An end effector and a method for manipulating an object using the end effector

Abstract

An end effector (1) comprising: • - a frame (3) arranged for attaching the end effector (1) to a manipulator (201), such as an arm of a robot setup (200); • - a blocking element (7) attached to the frame (3) and arranged to move into a first position wherein the blocking element (7) is provided in a receiving space of the frame (3) and into a second position wherein the blocking element (7) is protruding from the frame (3). A robot setup (200) comprising one or a plurality of manipulators (201), each manipulator (201) having the end effector (1). Use of the end effector (1) or a plurality thereof for moving and / or manipulating one or more objects (2).

Description

[0001] Title: An end effector and a method for manipulating an object using the end effector

[0002] Description:

[0003] According to a first aspect, the present disclosure relates to an end effector.

[0004] According to a second aspect, the present disclosure relates to a robot setup.

[0005] According to a third aspect, the present disclosure relates to a use of one or more end effectors according to the first aspect of the present disclosure.

[0006] In the rapidly advancing field of logistics automation, the efficient handling of logistics tasks such as depalletizing remains a critical challenge. While current automated depalletizing systems are capable of handling different types of objects, they are not yet capable of handling every type of object. This is a direct result of the end-effector design and the objects being handled. In addition, there is a demand to make them faster, increase throughput, while not increasing the footprint of the machine due to the increasing cost of land.

[0007] The objects that pose a challenge may have varying shapes, dimensions, weights, or packaging materials. In addition, the objects may have inaccessible surfaces, limited manipulation directions, or stacking or nesting mechanisms that require a specific motion sequence to manipulate. Therefore, in certain cases, it is more efficient to depalletize manually or manual depalletization is the only possible solution.

[0008] In an effort to improve warehousing process automation, the current disclosure explores the design of a passive end-effector that can be used for dual-arm robotic systems.

[0009] The use of a dual-arm robotic system benefits from the similarity to humans, the potential increase in flexibility and dexterity, and the increase in manipulability, while also significantly reducing the footprint of the system compared to current solutions on the market. The object of the present disclosure is to provide an end effector that is capable of handling a wide variety of objects.

[0010] The end effector according to the first aspect of the present disclosure comprises: a frame arranged for attaching the end effector to a manipulator, such as an arm of a robot setup; a blocking element attached to the frame and arranged to move into a first position wherein the blocking element is provided in a receiving space of the frame and into a second position wherein the blocking element is protruding from the frame.

[0011] The end effector according to the first aspect of the present disclosure is capable of manipulating a wide variety of objects, such as objects that are typically found in warehouses, in different ways. So for every common scenario the end effector can encounter, the end effector is equipped with features that can manipulate the objects in different ways. With scenario is meant the type of objects, for example, in terms of shape, dimensions, weight, packaging material, the location where the objects are positioned, for example, on a pallet or shelf, the type of shelf or pallet; for example, a single SKU pallet or mixed SKU pallet. Hence, it is capable of handling or manipulating a wide variety of objects in different ways.

[0012] The end effector can manipulate one or more objects in different ways by applying different (combinations of) motion primitives strategies for manipulating one or more objects, in some cases, at the same time in case of more than one object. With ’’motion primitives strategy” as used in the present disclosure is meant a structured approach in robotics that utilizes a set of predefined, basic actions to build and execute complex motion plans efficiently and effectively. These motion primitives strategies include sliding, lifting, vertical rotation, and horizontal rotation:

[0013] • Sliding: an object that can slide is pushed or pulled until its bottom side is free and another end effector can be put on the bottom side to lift the object;

[0014] • Lifting: the end effector is inserted under the object, and consecutively lifted.

[0015] • Vertical rotation: for thick objects with a height less than the width and length that can slide, there are two possibilities. Both possibilities have the same initial movement. The object is rotated around the vertical axis by an end effector to expose the top and side surfaces. Another end effector can be used to hold the object at the object’s side surfaces, similar to a parallel gripper, or use the object’s bottom surface to support the object and stabilize it with another end effector.

[0016] • Horizontal rotation: for objects that cannot slide, such as crates with nesting mechanisms, or in the case of a tall box (where height is greater than both width and length), one end effector can be used to rotate the object about a horizontal axis and another end effector can be used to support the object on the side.

[0017] Additional or alternative strategies for manipulating one or more objects in accordance with the present disclosure include hooking or otherwise engaging the object, and / or moving one or more objects in free space.

[0018] The robot setup according to the second aspect of the present disclosure comprises one or a plurality of manipulators, each manipulator having an end effector according to the first aspect of the present disclosure. In an exemplary embodiment of a dual manipulator configuration, the robot setup can manipulate more than one object at a time. For example, it can press two or more objects between the end effectors, while lifting, carrying or dragging or otherwise manipulating them.

[0019] The third aspect of the present disclosure relates to the use of one or more end effectors according to the first aspect for moving and / or manipulating one or more objects.

[0020] Corresponding embodiments disclosed below for the first aspect are also applicable to the robot setup according to the second aspect of the present disclosure and to the use according to the third aspect of the present disclosure, unless stated otherwise.

[0021] Preferably, the end effector further comprises a manipulation element attached to the frame, wherein the manipulation element is provided with a manipulation surface at a side of the manipulation element facing away from the frame, preferably wherein the manipulation surface is resilient. In an embodiment, the manipulation element comprises a resilient material or is made of a resilient material, such as silicone or rubber. The manipulation element comprising the resilient material improves friction between the end effector and the object and can absorb impacts. Further, the sides or edges of the manipulation element can be used like a part of a human hand, to interact with objects.

[0022] In another embodiment, a friction coefficient of the manipulation element is higher than a friction coefficient of the frame or blade.

[0023] Preferably, the blocking element is arranged to deflect upon application of pressure into the first position and to recover into the second position when the pressure is removed. It is to be understood that pressure is to be applied on a blocking element in order for the respective blocking element to deflect into the first position.

[0024] In yet another embodiment, the end effector comprises a first biasing element arranged for biasing the blocking element into the second position. The first biasing element may be a passive element, preferably a passive element comprising a spring arranged for biasing the blocking element into the second position.

[0025] The end effector may comprise a pivot axis for pivoting the blocking element into the first position and the second position. Preferably, the pivot axis is arranged such that an end part of the blocking element in the first position is closer to the frame than in the second position. The end part of the blocking element may comprise a holding part arranged for holding the object, preferably wherein the holding part comprises a protrusion extending in a tangential direction relative to the pivot axis.

[0026] In an embodiment, the end effector comprises a plurality of the blocking elements, preferably three or more blocking elements. Preferably, at least two, and more preferably all, of the plurality of the blocking elements are arranged to move separately from each other into a first position wherein a blocking element is provided in a receiving space of the frame and into a second position wherein the blocking element is protruding from the frame. In this regard, it is beneficial if at least two, and preferably all, of the plurality of the blocking elements are arranged to deflect upon application of pressure into the first position and to recover into the second position when the pressure is removed.

[0027] In an embodiment, the end effector further comprises a blade element attached to the frame and arranged for an engagement of the end effector with one or more objects or with more than one object at the same time.

[0028] In another embodiment, the blade element is arranged to move into a first position and into a second position, wherein in the second position the blade element extends to a position that is further away from the frame than in the first position. This allows for inserting the blade element between or underneath objects.

[0029] In this regard, it is advantageous if the blade element is arranged to deflect upon application of pressure into the first position of the blade element and to recover into the second position of the blade element when the pressure is removed. It is to be understood that pressure is to be applied on the blade element in order for the blade element to deflect into the first position.

[0030] The end effector may comprise a second biasing element arranged for biasing the blade element into the second position. Preferably, the second biasing element is a passive element, preferably a passive element comprising a spring arranged for biasing the blade element into the second position.

[0031] In an embodiment, the end effector comprises an end-stop attached to the frame, preferably at a side of the frame facing away from the manipulation element. The end-stop has the benefit that it protects the manipulator, such as the joints of a robot arm, from objects, when objects are lifted using the back side of the end effector (i.e. , the side of the frame facing away from the manipulation element).

[0032] In another embodiment, the frame comprises an attachment arrangement for the attachment of the end effector to the manipulator, preferably wherein the attachment arrangement is provided at the side of the frame facing away from the manipulation element. Preferably, the attachment arrangement is provided at a side of the end-stop facing away from the blade.

[0033] In yet another embodiment, the blade element is attached to the frame at a side of the blocking element facing away from the manipulation element.

[0034] In a preferred embodiment of the robot setup according to the second aspect of the present disclosure, the robot setup comprises two manipulators, wherein each manipulator having an end effector according to the first aspect of the present disclosure. The effectors of such embodiments preferably have configurations that, when attached to the manipulators, generally mirror each other.

[0035] In an embodiment of the use according to the third aspect of the present disclosure, during manipulating, the object slides in a horizontal direction, is lifted, rotates about a horizontal virtual axis and / or rotates about a vertical virtual axis.

[0036] In an embodiment of the use of the end effector according to the third aspect of the present disclosure, manipulating the object comprises engaging the object to be manipulated with a blocking element, a blade element, and / or manipulation surface of the end effector.

[0037] In an embodiment of the use of the end effector according to the third aspect of the present disclosure, manipulating the object comprises engaging the object to be manipulated with at least two blocking elements of the end effector, and wherein engaging comprises moving at least one of the blocking elements between the second position and the first position while at least one other blocking element of the at least two blocking elements is in the second position.

[0038] In an embodiment of the use of the end effector according to the third aspect of the present disclosure, manipulating the object further comprises engaging the object to be manipulated with a blocking element, a blade element, and / or resilient manipulation surface of the second end effector. During manipulating, one or more objects to be manipulated may be pressed, by the first end effector, against the manipulation surface of the second end effector, the blocking element of the second end effector and / or the blade element of the second end effector. Preferably, at least one of the blocking elements of the second end effector is in the second position.

[0039] During manipulating, one or more objects to be manipulated may be pressed, by the first end effector, against the end-stop of the second end effector.

[0040] In an embodiment, a plurality of end effectors are used for moving and / or manipulating a plurality of objects, at the same time.

[0041] In this regard, it is beneficial if, during manipulating, at least two of the plurality of objects slide in a horizontal direction, are shifted, lifted, rotate about a horizontal virtual axis and / or rotate about a vertical virtual axis, at the same time.

[0042] Preferably, during use of a plurality of end effectors according to the first aspect, manipulating the plurality of objects comprises engaging a first object to be manipulated with a blocking element, a blade element, and / or manipulation surface of a first end effector and engaging a second object to be manipulated with a blocking element, a blade element, and / or manipulation surface of a second end effector.

[0043] In this regard, it is advantageous during use of a plurality of end effectors according to the first aspect of the present disclosure if at least one blocking element of the first or the second end effector is in the second position.

[0044] Preferably during use of a plurality of end effectors according to the first aspect, during manipulating, the plurality of objects to be manipulated are pressed between a first end effector, and a second end effector. The present disclosure is hereinafter explained in more detail with reference to the accompanying drawings in which embodiments of the present disclosure are shown and in which like reference numbers indicate the same or similar elements. The present disclosure is by no means limited to the embodiments described therein.

[0045] Fig. 1 schematically shows, viewed from above, an isometric view of an end effector according to the first aspect according to the present disclosure;

[0046] Fig. 2 schematically shows a side view of the end effector of Fig. 1 ;

[0047] Fig. 3 schematically shows, viewed from below, an isometric view of the end effector of Fig. 1 ;

[0048] Fig. 4A-B schematically show an example of the handling of an object of the end effector according to the first aspect of the present disclosure using a sliding strategy;

[0049] Fig. 5A-B schematically show another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a sliding strategy;

[0050] Fig. 6A-B schematically show yet another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a sliding strategy;

[0051] Fig. 7A-D schematically show an example of the handling of an object of the end effector according to the first aspect of the present disclosure using a vertical rotation strategy;

[0052] Fig. 8A-D schematically show another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a vertical rotation strategy;

[0053] Fig. 9A-C schematically show yet another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a vertical rotation strategy;

[0054] Fig. 10A-C schematically show an example of the handling of an object of the end effector according to the first aspect of the present disclosure using a horizontal rotation strategy; Fig. 11 A-C schematically show another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a horizontal rotation strategy;

[0055] Fig. 12A-D schematically show yet another example of the handling of an object of the end effector according to the first aspect of the present disclosure using a lifting strategy;

[0056] Fig. 13 schematically shows a robot setup according to the second aspect of the present disclosure.

[0057] An example of an end effector 1 according to the first aspect of the present disclosure is shown in Fig. 1. The end effector 1 comprises a frame 3 that is arranged for attaching the end effector to a manipulator 201 (shown in Figure 13). The manipulator 201 may be an arm of a robot setup 200 as illustrated, for example, in Figure 13.

[0058] The end effector 1 as shown in Fig. 1 further comprises a manipulation element 5 attached to the frame 3. The manipulation element 5 is provided with a manipulation surface, which is a resilient manipulation surface, at a side of the manipulation element 5 facing away from the frame 3. The end effector 1 also comprises a blocking element 7, also known as a “finger”, attached to the frame 3 and arranged to move into a first position wherein the blocking element 7 is provided in a receiving space of the frame 3 and into a second position wherein the blocking element 7 is protruding from the frame 3. Further, the blocking element 7 is arranged to deflect upon application of pressure (onto the blocking element 7) into the first position and to recover into the second position when the pressure is removed.

[0059] Furthermore, the manipulation element 5 shown in Fig. 1 comprises a resilient material (but it may also be made of the resilient material), such as silicone or rubber. In addition, the manipulation element 5 may have a friction coefficient that is higher than a friction coefficient of the frame 3.

[0060] The end effector 1 of Fig. 1 further comprises a blade element 9 that is attached to the frame 3 and arranged for an engagement of the end effector 1 with one or more objects 2 at the same time, but it may also be arranged for an engagement of the end effector 1 with more than one object 2 at the same time. The blade element 9 is attached to the frame 3 at a side of the blocking element 7 facing away from the manipulation element 5. However, in other embodiments, the blade element 9 can be attached to the frame 3 at another side or in any other suitable location. The blade element 9 is arranged to move into a first position and into a second position (indicated by the arrow), wherein in the second position the blade element 9 extends to a position that is further away from the manipulation element 5 than in the first position. Furthermore, the blade element 9 is arranged to deflect upon application of pressure (on the blade element 9 in the direction of the arrow) into the first position of the blade element 9 and to recover into the second position of the blade element 9 when the pressure is removed.

[0061] The blocking element 7 of the end effector 1 shown in Fig. 1 comprises a holding part 8 arranged for holding the object 2.

[0062] As becomes further clear from Fig. 1 , the exemplary end effector 1 illustrated there comprises a plurality of blocking element 7 (preferably three or more), in this case four blocking elements 7. All of the plurality of the blocking elements 7 are arranged to move separately from each other into a first position wherein a blocking element 7 is provided in a receiving space of the frame 3 and into a second position wherein the blocking element 7 is protruding from the frame 3. Each of the blocking elements 7, thus the plurality of blocking elements 7, is arranged to deflect upon application of pressure (onto the blocking element 7) into the first position and to recover into the second position when the pressure is removed.

[0063] In Fig. 1 , the end effector 1 further comprises a pivot axis R for pivoting the blocking element 7 into the first position and the second position. As shown in Fig. 1 , the end effector 1 also comprises an end-stop 15 attached to the frame 3 at the bottom side of the end effector 1 , i.e., the side of the frame 3 facing away from the manipulation element 5. Fig. 2 shows a side view of the end effector 1 of Fig. 1. The pivoting of the blocking element 7 around the pivot axis R is indicated by the arrow. The pivot axis R is arranged such that an end part of the blocking element 7 in the first position is closer to the manipulation element 5 than in the second position. Fig. 2 further shows that the holding part 8 comprised in the blocking element 7 comprises a protrusion 10 extending in a tangential direction T relative to the pivot axis R. The protrusion 10 is intended to facilitate engagement of the end effector 1 with one or more objects to be manipulated. For example, the protrusion 10 of the blocking element 7 may be used to hook one or more objects to be manipulated, when the blocking element 7 is in the second position.

[0064] In the isometric view viewed from below (Fig. 3), it is shown that the end effector 1 further comprises a first biasing element 11 arranged for biasing the blocking element 7 into the second position, wherein the first biasing element 11 is a passive element, preferably a passive element comprising a spring arranged for biasing the blocking element 7 into the second position. The end effector 1 further comprises a second biasing element 13 arranged for biasing the blade element 9 into the second position, wherein the second biasing element 13 is a passive element, preferably a passive element comprising a spring arranged for biasing the blade element 9 into the second position.

[0065] Fig. 3 further shows the frame 3 comprises an attachment arrangement 17 for the attachment of the end effector 1 to the manipulator 201 , wherein the attachment arrangement 17 is provided at the side of the frame 3 facing away from the manipulation element 5. The attachment arrangement 17 is provided at a side of the end-stop 15 facing away from the blade element 9. However, in other embodiments, the attachment arrangement 17 can be provided at a different side of the frame 3 or at another suitable location.

[0066] Fig. 4-6 show three possible sliding primitive strategies (side view). In Fig. 4,

[0067] (a) the blade element 9 of a first end effector 1 is inserted between two objects 2, and

[0068] (b) the first end effector 1 slides a first object 2 of the two objects 2 towards a second end effector 1 , such that the side of the frame 3 facing away from the manipulation element 5 (the back side of the end effector 1) supports the first object 2.

[0069] In Fig. 5, (a) the blade element 9 of a first end effector 1 is inserted between two objects 2, and (b) the first end effector 1 slides a first object 2 of the two objects 2 towards a second end effector 1 , such that the blocking element 7 of the second end effector supports the first object 2.

[0070] In Fig. 6, (a) the blade element 9 of a first end effector 1 is inserted between two objects 2, and (b) the first end effector 1 is rotated, such that the manipulation element 5, made of a resilient material (for example, silicone), of the first end effector faces towards the first object 2. The rotated first end effector 1 and a second end effector 1 , also positioned in such a manner that the manipulation element 5, made of a resilient material (such as silicone), of the second end effector faces towards the first object 2, hold the first object 2 between their respective manipulation elements 5 (which may be or include silicone pads).

[0071] Fig. 7-9 show three possible vertical rotation primitive strategies (top view). In Fig. 7, (a) the blade element 9 of a first end effector 1 is inserted between two objects 2, while a second end effector 1 is positioned on the side facing away from the position where the first end effector 1 is inserted. In (b), the second end effector is moved next to a first object 2 of the two objects 2 and the first end effector 1 rotates the first object 2. In (c), the rotated first object 2 is pushed by the first end effector 1 onto the back side of the second end effector 1 , such that (d) the object 2 is supported by the second end effector 1 and first end effector 1 stabilizes the first object 2 on the second end effector 1.

[0072] In Fig. 8, the blade element 9 of a first end effector 1 is inserted between two objects 2 while a second end effector 1 is positioned on the side facing away from the position where the first end effector 1 is inserted. In (b), the second end effector is moved next to a first object 2 of the two objects 2 and the first end effector 1 rotates the first object 2. As can be seen, the orientation of the first and second end effectors 1 in Fig. 8(a) and (b) are different compared to the orientations of the first and second end effectors 1 shown in Fig. 7(a) and (b). In Fig. 8(c), the rotated first object 2 is pushed by the first end effector 1 against the manipulation element 5 (e.g., a silicone pad) of the second end effector 1 , such that (d) the object 2 is securely held between the manipulation elements 5 (e.g., silicone pads) of the respective first and second end effectors.

[0073] In Fig. 9, (a) an object 2 is rotated around a vertical axis by a first end effector 1 using the friction of the silicone pad of the first end effector 1 , (b) the first end effector 1 pushes the object 2 to the side where a second end effector 1 is positioned, and (c) the second end effector 1 supports the moved object 2 with its back side (thus, the side of the frame 3 facing away from the manipulation element 5) while the first end effector 1 stabilizes the moved object 2.

[0074] Fig. 10-11 show two possible horizontal rotation primitive strategies (side view). In Fig. 10, (a) a first end effector 1 is inserted between two objects 2 and (b) the first end effector 1 tilts the first object 2, (c) while a second end effector 1 catches the first object 2.

[0075] In Fig. 11 , (a) a first end effector 1 pivots an object 2 on the edge with the manipulation element 5 made of the resilient material, such as a silicone pad, and a second end effector 1 catches the object 2.

[0076] In Fig. 12, (a) the blade element 9 of a first end effector 1 is positioned underneath a first object 2 such that (b) the first object 2 is tilted while a while a second end effector 1 is positioned against a side of a second object 2, placed directly adjacent to the first object 2, which side faces away from the first object 2, to prevent that the first and second objects 2 can slide during the positioning of to the first end effector 1 underneath the first object 2. Next, (c) the second end effector 1 is moved to the top side of the first object 2 and (d) the first end effector 1 lifts the first object 2 while the second end effector 1 stabilizes the first object 2 on the first end effector 1.

[0077] Fig. 13 shows a robot setup 200 according to the second aspect of the present disclosure comprising two manipulators 201 , each manipulator 201 having an end effector 1. In such exemplary embodiments, the first and second end effectors 1 are preferably configured such that, when the first and second end effectors 1 are attached to the respective first and second manipulators 201 , the first and second end effectors at least generally mirror each other. In other embodiments, the robot setup 200 may include one, three or more manipulators 201 having an end effector 1 attached thereto.

[0078] Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the present disclosure, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope thereof.

[0079] The foregoing description provides embodiments of the present disclosure by way of example only. The scope of the present disclosure is defined by the appended claims. One or more of the objects of the present disclosure are achieved by the appended claims.

Claims

CLAIMS1. An end effector (1) comprising: a frame (3) arranged for attaching the end effector (1) to a manipulator (201), such as an arm of a robot setup (200); a blocking element (7) attached to the frame (3) and arranged to move into a first position wherein the blocking element (7) is provided in a receiving space of the frame (3) and into a second position wherein the blocking element (7) is protruding from the frame (3).

2. The end effector (1) according to claim 1 , further comprising a manipulation element (5) attached to the frame (3), wherein the manipulation element (5) is provided with a manipulation surface at a side of the manipulation element facing away from the frame, preferably wherein the manipulation surface is resilient.

3. The end effector (1) according to claim 2, wherein the manipulation element (5) comprises a resilient material or is made of a resilient material, such as silicone or rubber.

4. The end effector (1) according to claim 2 or 3, wherein a friction coefficient of the manipulation element (5) is higher than a friction coefficient of the frame (3).5 . The end effector (1) according to any one of the preceding claims, wherein the blocking element (7) is arranged to deflect upon application of pressure into the first position and to recover into the second position when the pressure is removed.

6. The end effector (1) according to any one of the preceding claims, wherein the end effector (1) comprises a first biasing element (11) arranged for biasing the blocking element (7) into the second position.

7. The end effector (1) according to claim 6, wherein the first biasing element (11) is a passive element, preferably a passive element comprising a spring arranged for biasing the blocking element (7) into the second position.

8. The end effector (1) according to any one of the preceding claims, wherein the end effector (1) comprises a pivot axis (R) for pivoting the blocking element (7) into the first position and the second position.

9. The end effector (1) according to claim 8, wherein the pivot axis (R) is arranged such that an end part of the blocking element (7) in the first position is closer to the frame (3) than in the second position.

10. The end effector (1) according to any one of the claims 1 to 8, wherein an end part of the blocking element (7) comprises a holding part (8) arranged for holding the object (2), preferably wherein the holding part (8) comprises a protrusion (10) extending in a tangential direction (T) relative to the pivot axis (R).

11. The end effector (1) according to any one of the preceding claims, wherein the end effector (1) comprises a plurality of the blocking elements (7), preferably three or more blocking elements (7).

12. The end effector (1) according to claim 11 , wherein at least two, and preferably all, of the plurality of the blocking elements (7) are arranged to move separately from each other into a first position wherein a blocking element (7) is provided in a receiving space of the frame (3) and into a second position wherein the blocking element (7) is protruding from the frame (3).

13. The end effector (1) according to claim 11 or 12, wherein at least two, and preferably all, of the plurality of the blocking elements (7) are arranged to deflect upon application of pressure into the first position and to recover into the second position when the pressure is removed.

14. The end effector (1) according to any one of the preceding claims, further comprising a blade element (9) attached to the frame (3) and arranged for an engagement of the end effector (1) with one or more objects (2) or with more than one object (2) at the same time.

15. The end effector (1) according to claim 14, wherein the blade element (9) is arranged to move into a first position and into a second position, wherein in the second position the blade element (9) extends to a position that is further away from the frame (3) than in the first position.

16. The end effector (1) according to claim 15, wherein the blade element (9) is arranged to deflect upon application of pressure into the first position of the blade element (9) and to recover into the second position of the blade element (9) when the pressure is removed.

17. The end effector (1) according to any one of the claims 14 to 16, wherein the end effector (1) comprises a second biasing element (13) arranged for biasing the blade element (9) into the second position.

18. The end effector (1) according to claim 17, wherein the second biasing element (13) is a passive element, preferably a passive element comprising a spring arranged for biasing the blade element (9) into the second position.

19. The end effector (1) according to any one of the preceding claims, wherein the end effector (1) comprises an end-stop (15) attached to the frame (3), preferably at a side of the frame (3) facing away from the manipulation element (5).

20. The end effector (1) according to any one of the preceding claims, wherein the frame (3) comprises an attachment arrangement (17) for the attachment of the end effector (1) to the manipulator (201), preferably wherein the attachment arrangement (17) is provided at the side of the frame (3) facing away from the manipulation element (5).

21. The end effector (1) according to claim 20, when dependent on claim 19, wherein the attachment arrangement (17) is provided at a side of the end-stop (15) facing away from the blade element (9).

22. The end effector (1) according any one of the claims 14 to 21 , wherein the blade element (9) is attached to the frame (3) at a side of the blocking element (7) facing away from the manipulation element (5).

23. A robot setup (200) comprising one or more, preferably two, manipulators (201), each manipulator (201) having an end effector (1) according to any one of the preceding claims.

24. Use of an end effector (1) according to any one of the claims 1 to 22 for moving and / or manipulating an object (2).

25. Use of the end effector (1) according to claim 24, wherein, during manipulating, the object (2) slides in a horizontal direction, is lifted, rotates about a horizontal virtual axis and / or rotates about a vertical virtual axis.

26. Use of the end effector (1) according to claim 24 or 25, wherein manipulating the object (2) comprises engaging the object (2) to be manipulated with a blocking element (7), a blade element (9), and / or manipulation surface of the end effector (1).

27. Use of the end effector according to any one of the claims 24 to 26, wherein manipulating the object (2) comprises engaging the object (2) to be manipulated with at least two blocking elements (7) of the end effector (1), and wherein engaging comprises moving at least one of the blocking elements (7) between the second position and the first position while at least one other blocking element (7) of the at least two blocking elements (7) is in the second position.

28. Use according to any one of the claims 24 to 27 and further using a second end effector (1) according to any one of the claims 1 to 22, wherein manipulating the object (2) further comprises engaging the object (2) to be manipulated with a blocking element (7), a blade element (9), and / or manipulation surface of the second end effector (1).

29. Use according to any one of the claims 24 to 27 and further using a second end effector (1) according to any one of the claims 1 to 22, wherein, during manipulating, the object (2) to be manipulated is pressed, by the first end effector (1), against the manipulation surface of the second end effector (1), the blocking element (7) of the second end effector (1) and / or the blade element (9) of the second end effector (1).

30. Use according to claim 29, wherein at least one blocking element (7) of the second end effector (1) is in the second position.

31. Use according to any one of the claims 28 to 30 using a second end effector(1) according to claim 17, wherein, during manipulating, the object (2) to be manipulated is pressed, by the first end effector (1), against the end-stop (15) of the second end effector (1).

32. Use of a plurality of end effectors (1) according to any one of the claims 1 to 22 for moving and / or manipulating a plurality of objects (2), at the same time.

33. Use according to claim 32, wherein, during manipulating, at least two of the plurality of objects (2) slide in a horizontal direction, are shifted, lifted, rotate about a horizontal virtual axis and / or rotate about a vertical virtual axis, at the same time.

34. Use according to claim 32 or 33, wherein manipulating the plurality of objects(2) comprises engaging a first object (2) to be manipulated with a blocking element (7), a blade element (9), and / or manipulation surface of a first end effector (1) and engaging a second object (2) to be manipulated with a blocking element (7), a blade element (9), and / or manipulation surface of a second end effector (1).

35. Use according to claim 34, wherein at least one blocking element (7) of the first or the second end effector (1) is in the second position.

36. Use according to any one of the claims 32 to 35, wherein, during manipulating, the plurality of objects (2) to be manipulated are pressed between a first end effector (1), and a second end effector (1).

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