End effector for a handling robot, and handling robot provided therewith

Abstract

The present application relates to an end effector for a handling robot and to a handling robot provided with the end effector, in particular but not limited for use in controlled environments such as isolators or clean rooms.

Description

[0001] P24-257

[0002] - 1 -

[0003] END EFFECTOR FOR A HANDLING ROBOT, AND HANDLING ROBOT PROVIDED THEREWITH

[0004] 5 Technical Field

[0005] The present application relates to an end effector for a handling robot and to a handling robot provided with the end effector, in particular but not limited for use in controlled environments such as isolators or clean rooms.

[0006] 10

[0007] Background

[0008] 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 of containers or consumables, more specifically the handling and / or 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.

[0009] The term "container" is to be understood in the context of this disclosure to refer to

[0010] 25 various receptacles for liquids in the above context of testing independent from the 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.

[0011] 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 automatized processes.

[0012] Nevertheless, the automation of a process requires a significant level of investment and

[0013] 35 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 seek solutions that are less costly and / or require less room or footprint P24-257

[0014] - 2 - and / orare more easily implemented to automate certain - up now predominantly manual - processes or parts thereof.

[0015] The automatization of these processes is problematic as pharmaceutical processes are

[0016] 5 often conducted in highly controlled environments such as cleanrooms or isolators or RABS to reduce the risk of contamination and ensure quality of the products. This kind of automation, however, requires specific and costly equipment.

[0017] The devices used in such environments must be specifically designed in orderto limit their

[0018] 10 impact on their environment (limit particle emission, use of specific materials, for example) and at the same time to be compatible with the decontamination methods used in such environments. In fact, to guarantee the targeted Good Manufacturing Process - GMP class (most of the time grade A or B) isolators / clean rooms are decontaminated at regular intervals or steps of a respective process.

[0019] This decontamination can be performed manually (by wiping, spraying) or with automatized methods (mainly with gas / vapor solutions such as Vaporized Hydrogen Peroxide - VHP, Peracetic Acid - PAA etc.).

[0020] The current Gold standard for automatized decontamination in such environments is the application of vaporized hydrogen peroxide (VHP). This solution enables to achieve a surface sterilization (reduction of 6-log) and provides many further advantages (rather short cycle duration, good coverage of all the surfaces, low temperature etc.).

[0021] 25 However, this solution is not compatible with all materials and devices (hydrogen peroxide is highly corrosive, degradation of electronic devices is at risk if not properly sealed). In consequence, all the devices within isolators / cleanrooms where such decontamination solutions are implemented and used must he carefully chosen.

[0022] On the market, two categories of automated handling devices can be distinguished:

[0023] - a universal robot with a specialized end effector at a distal end portion of a movable arm that is able to grip the container cap or other elements and manipulate them according to a programmed schedule, and

[0024] - systems with a dedicated management station with specialized end effectors to

[0025] 35 handle the steps and manipulations on the cap or other elements necessary for a particular process. While this solution is less flexible, it allows a greater throughput. P24-257

[0026] - 3 -

[0027] At the moment, several handling robots have been designed in order to work in such controlled environments and are compatible with GMP classes and typical automatized decontamination solutions. However, to perform the respective tasks, these robots need to be equipped with appropriate end effectors that are also compatible with such

[0028] 5 environmental conditions.

[0029] On the market, mainly two categories can he distinguished:

[0030] - Grippers designed to eject no or only few particles. Such devices typically are compatible with isolator / cleanroom GMB grade B but have a design with complex

[0031] 10 shapes, gaps, apparent screws and are thus often not fully compatible because of the potential retention areas. In fact, with these designs, decontamination is challenging and it is hard to guarantee extensive decontamination by typical automated means; and

[0032] - end-effectors with a protective cover that separates or shields a driving mechanism from the environment. These concepts provide grippers that are not emitting particles in the environment, protect the sensible parts of the gripper from the decontamination agent and at the same time reduce potential retention areas. The protective cover of this kind of gripper is typically an elastic, deformable material like silicon to enable the movement of the fingers actuated by electric or pneumatic actuators that create and directly mechanically transmit the motion to the fingers through the cover.

[0033] An article by A. Petterson et al., entitled "A hygienical ly designed force gripper for flexible handling of variable and easily damaged natural food products", in "Innovative Food

[0034] 25 Science and Emerging Technologies", 12 (2011) 344-351 (www.elsevier.com / locate / ifset), discloses a force-sensing robot gripper used for flexible production in the food handling domain. The gripper has an actuator mechanism fully encapsulated in a housing and a pair of gripper arms provided on an outside of the housing. While one of the gripper arms is fixed to the housing and is stationary, the other gripper arm is slidingly supported along a dry linear bearing surface on the outside of the housing to approach or recede from the stationary gripper arm, wherein the reciprocating linear motion of the actuator mechanism is transmitted through the wall of the housing by a magnet coupling to induce the closing / opening force and motion of the movable gripper arm. Decontamination is performed with hot water and ethanol.

[0035] 35

[0036] US 2023 / 0256621 Al discloses a robot hand which may be detached by a simpler mechanism, and a robot including the robot hand, with the robot hand including a P24-257

[0037] - 4 - gripping part configured to grip a target object, and a mounting part configured to mount the gripping part to a mounted part of the robot. The robot hand may further include a transmission part that includes a magnetic coupling mechanism, and the transmission part may be configured to transmit a driving force of a motor to the gripping part through the

[0038] 5 magnetic coupling mechanism.

[0039] US 2022 / 0219335 Al discloses a gripping apparatus having a base body and a plurality of gripping arms arranged on the base body so as to be distributed about a center axis. The gripping arms can be driven to carry out a gripping arm pivoting movement in order to

[0040] 10 grip or release an object.

[0041] Currently, there exist only a few end-effectors for handling robots that can be fully decontaminated using conventional automatized means (i.e. gas contamination) in isolators / cleanrooms without requiring human intervention. Some constructions provide solutions that are compatible with gas decontamination and provide a design that is limiting the emission of particles. However, most of them have complex designs and shapes that create retention areas that cannot be easily and securely decontaminated by automatized means.

[0042] Other solutions have less complex exposed shapes by using a protective cover in order to reduce retention zones and emission of particles. These solutions cannot completely reduce the risk of contamination as a certain retention area remains at the interface between the finger and the inside of the cover and the effectors are difficult to maintain and service. In particular the fingers of the end effector must be manually removed by

[0043] 25 intervention of an operator and put into an autoclave.

[0044] Another deficiency of existing designs is their lack of flexibility. Due to the environmental constraints most of these end effectors have a design that limits the stroke length and freedom of movement that restricts handling of objects of different size and shape. In consequence, a handling robot equipped with such end effectors will only be capable of performing specific tasks or kinds of tasks. Due to the limited access to the cleanroom environment to exchange end effectors on a particular robot for setting it up for a different task, several robots would be implemented in the same cleanroom for coping with the range of tasks that might be performed by a single robot if a more flexible end

[0045] 35 effector were available. Apart from the limited space available in such environments, such duplication of equipment can have a significant impact on cost. P24-257

[0046] - 5 -

[0047] It is thus an object of the present application to provide an end effector for a handling robot that can be fully and reliably decontaminated, in particular using conventional automatized equipment, without requiring human intervention, and that enhances the flexibility of tasks that can be performed by a robot.

[0048] 5

[0049] Summary

[0050] According to the present application this object is solved by providing an end effector for

[0051] 10 a handling robot with the features of claim 1, and a handling robot provided with the end effector with the features of claim 15. Preferred embodiments are defined in the dependent claims.

[0052] The present application in particular provides an end effector for a handling robot, the end effector comprising:

[0053] (i) an actuator / driving mechanism for effecting a desired motion of one or more drivers along a defined path;

[0054] (ii) an effector mechanism with two or more effector elements configured to engage with an (external handling) object by moving relative to each other, the effector mechanism separated from the actuator / driving mechanism by a sealing interface without being in direct mechanical contact with the actuator / driving mechanism; and

[0055] (iii) a coupling for generating a magnetic attracting force that can adhere the effector mechanism to the sealing interface and can transfer motion of the one or more

[0056] 25 drivers of the actuator / driving mechanism to one or more of the effector elements of the effector mechanism through the sealing interface such that the one or more of the effector elements replicate the motion along the defined path; wherein the two or more effector elements are mechanically engaged with each other to define their relative motion at least to / along the defined path.

[0057] The end-effector as defined herein can be used with a handling robot in controlled environments such as isolators or clean rooms and or in particularly dirty or hazardous environments as it is designed to be easily and fully decontaminated and cleaned by common automatic decontamination means and to eject a minimum of particles due to

[0058] 35 its design with a removable and disposable external part (the effector mechanism), which is in contact with the external object to be handled, and a sealed part containing the actuator mechanism. P24-257

[0059] - 6 -

[0060] The physical separation of the effector mechanism from the actuator / driving mechanism through the sealing interface, and the "wireless" (i.e. without direct mechanical contact) driving connection between the two by the magnetic force created by the coupling

[0061] 5 provide the advantage that the effector mechanism as such can be easily removed and reattached for cleaning / decontamination / sterilisation purposes by any conventional automatized means, or facilitate setting up and configuring the robot for a different handling task. The sealing interface can be a smooth or plain continuous surface without recesses or protrusions which avoids potential retention areas that can promote

[0062] 10 contamination. The exchange of the effector mechanism against the magnetic force can be performed using the moving capabilities of the robot and does not require human intervention. As the effector mechanism can easily be completely replaced and implements / requires only a relatively simple mechanical engagement between its effector elements, it can be designed as a comparatively simple component, for example primarily of plastic material with a magnetic or ferromagnetic part, and can thus even be designed as a single-use, disposable element if decontamination is not possible or not ecologic or economic.

[0063] The mechanical engagement of the two or more effector elements binds the effector elements (for example in the form of jaws) together in order to compensate / absorb moments (during gripping phases or due to friction on the sealing interface or deviations of a driving force from the moving direction of the effector elements) and helps maintaining the integrity of the effector mechanism assembly and a defined repeatable moving action.

[0064] 25

[0065] Preferably, the defined path for the movement of the two or more effector elements includes a linear and / or a curved section and can be defined by the moving capabilities of the actuator / driving mechanism moving the magnet(s) and the magnetic field(s) it / they create(s). Thus, even complex gripping or handling tasks can be implemented by the effector mechanism provided its effector elements can replicate the movement on the outside of the sealing interface following the movement of the magnetic field(s) of the driver(s).

[0066] In order to further facilitate decontamination, the outside of the sealing interface to which

[0067] 35 the effector mechanism is attached and held by the magnetic force may comprise a flat, smooth / polished contact bearing surface supporting a sliding movement of the effector elements of the effector mechanism on the bearing surface. The smooth / polished surface P24-257

[0068] - 7 - minimizes the friction between moving parts, i.e. of the effector elements on the bearing surface.

[0069] Preferably, the effector elements are in the form of movable jaws that are engaged with

[0070] 5 each other to perform the gripping action relative to the external objects to be handled in a defined, repeatable manner between closed and open positions.

[0071] The effector mechanism may comprise fingers removably attached to one or more of the effector elements, the fingers adapted and configured to provide a particular mechanical

[0072] 10 interaction with the object, preferably a gripping interaction. The removable attachment of the fingers to the effector elements, preferably in a plurality of predefined attachment positions, provides a simple measure to adapt the effector mechanism to different handling tasks, for example to allow the gripping of different sizes of containers to be handled, using the same or a small number of different components. Further, the possibility to remove the fingers from the effector elements provides the possibility to potentially reuse certain parts that can be decontaminated and dispose of parts that cannot be reused or decontaminated, thus reducing the amount of waste and / or decontamination load.

[0073] The effector mechanism may comprise a mechanical alignment structure mating with a corresponding mechanical alignment structure of a housing of the actuator / driving mechanism for positioning the effector mechanism in a predetermined pairing position on the sealing interface. Such alignment structure could be implemented by a protrusion, recess, edge or border formed on the effector mechanism that can be aligned with an

[0074] 25 edge or recess or surface on the housing of the actuator / driving mechanism to aid accurate relative positioning of the effector mechanism with the actuator / driving mechanism during some or all phases of operation (pairing, operation, ejection) without human intervention.

[0075] The (magnetic) coupling may be configured such that it can be switched from a pairing state, in which the magnetic attracting force acting between the effector mechanism and the actuator / driving mechanism is somewhat reduced (or is completely switched off as in the case of an electromagnet), to a locked state, in which the magnetic attracting force fully acts to adhere the effector mechanism to the sealing interface. This provides a

[0076] 35 possibility to properly align the effector mechanism with the actuator / driving mechanism in a predefined relative position in an approach phase where the magnetic field does not disturb the pairing. The "switching" of the coupling can be implemented by controlling an P24-257

[0077] - 8 - electric current supplied to an electromagnet (i.e. its coil) or by moving the one or more drivers of the actuator / driving mechanism supporting permanent magnets to a predetermined defined standby position (first position) so that the strength of the magnetic field acting on the effector elements is sufficiently reduced to not influence the

[0078] 5 proper positioning, for example, by moving the actuator / driving mechanism away from the sealing interface.

[0079] The same concept may be utilized in principle to actively eject and separate the effector mechanism from the actuator / driving mechanism without human intervention in that the

[0080] 10 coupling is configured such that it can be switched from a / the locked state, in which the magnetic attracting force acts to adhere the effector mechanism to the sealing interface, to a repulsion state, in which a repulsive magnetic force acts to separate the effector mechanism from the sealing interface. Thus, the exchange of the effector mechanism can be fully automated and does not require human intervention or physical assistance. Here, too, as in the case of the pairing mode described above, the coupling can be switched from the locked state to the repulsion state by moving the one or more drivers of the actuator / driving mechanism to a predetermined (second) position where the magnet of the driver has a repulsive effect on a counterpart magnet in the effector mechanism.

[0081] As described above the magnetic coupling may comprise one or more permanent magnets or electromagnets attached to the one or more drivers, and, as a counterpart for creating the magnetic attraction or repulsive force, one or more permanent magnets or ferromagnetic elements attached to the one or more effector elements. Permanent magnets (with identical polarity on the side facing the driver magnet) on the side of the

[0082] 25 effector elements are necessary if the rejection function is to be implemented.

[0083] The permanent magnets or ferromagnetic elements may be integrated into the effector elements (for example in the form of jaws) so that they may be separated after use in cases where the main body of the effector elements is to be disposed to waste after use and is thus preferably made of plastic material or equivalent. The effector elements may, for example, be manufactured by injection molding the plastic material around the magnet / ferromagnetic element as an insert. In an alternative structure, the jaws (effector elements) may be formed with a compartment for receiving the magnet or ferromagnetic material. The material of the jaws may moreover be selected with a view to minimizing

[0084] 35 the friction during the sliding motion of the effector elements on the bearing surface of the sealing interface. P24-257

[0085] - 9 -

[0086] Prefera bly, the actuator mechanism is encapsulated in a substantially completely sealed housing comprising the sealing interface to which the effector mechanism is to be attached by the magnetic coupling formed by a face of the housing exposed to an outside, wherein the housing is preferably resistant to a contamination treatment. The complete

[0087] 5 encapsulation in the housing protects the actuator mechanism and its moving components from any contamination. Additionally, complete encapsulation aids in reducing or at best completely avoiding the emission of particles from the actuator mechanism. To facilitate the decontamination of the housing preferably all of its exposed surfaces are smooth and plain. In the example the sealing interface and bearing surface is

[0088] 10 the frontal face of the housing perpendicular to a longitudinal axis of the arm of the robot. It is possible, however, to use other faces of the housing, for example the peripheral faces, as the bearing surface instead or in addition.

[0089] Preferably, the actuator / driving mechanism is configured to be releasably coupled to an arm of a handling robot, and such coupling may be in particular implemented in that the housing is configured to be connected with the arm of the handling robot with a sealed connection, preferably a connection that is also resistant to the contamination treatment.

[0090] The present application finally in particular also provides a handling robot comprising an end effector as defined herein connected with a movable arm of the handling robot. The handling robot may be a universal robot where the end effector is typically mounted at a distal end portion of the movable arm and may move according to a freely programmed schedule, or may be a dedicated handling station with a specialized end effector for handling the steps and manipulations necessary (only) for a particular process.

[0091] 25

[0092] Whereas the present end effector is described with its advantages for use in controlled environments such as isolators or clean rooms, it may be also applied in an advantageous manner for particularly dirty or hazardous environments where ingress of material like dust or contaminants into an actuator mechanism of a robot is to be avoided and simple exchange and disposal of end effectors without human intervention is desired.

[0093] In a preferred aspect the effector mechanism comprises two effector elements (generally also no more than two effector elements), each of these comprising a finger attached thereto, with the two effector elements configured to engage with an external object to

[0094] 35 be gripped / handled by moving relative to each other on an essentially linear path between an open and a closed position. Preferably, the effector elements have an essentially rectangular shape (i.e. having opposing sides of the same length, preferably P24-257

[0095] - 10 - with the longer sides being aligned with the direction of movement of the effector elements) or a square shape. For mechanical alignment with each other and with the housing, particularly the sealing surface of the housing, of the end effector the effector element comprises several borders in the form of rims or edges or protrusions protruding

[0096] 5 from the effector elements beyond a plane of contact with the sealing surface of the housing of the end effector, so as to be able to abut the lateral faces of the housing in a defined, preferably the closed, state of the effector mechanism. Each of the two effector elements further comprises a guiding structure comprising an elongated protruding ridge formed along one side of the one effector element with a preferably L-shaped cross

[0097] 10 section that is inserted into a mating groove formed in the confronting overlapping side of the other effector element so as to ensure that the two effector elements always move in a parallel alignment.

[0098] Brief description of the drawings

[0099] Preferred embodiments will be described below by reference to the attached exemplary and schematic, non-limiting drawing:

[0100] Figure 1 is a perspective view of a universal handling robot with an end effector attached to a leading end of an arm (only a housing of an actuator / driving mechanism is shown and an effector mechanism is not attached).

[0101] Figure 2 is a perspective view of the universal handling robot of Figure 1 with an effector

[0102] 25 mechanism attached to the housing of the actuator / driving mechanism and in a closed gripping position.

[0103] Figure 3 is a perspective view of the universal handling robot of Figure 1 with an effector mechanism attached to the housing of the actuator / driving mechanism and in an open gripping position.

[0104] Figure 4 is a perspective view of the actuator / driving mechanism of the universal handling robot of Figure 1 with the housing removed and implemented with a rack / pinion mechanism.

[0105] 35 P24-257

[0106] - 11 -

[0107] Detailed description

[0108] An example of a universal handling robot with an end effector as defined herein attached to a leading end of an articulated arm 11 of the robot 10 is shown in Figures 1 to 4.

[0109] 5

[0110] The end effector 1 for the handling robot 10 generally comprises an actuator / driving mechanism 7 for effecting a desired motion of one or more drivers 7a, 7b along a defined path, and an effector mechanism 4 with two or more effector elements 4a, 4b configured to engage with an external object to be gripped / handled by moving relative to each other

[0111] 10 between an open and a closed position. The effector mechanism 4 is structurally separated from the actuator / driving mechanism 7 by a sealing interface 2 interposed in between so as to prevent direct mechanical contact with the actuator / driving mechanism 7 and its drivers 7a, 7b. In Figure 1 onlythe sealed housing 3 of the end effector 1 is shown, in which the actuator / driving mechanism 7 is accommodated and encapsulated and the effector mechanism is not attached to the sealing interface 2.

[0112] The housing 3 in the example has a cuboid box-like shape with a preferably uninterrupted smooth or plain front face 3a facing away from the robot arm 11, and plain or smooth lateral or peripheral faces 3b. A rear side is formed by a base plate 3c that converges toward a sealed connection or connector 12 removably coupling the actuator / driving mechanism (more specifically the base plate of the housing) with the arm 11 of the robot so that the housing 3 may be spatially moved together with the arm 11. The movability and moving range is thus determined by the various (perpendicular) rotation axes of the arms 11,12,13 of the robot 10. Although not shown, the arms of the robot may also

[0113] 25 include linear movability in addition to rotation. The housing 3 and the connection or connector 12 is / are resistant to the contamination treatments described above in the introductory portion in that the material is selected properly, for example inox / stainless steel, the surfaces are continuous and rounded and avoid recesses or sharp protrusions and any joints or connections are sealed.

[0114] Otherwise, the shape of the housing 3 is not particularly relevant for the present purpose as long as the sealing interface 2 defines a smooth, flat bearing surface 2a as described below for slidably supporting the effector elements and as long as there are preferably suitable alignment structures for aiding the positioning the effector mechanism 4 on the

[0115] 35 bearing surface in a pairing process. P24-257

[0116] - 12 -

[0117] The end effector 1 further comprises a coupling for generating a magnetic attracting force that can adhere and hold the effector mechanism 4 to the sealing interface 2 and can transfer motion of the one or more drivers 7a, 7b of the actuator / driving mechanism 7 to one or more of the effector elements 4a, 4b of the effector mechanism 4 through the

[0118] 5 sealing interface 2 such that the one or more of the effector elements 4a, 4b replicate the motion of the drivers 7a, 7b along the defined path while sliding on the flat, smooth / polished contact bearing surface 2a supporting the sliding movement of the effector elements 4a, 4b of the effector mechanism 4.

[0119] 10 As shown in Figures 2 and 3 the two (or more) effector elements 4a, 4b are made in the form of a pair of movable jaws that are mechanically engaged with each other to combine them into a working assembly and define their relative motion at least to / along the defined path of the associated driver. In the example, the motion is a relative linear reciprocating motion of both elements parallel to each other and the guiding structure 4c comprises an elongated protruding ridge formed along one side of the first effector element 4a that has an L-shaped cross section and that is inserted into a mating groove formed in the confronting overlapping side of the second effector element 4b (but is not visible in Figure 3) so as to bind the elements together and guide the relative parallel movement of the elements in the direction of the ridge / groove but to prevent a movement in the perpendicular direction that would separate the elements from each other within the plane parallel to the plane of the sealing interface 2. Thus, the elements are forced to move in parallel and towards and away from each other in opening and closing directions even if a driving force induced from the moving drivers through the magnetic interaction is not perfectly aligned with the parallel direction. Further, as long

[0120] 25 as the effector elements are attracted to the sealing interface, they would not tend to disintegrate from their mutual engagement.

[0121] The effector mechanism 4 comprises fingers 5a, 5b removably attached to one or more of the effector elements 4a, 4. These fingers 5a, 5b are customizable according to a desired task so as to be adapted to provide a particular mechanical interaction with the external object to be handled, preferably a gripping interaction. As shown in the example, the jaws (effector elements) may respectively be provided with a number of holes 6 that allow removable insertion of the fingers in different positions, for example to adapt the end effector to containers of different size / width. The shape, number and arrangement can

[0122] 35 be chosen according to the need. The fingers can be made from the same material as the effector elements or from a different material. They may also be integrally formed with the jaws (effector elements). P24-257

[0123] - 13 -

[0124] As shown in Figures 2 and 3 the effector mechanism 4 comprises a mechanical alignment structure mating with a corresponding mechanical alignment structure of the housing 3 of the actuator / driving mechanism 7 for positioning the effector mechanism in a

[0125] 5 predetermined pairing position on the sealing interface ("pairing feature"). The mechanical alignment structure in the example comprises several borders in the form of rims or edges or protrusions 6a, 6b protruding from the effector elements 4a, 4b beyond a plane of contact with the sealing interface or bearing surface 2a so as to be able to abut against the lateral faces 3b of the housing 3 in a defined state of the effector mechanism.

[0126] 10 In this example this is the closed state as shown in Figure 2 and this state may serve as a pairing state serving to properly align and position the removable effector mechanism on the bearing surface 2a in perpendicular directions of the bearing surface. While the lateral borders 6a limit and define the lateral position, the borders 6b limit and define the position perpendicular thereto and also serve to guide the opening / closing motion together with the guiding structure 4c coupling the jaws (effector elements) together.

[0127] The Figure 4 shows the details of one possible implementation of the actuator / driving mechanism 7 using a rack / pinion mechanism after the housing 3 is removed and the base plate 3c is exposed. This mechanism comprises a pinion 8a rotatable by an electric motor and a pair of racks 8b meshing with the pinion 8a on opposite sides about its diameter and supported for a linear movement on rails 8c mounted on the base plate 3c. Each rack 8b is provided with a driver 7a, 7b such that the drivers are reciprocatingly moved in opposite linear directions together with the respective rack when the pinion is rotated clockwise or counter-clockwise. Each driver 7a, 7b supports a pair of magnets 9a, 9b

[0128] 25 arranged such that the sides facing the sealing interface have opposite polarity. These magnets thus respectively produce a magnetic field that may interact with a counterpart magnet 9c, 9d or ferromagnetic material (not shown in Figure 4, but in Figures 2 and 3) mounted to the effector elements such that the effector elements are first of all attracted towards the magnets through the sealing interface and are thus adhered to the sealing interface 2 and will second follow and thus replicate the movement of the drivers while sliding on the bearing surface of the interface.

[0129] The permanent magnets or ferromagnetic elements 9c, 9d may be integrated into the jaws (effector elements) so that they may be easily separated after use in cases where the

[0130] 35 effector elements are disposed to waste and are thus made of plastic material or equivalent. The effector elements may, for example, be manufactured by injection molding plastic material around the magnet as an insert. In an alternative structure the P24-257

[0131] - 14 - jaws (effector elements) may be formed with a compartment 4d (see Figure 2) for removably receiving the magnet 9c, 9d or ferromagnetic material. The material of the jaws 4a, 4b may moreover be selected with a view to minimizing the friction during the sliding motion of the effector elements relative to each other and on the bearing surface 2a of

[0132] 5 the sealing interface 2.

[0133] While permanent magnets are used in the example, it is of course possible to use electromagnets with a coil and preferably a ferromagnetic core instead. Using electromagnets has the advantage that they can be selectively activated / deactivated or

[0134] 10 modulated to change the polarity and strength of the magnetic force as needed. If permanent magnets are used, the strength of the magnetic field and the effective polarity can be modulated by changing the position of the drivers while the movement of the effector elements is restricted. As the effector elements are provided with the borders, they may not follow the motion of the drivers beyond a certain position so that - if the drivers are moved further -the magnetic force acting on the effector element will become weaker. Also, if the pair of magnets with opposite polarity are provided on the driver as described above, the magnetic force will - depending on the positional relation with the magnet of the effector element - either produce an attracting force or a repulsive force. This can be used to actively eject the effector mechanism from the sealing interface at a defined position of the drivers where the effector elements are prevented from following the movement of the drivers in a dedicated ejection position.

[0135] Whereas both effector elements may be movable towards and away from each other simultaneously by the use of two movable drivers and two movable effector elements (as

[0136] 25 shown in the example), it is possible to fix one of the effector elements in position and move only the other effector element towards and away from the fixed element. Thus, a single movable driver may be sufficient and the magnetic coupling may comprise one or more permanent magnets or electromagnets attached to the single driver, and one permanent magnet or ferromagnetic element attached to the one effector element.

[0137] It is remarked that numerous alternatives for implementing the actuator / driving mechanism 7 for producing the opening / closing motion of the effector elements via the drivers are available and may comprise mechanisms producing a reciprocating linear motion (as in the example) but using hydraulic or pneumatic or electrical linear actuators,

[0138] 35 a scissors-like pivoting motion, or a curved or rotary motion. It is sufficient in any case that the actuator / driving mechanism creates a suitable movement of drivers that may be P24-257

[0139] - 15 - transmitted (through the magnetic interaction) to the external effector elements to effect the desired handling, preferably gripping action.

[0140] Using the above concepts considering the borders limiting the movement of the effector

[0141] 5 elements and the position / polarity of the magnets on the drivers and the effector elements the coupling may be configured such that it can be switched from a pairing state, in which the magnetic attracting force acting between the effector mechanism and the actuator / driving mechanism is reduced, to a locked state, in which the magnetic attracting force acts to adhere the effector mechanism to the sealing interface. In particular and as

[0142] 10 shown in the example, the coupling may be switched from the pairing state to the locked state by moving the one or more drivers of the actuator / driving mechanism to a predetermined first position.

[0143] Further, the coupling may be configured such that it can be switched from a / the locked state, in which the magnetic attracting force acts to adhere the effector mechanism to the sealing interface, to a repulsion state, in which a repulsive force acts to separate the effector mechanism from the sealing interface ("ejection feature"). In particular and as shown in the example, the coupling may be switched from the locked state to the repulsion state by moving the one or more drivers of the actuator / driving mechanism to a predetermined second position (while the effector elements are prevented from following the movement so that the magnetic field of same polarity of the second magnet of the driver may act on the magnetic field of the magnet of the effector element).

[0144] Of course, the aforementioned processes may be implemented by electromagnets on the

[0145] 25 side of the driver that can be selectively supplied with direct current of desired polarity to switch between an attraction force and a repulsive force acting on the magnetic field produced by the (permanent) magnet of the effector element as needed.

[0146] The magnets should be chosen and positioned on the drivers and effector elements with a view to minimizing the distances between them to reduce the effects of friction, diminution of the magnetic field intensity and maximation of the clamping strength.

[0147] In an exemplary and non-limiting use scenario of a robot provided with the end effector as defined herein in an isolator the robot is equipped with the actuator / driving

[0148] 35 mechanism of the end effector encapsulated in the housing attached to the leading end of the robot arm. Adjacent to the robot and within its motion range is a storage section or magazine (for example within the isolator) holding a number of effector mechanisms P24-257

[0149] - 16 - of the end effector (with fingers of different configuration, for example, in order to be able to grip and handle different items in another section within the motion range of the robot). The robot may now selectively move to the storage section to pair the actuator / driving mechanism with a selected one of the effector mechanisms utilizing the

[0150] 5 magnetic coupling being brought from a pairing state into the locked state to adhere the effector mechanism to the sealing interface. After a handling task is completed, the robot may either return the effector mechanisms to the storage section or may discard it to waste. In that the magnetic coupling is brought from the locked state into the repulsion state, the effector mechanisms can be actively ejected away and separated from the

[0151] 10 sealing interface.

[0152] In another exemplary and non-limiting use scenario, the effector mechanism as the disposable part of the end effector is not placed in a storage section or magazine within an isolator but comes directly in a package with a number of items to be handled. As before, the robot first of all couples the actuator / driving mechanism with the effector mechanisms in the packaging utilizing the magnetic coupling being brought into the locked state to adhere the effector mechanism to the sealing interface. After a handling task is completed and all of the items in the packaging are processed, the robot may return the effector mechanism to the packaging or may discard it to waste in that the arm is

[0153] 20 moved to the desired location and the magnetic coupling is brought into the repulsion state.

Claims

P24-257- 17 -Claims1. An end effector (1) for a handling robot (10) , the end effector (1) comprising:(1) an actuator / driving mechanism (7) for effecting a desired motion of one or5 more drivers (7a, 7b) along a defined path;(ii) an effector mechanism (4) with two or more effector elements (4a, 4b) configured to engage with an object by moving relative to each other, the effector mechanism (4) separated from the actuator / driving mechanism (7) by a sealing interface (2) without being in direct mechanical contact with the10 actuator / driving mechanism (7); and(iii) a coupling for generating a magnetic attracting force that can adhere the effector mechanism (4) to the sealing interface (2) and can transfer motion of the one or more drivers (7a, 7b) of the actuator / driving mechanism (7) to one or more of the effector elements (4a, 4b) of the effector mechanism (4) through the sealing interface (2) such that the one or more of the effector elements (4a, 4b) replicate the motion along the defined path; wherein the two or more effector elements (4a, 4b) are mechanically engaged with each other to define their relative motion at least to / along the defined path.

2. The end effector (1) according to claim 1, wherein the defined path includes a linear and / or a curved section.3 The end effector (1) according to claim 1 or claim 2, wherein the sealing interface(2) comprises a flat, smooth / polished contact bearing surface (2a) supporting a25 sliding movement of the effector elements (4a, 4b) of the effector mechanism (4) on the bearing surface (2a).

4. The end effector (1) according to any one of claims 1 to 3, wherein the effector elements (4a, 4b) are in the form of movable jaws.

5. The end effector (1) according to any one of claims 1 to 4, wherein the effector mechanism (4) comprises fingers (5a, 5b) removably attached to one or more of the effector elements (4a, 4b), the fingers (5a, 5b) adapted to a particular mechanical interaction with the object, preferably a gripping interaction.

356. The end effector (1) according to any one of claims 1 to 5, wherein the effector mechanism (4) comprises a mechanical alignment structure mating with aP24-257- 18 - corresponding mechanical alignment structure of a housing (3) of the actuator / driving mechanism (7) for positioning the effector mechanism in a predetermined pairing position on the sealing interface ("pairing feature").5 7. The end effector (1) according to claim 6, wherein the coupling is configured such that it can be switched from a pairing state, in which the magnetic attracting force acting between the effector mechanism and the actuator / driving mechanism is reduced, to a locked state, in which the magnetic attracting force acts to adhere the effector mechanism to the sealing interface.

108. The end effector (1) according to claim 7, wherein the coupling can be switched from the pairing state to the locked state by moving the one or more drivers of the actuator / driving mechanism to a predetermined first position.

9. The end effector (1) according to any one of claims 1 to 8, wherein the coupling is configured such that it can be switched from a / the locked state, in which the magnetic attracting force acts to adhere the effector mechanism to the sealing interface, to a repulsion state, in which a repulsive force acts to separate the effector mechanism from the sealing interface ("ejection feature").

10. The end effector (1) according to claim 9, wherein the coupling can be switched from the locked state to the repulsion state by moving the one or more drivers of the actuator / driving mechanism to a predetermined second position.25 11. The end effector (1) according to any one of claims 1 to 10, wherein the coupling comprises one or more permanent magnets or electromagnets attached to the one or more drivers, and one or more permanent magnets or ferromagnetic elements attached to the one or more effector elements.

12. The end effector (1) according to any one of claims 1 to 11, wherein the actuator mechanism (7) is encapsulated in a sealed housing (3) comprising the sealing interface (2) exposed to an outside, the housing (3) preferably resistant to a contamination treatment.35 13. The end effector (1) according to any one of claims 1 to 12, wherein the actuator / driving mechanism (7) is configured to be coupled to an arm (11) of a handling robot (10).P24-257- 19 -14. The end effector (1) according to claim 13 in combination with claim 12, wherein the housing (3) is configured to be connected with the arm (11) of the handling robot with a sealed connection (12), preferably resistant to a contamination treatment.

515. A handling robot (10) comprising an end effector (1) according to any one of claims 1 to 14 connected with a movable arm (11) of the handling robot (10).10

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