.

[0029] Dynamic sealing refers to a sealing method in which the relative positions of the sealing component and the sealing object will move relative to each other during the sealing process, wherein the sealing component and / or the sealing object move individually or together. Compared with static sealing in which the relative positions of the sealing component and the sealing object remain fixed during the sealing process, dynamic sealing requires a sealing effect under long-term dynamic action.

[0030] The second sealing groove of the second sealing component of the utility model is provided with a pleated structure, and the second sealing component is formed of a flexible material. The flexible material can adapt to the deformation and movement of the sealing object within a certain range, maintain a long-term sealing effect, and have high sealing reliability. The pleated structure can increase the surface area of ​​the second sealing component and increase the range of movement of the sealing object. The pleated structure is easier to adapt to the deformation of the sealing surface during movement, such as surface undulations and deformation, and maintain a good sealing effect. The pleated structure can absorb the vibration generated by dynamic movement and reduce its impact on the seal. The pleated structure is preferably a radial pleated structure. The radial direction refers to the outward direction of the center point of the object, perpendicular to the axial direction. When the outer contour of the pleated structure is a circle, the radial direction is the vector direction extending from the center of the circle to any position of the circumference.

[0031] The flexible material of the second sealing component refers to a material that can produce obvious elastic deformation under stress, and the deformation can be restored to the original shape, such as a silicone rubber material. If the second sealing component needs to be used under corrosive working conditions, the second sealing component is preferably formed of an elastic material with corrosion resistance, such as a silicone rubber material. Since the second sealing component is formed of a flexible material, the pleated structure is formed by bending the second sealing groove up and down. After the second sealing groove is bent up and down, more than one annular groove and annular protrusion are formed, that is, the pleated structure. The pleated structure can be a corrugated type or a V-shaped structure similar to the corrugated type, and multiple pleats are preferably arranged concentrically. There are more than one through hole on the second sealing groove, and the through hole can be used as a fixing hole or as a mounting hole for the sealing object. Through the setting of the first protrusion, the sealing and fixation of the second sealing component of the utility model can be further enhanced. Other structures corresponding to the second sealing component, such as the sealing object, or the grooves set on the fixed structure for fixing the second sealing component, cooperate with the first protrusion of the second sealing component, which can further enhance the sealing effect of the second sealing component.

[0032] As a preferred solution, the end effector further includes a control component, and the control component is electrically connected to the driving component and the positioning component respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of the cell culture bottle in the utility model;

[0034] Figure 2 This is a schematic diagram of the structure of the physiological saline bottle in the utility model;

[0035] Figure 3 It is a schematic diagram of the three-dimensional structure of the end effector of the utility model clamping a cell culture bottle;

[0036] Figure 4 This is a schematic diagram of the top view of the end effector of the utility model clamping a cell culture bottle;

[0037] Figure 5 for Figure 4 AA section view along the middle line;

[0038] Figure 6 for Figure 5 Enlarged view of middle B;

[0039] Figure 7 for Figure 5 Enlarged view of middle C;

[0040] Figure 8 It is a three-dimensional structural schematic diagram of the end effector of the utility model clamping a bottle of physiological saline;

[0041] Fig. 9It is a structural schematic diagram of the clamping component of the utility model;

[0042] Fig.10 It is a structural schematic diagram of the side clamping jaws of the utility model;

[0043] Fig.11 It is a structural schematic diagram of the first driving assembly of the utility model;

[0044] Fig.12 It is a structural schematic diagram of the skateboard assembly of the utility model;

[0045] Fig.13 It is a structural schematic diagram of the first sealing component of the utility model;

[0046] Fig.14 It is a structural schematic diagram of the second sealing component of the utility model.

[0047] 1'-target object, 1-clamping component, 11-first clamping assembly, 111-side clamping jaw, 1111-side clamping jaw body, 1112-limiting surface, 12-second clamping assembly, 121-clamping jaw moving frame, 1211-clamping jaw moving frame body, 1212-second fixed cavity, 1213-second sealing assembly fixing plate, 122-support rod, 2-driving component, 21-first driving assembly, 211-first linear electric cylinder, 212-slide plate assembly, 2121-sealing pressure plate, 212 2-sealing panel, 213-fixed frame, 2131-first fixed cavity, 2132-adapter box cavity, 2133-adapter box cover, 214-fixed cover, 22-second drive assembly, 3-positioning component, 31-visual component, 32-positioning component, 4-sealing component, 41-first sealing component, 411-sealing sleeve, 412-sealing ring, 42-second sealing component, 421-second sealing groove, 422-pleated structure, 423-through hole, 424-sealing edge, 425-first protrusion DETAILED DESCRIPTION

[0048] The cell medicine product involved in the utility model refers to a medicine which is made of living cells, tissues or genes as raw materials through engineering processing and has the function of treating, preventing and diagnosing diseases.

[0049] VHP disinfection, VHP (vapor hydroperoxide) disinfection, is a method of high-level disinfection of spaces and surfaces using a mixture of water vapor and hydrogen peroxide gas.

[0050] GMP environment refers to a production environment that complies with the requirements of the State Food and Drug Administration on "Good Manufacturing Practice (GMP) for Pharmaceuticals".

[0051] A-grade environment refers to a production environment with low microbial content in the air and strictly controlled parameters such as temperature, humidity and air flow rate.

[0052] The present invention will be further described below through specific embodiments.

[0053] like Figure 1-2 , which is a schematic structural diagram of the clamped target objects: a cell culture bottle 1' and a physiological saline bottle 1'.

[0054] like Figure 3-Figure 14 The figure shows the end effector of the utility model, which includes a clamping component 1, a driving component 2, a positioning component 3 and a sealing component 4; the clamping component 1 is used to clamp a target object; the output end of the driving component 2 is connected to the clamping component 1 and drives the clamping component 1 to move; the positioning component 3 is used to determine the position of the clamped target object or the position of picking up and placing the clamped target object; the sealing component 4 is arranged at the connection between the clamping component 1 and the output end of the driving component 2, and the sealing component 4 is slidably connected to the driving component 2.

[0055] The specific structure and connection relationship of each component are as follows:

[0056] Clamping part 1:

[0057] The clamping component 1 is used to clamp a target object, such as a cell culture bottle 1', a physiological saline bottle 1', etc. The clamping component 1 includes a first clamping component 11 and a second clamping component 12. The first clamping component 11 can be provided alone or together with the second clamping component 11 and 12.

[0058] The specific first clamping assembly 11 includes more than two side clamps 111, and at least one side clamp 111 is connected to the slide assembly 212 in the driving component 2. When the number of the side clamps 111 is two, the two side clamps 111 are arranged opposite to each other, and preferably, the two side clamps 111 are preferably symmetrically arranged.

[0059] The second clamping assembly 12 includes more than two groups of clamping jaws moving frames 121 and more than two groups of supporting rods 122. The clamping jaws moving frames 121 include a clamping jaws moving frame body 1211 and a second fixed cavity 1212 provided therein. The second driving assembly 22 is provided in the second fixed cavity 1212. One end of the supporting rod 122 is connected to the output end of the second driving assembly 22, and the other end of the supporting rod 122 is a free end. At least one group of clamping jaws moving frames 121 is connected to the slide assembly 212 in the driving component 2, and the side clamping jaws 111 are fixed to the clamping jaws moving frames 121.

[0060] When the clamping component 1 includes a first clamping component 11 and a second clamping component 12, the clamping direction of the second clamping component 12 is different from the clamping direction of the first clamping component 11. For example, the first clamping component 11 clamps the target object in a horizontal direction, and the second clamping component 12 clamps the target object in a vertical direction.

[0061] Specifically, the first clamping assembly 11 includes two side clamping jaws 111 , and the two side clamping jaws 111 are arranged opposite to each other.

[0062] The second clamping assembly 12 includes two groups of jaw moving frames 121, one group of jaw moving frames 121 is connected to the slide assembly 212 in the first driving assembly 21 in the driving component 2 to achieve horizontal movement, and the other group of jaw moving frames 121 is fixed on the fixed cover plate 214 in the first driving assembly 21 in the driving component 2; a group of second driving assemblies 22 are fixed in the second fixed cavity 1212 of each jaw moving frame 121, and the output ends of the second driving assemblies 22 are respectively connected to two support rods 122, and the other end of the support rods 122 is a free end.

[0063] The second clamping assembly 12 is connected to the output end of the second driving assembly 22, and the second sealing assembly 42 is arranged at the connection between the second clamping assembly 12 and the second driving assembly 22. Corresponding to the second sealing assembly 42, the clamping jaw moving frame 121 includes a second sealing assembly fixing plate 1213, the second sealing assembly 42 is arranged at the opening of the second fixed cavity 1212, and the second sealing assembly fixing plate 1213 is arranged at the connection between the second sealing assembly 42 and the second fixed cavity 1212.

[0064] Drive component 2:

[0065] The driving component 2 includes a first driving component 21 and a second driving component 22;

[0066] The first driving assembly 21 includes a first linear electric cylinder 211, a slide assembly 212, a fixed frame 213 and a fixed cover plate 214. The output end of the first linear electric cylinder 211 is connected to the slide assembly 212. The fixed frame 213 is provided with a first fixed cavity 2131. The first linear electric cylinder 211 and the slide assembly 212 are both arranged in the first fixed cavity 2131. The fixed cover plate 214 is covered on the first fixed cavity 2131. The fixed cover plate 214 is provided with a sealing port. One end of the slide assembly 212 extends out of the sealing port and is connected to the clamping component 1. Specifically, the slide assembly 212 is connected to the clamping claw moving frame 121 in the second clamping component 12 in the clamping component 1.

[0067] The slide assembly 212 includes a sealing pressure plate 2121 and a sealing panel 2122. The sealing sleeve 411 in the first sealing assembly 41 in the sealing component 4 is arranged at the sealing port. The sealing panel 2122 is arranged between the sealing pressure plate 2121 and the sealing ring 412 of the first sealing assembly 41 in the sealing component 4. The sealing ring 412 is slidably connected to the sealing panel 2122. Specifically, the sealing ring 412 is slidably connected to the sealing panel 2122 in the slide assembly 212, and the slide assembly 212 always covers the sealing ring 412 when sliding.

[0068] Preferably, the sealing panel 2122 is formed from a steel material.

[0069] Preferably, the fixed frame 213 further includes an adapter box cavity 2132 and an adapter box cover 2133, and the adapter box cover 2133 is disposed at the opening of the adapter box cavity 2132. The adapter box is used to accommodate related external connection lines and the like.

[0070] Preferably, the fixed frame 213 also has a transition flange for fixing the entire end effector through the fixed frame 213 .

[0071] The second driving assembly 22 is disposed in the second fixing cavity 1212 , and one end of the supporting rod 122 is connected to the output end of the second driving assembly 22 .

[0072] Positioning component 3:

[0073] The positioning component 3 includes a visual component 31 and a positioning component 32. The visual component 31 is arranged on the fixed frame 213 in the first driving component 21 in the driving component 2, and the positioning component 32 is arranged on the clamping claw moving frame 121 in the second clamping component 12 in the clamping component 1.

[0074] The visual component 31 is used to identify the identification and transmit the identified identification information to the processor for determining the position of the clamped target object or the position of picking up and placing the clamped target object.

[0075] The positioning component 32 is preferably a position sensor for identifying whether the clamped target object has reached a preset position.

[0076] Sealing component 4:

[0077] The sealing component 4 includes a first sealing component 41 and a second sealing component 42 .

[0078] The first sealing assembly 41 includes a sealing sleeve 411 and a sealing ring 412. The sealing sleeve 411 is provided with a first sealing groove. The sealing ring 412 is fixed in the first sealing groove. After the sealing ring 412 is fixed in the first sealing groove, the thickness H1 of the sealing ring 412 is greater than the depth H2 of the first sealing groove.

[0079] The second sealing component 42 is provided with more than one second sealing groove 421, and the second sealing groove 421 is provided with more than one pleated structure 422 and more than one through hole 423, and the second sealing component 42 is provided with a sealing edge 424, and the sealing edge 424 is provided with a first protrusion 425, and the second sealing component 42 is formed of a flexible material; a first groove is provided on the clamping jaw movable frame body 1211 corresponding to the first protrusion 425 of the second sealing component 42, and a second protrusion is provided on the sealing edge 424 of the second sealing component 42, and the first protrusion 425 of the second sealing component 42 is fixed in the first groove of the clamping jaw movable frame body 1211, and the edge of the sealing edge 424 of the second sealing component 42 abuts against the inner side of the second protrusion of the clamping jaw movable frame body 1211, and the second sealing component fixing plate 1213 is pressed on the external connection between the clamping jaw movable frame body 1211 and the second sealing component 42.

Claims

1. An end effector, characterized in that: It includes a clamping component, a driving component, a positioning component and a sealing component; the clamping component is used to clamp the target object; the output end of the driving component is connected to the clamping component and drives the clamping component to move; the positioning component is used to determine the position of the clamped target object or the position of taking and placing the clamped target object; the sealing component is arranged at the connection between the clamping component and the output end of the driving component, and the sealing component is slidably connected to the driving component.

2. The end effector according to claim 1, characterized in that: The driving component includes a first driving assembly, which includes a first linear electric cylinder, a slide assembly, a fixed frame and a fixed cover plate, the output end of the first linear electric cylinder is connected to the slide assembly, the fixed frame is provided with a first fixed cavity, the first linear electric cylinder and the slide assembly are both arranged in the first fixed cavity, the fixed cover plate is covered on the first fixed cavity, the fixed cover plate is provided with a sealing port, and one end of the slide assembly extends out of the sealing port and is connected to the clamping component; The sealing component comprises a first sealing assembly, the first sealing assembly comprises a sealing sleeve and a sealing ring, the sealing sleeve is provided with a first sealing groove, the sealing ring is fixedly arranged in the first sealing groove, and after the sealing ring is fixed in the first sealing groove, the thickness of the sealing ring is greater than the depth of the first sealing groove; The sealing sleeve is arranged at the sealing port, the sealing ring is slidably connected with the slide plate assembly, and the slide plate assembly always covers the sealing ring when sliding.

3. The end effector according to claim 2, characterized in that: The slide plate assembly comprises a sealing pressing plate and a sealing panel, wherein the sealing panel is arranged between the sealing pressing plate and the sealing ring, and the sealing ring is slidably connected to the sealing panel.

4. The end effector according to any one of claims 2-3, characterized in that: The clamping component includes a first clamping assembly, the first clamping assembly includes more than two side clamping jaws, and at least one side clamping jaw is connected to the first driving assembly.

5. The end effector according to claim 4, characterized in that: The side clamping jaw comprises a side clamping jaw body and a limiting surface. The limiting surface is arranged on the side clamping jaw body and is located on the inner side of the side clamping jaw body.

6. The end effector according to claim 4, characterized in that: When the number of the side clamping jaws is two, the two side clamping jaws are arranged opposite to each other.

7. The end effector according to claim 6, characterized in that: The two side clamps are symmetrically arranged.

8. The end effector according to claim 4, characterized in that: The clamping component includes a second clamping assembly, the driving component includes a second driving assembly, and the sealing component includes a second sealing assembly. The clamping direction of the second clamping assembly is different from that of the first clamping assembly. The second clamping assembly is connected to the output end of the second driving assembly, and the second sealing assembly is arranged at the connection between the second clamping assembly and the second driving assembly.

9. The end effector according to claim 8, characterized in that: The second clamping assembly includes more than two groups of clamping jaw moving frames and more than two groups of supporting rods. The clamping jaw moving frame includes a clamping jaw moving frame body and a second sealing assembly fixing plate. A second fixed cavity is provided inside the clamping jaw moving frame body. The second driving assembly is arranged in the second fixed cavity. One end of the supporting rod is connected to the output end of the second driving assembly, and the other end of the supporting rod is a free end. The second sealing assembly is arranged at the opening of the second fixed cavity. The second sealing assembly fixing plate is arranged at the connection between the second sealing assembly and the second fixed cavity.

10. The end effector according to claim 9, characterized in that: At least one group of the clamping jaw moving frames is connected to the first driving assembly, and the side clamping jaws are fixed on the clamping jaw moving frames.

11. The end effector according to claim 10, characterized in that: The second sealing component is provided with more than one second sealing groove, the second sealing groove is provided with more than one pleated structure and more than one through hole, the second sealing component is provided with a sealing edge, the sealing edge is provided with a first protrusion, and the second sealing component is formed of a flexible material; the clamping jaw movable frame body is provided with a first groove corresponding to the first protrusion of the second sealing component, and a second protrusion is provided corresponding to the sealing edge of the second sealing component; the first protrusion of the second sealing component is fixed in the first groove of the clamping jaw movable frame body, the edge of the sealing edge of the second sealing component abuts against the inner side of the second protrusion of the clamping jaw movable frame body, and the second sealing component fixing plate is pressed at the external connection between the clamping jaw movable frame body and the second sealing component.

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