GB2584003A

GB2584003A - End effector carriage for delta robot

Info

Publication number: GB2584003A
Application number: GB2002908.8A
Authority: GB
Inventors: Bodkin Troy
Original assignee: Millitec Food Systems Ltd
Current assignee: Millitec Food Systems Ltd
Priority date: 2019-03-01
Filing date: 2020-02-28
Publication date: 2020-11-18
Anticipated expiration: 2040-02-28
Also published as: GB2581848B; GB2581848A; GB2584003B; GB201902825D0; GB202002908D0

Abstract

An end effector carriage 4 for a delta robot 2 comprises a housing 17 to connect to a delta robot arm 9 for actuation of the housing. The end effector 10, in use, interacts with a product 12. An output shaft 28 is mounted within the housing, i.e. via bearings 29, and connects a motor 18 and the end effector to rotate the end effector relative to the housing. The end effector carriage further comprises a pneumatic line 14 passing within the housing and configured to provide fluid pressure actuation of the end effector device in use. The end effector device may be a picker. The motor may be located remote from the carriage, connected to the output shaft via a transmission shaft 19a. There may be a gearbox 36 operatively located between the motor and the shaft. The output shaft may comprise a fluid inlet (32, figure 3) arranged for range-taking relative to an axis of the shaft such that communication between a fluid pathway and fluid pressure line is maintained during movement of the shaft.

Description

End Effector Carriage for Delta Robot The present invention relates to a carriage and/or end effector for a delta robot, particularly for handling goods in a sanitary and/or food manufacturing environment.

INTRODUCTION

A delta robot is a type of parallel robot comprising a plurality of articulated limbs attached to a base and controlled by motors to move an end effector. The end effector comprises an actuator configured to perform a certain task, for example, pick up an object, deposit a material, align/collate items or draw a pattern etc. The end effector may be provided on a carriage structure supported by the delta robot limbs.

Delta robots are commonly used in in manufacturing areas requiring bespoke repetitive picking and/or packing of goods due to the high speed and accurate manoeuvrability of such robots over a relatively small area. Such robots may be able to pick-up up to 300 objects a minute.

Delta robots may be used to move or package goods in food or pharmaceutical manufacturing environments. In such environments, strict hygiene procedures must be followed, and rigorous cleaning of the robots must be performed at regular intervals, e.g. daily or more frequently. Due to the complex mechanical nature of the delta robots, such cleaning can be burdensome, as dirt, foodstuff or other contaminants may become trapped in joints, crevices and other cavities.

In order to provide a rotation of the product (i.e. in a horizontal plane), the whole delta robot must rotate, i.e. with all arms of the delta robot being rotated in unison 30 from a base unit located above the hanging arms.

Alternatively, a drive shaft may extend from an actuator in the base to the end effector to provide mechanical power to rotate the product. Such a driveshaft will need to rotate about its own axis, as well as to pivot and be height-adjustable to follow movements of the delta robot. Therefore, the drive shaft moving parts can provide a cite for ingress of dirt and/or may contaminate the food/pharmaceutical products due to the need for lubrication of moving parts. Sealing of the moving parts against contamination is not straightforward.

Furthermore, the end effector may require a pneumatic feed line to provide a pneumatic pressure source to pick up the product. Such lines are attached at a lower portion of the end effectors, close to the point of contact with the product and can increase the chance of contamination between the pneumatic line and the product. This further increases the cleaning burden on the operator of the delta robot due to trailing cables and the need to disassemble the end effector as part of the cleaning process. The provision of pneumatic lines can also restrict rotation of the end effector or delta robot as a whole.

It is an objection to the present invention to overcome or ameliorate one or more of the above problems

STATEMENTS OF INVENTION

According to a first aspect, there is provided an end effector carriage for a delta robot according to appended claim 1.

According to a further aspect, there is provided a delta robot comprising the end effector carriage of the first aspect.

The ability to pass a pneumatic feed across a rotating interface is beneficial in providing an end effector that is capable of a full range of rotational movement, whilst also being sealed in a housing in a manner that is hygienic, easy to clean 30 and/or easy to remove/change.

The pneumatic feed may enter the end effector carriage from a rear or side wall at a location spaced from the An electric motor and fluid pressure line may be hermetically sealed within the housing of the end effector carriage. The fluid pressure line and motor may be isolated within the housing interior. Alternatively, the electric motor may be remote from the end effector carriage and the end effector may be driven by electric motor via an intermediate shaft.

Further preferable features are defined in the dependent claims.

According to other aspects, there is provided an end effector carriage for a delta robot comprising a housing configured to operatively connect to a delta robot arms in use for actuation of the housing, an end effector device depending from the housing for interaction with a product in use, and an output shaft mounted to the housing and operatively connected to a motor configured to rotate the end effector device relative to the housing in use, where the output shaft is hollow and the end effector carriage comprises a fluid pressure line passing to the hollow interior of the shaft.

The fluid pressure line may provide fluid pressure actuation of the end effector device in use via the hollow interior of the shaft.

DETAILED DESCRIPTION

Figure 1 is a schematic drawing of a delta robot in a manufacturing environment.

Figure 2 is a section view of an end effector carriage.

Figure 3 is a lower isometric view of a shaft for the end effector carriage.

Figure 4 is a section view of the shaft.

Figure 5 is a isometric view of a shaft according to a further example.

Figures 6 and 7 show different section views through an end effector according to a further example.

Figure 8 is a schematic drawing of a further delta robot configuration.

Fig. 1 shows a delta robot 2. The delta robot comprises a plurality of articulated limbs 6 supporting an end effector carriage 4 at a lower end thereof. The limbs 6 are configured to pivot using motors 8 in order to translate the end effector carriage 4 in a horizontal and/or vertical direction.

The end effector carriage 4 is connected to the limbs 6 using a plurality of outstanding arms 9. The arms 9 comprise a pivotable joint, for example, a ball and socket joint, to allow relative rotation between the end effector carriage 4 and the limbs 6. For the sake of clarity, two limbs 6 are shown, however, it can be appreciated delta robots typically comprises three or more limbs 6. It is known that each limb may comprise two parallel arms.

The delta robot 2 is positioned above a moving conveyor 13 such as a conveyor belt system in this example, e.g. so that the end effector 10 can pick-up and/or manipulate articles 12 passing beneath the delta robot on the conveyor 13. In other examples the delta robot could be positioned above a stationary platform or a different type of conveyor. The delta robot could be used to transfer items to/from a platform or conveyor, e.g. into packaging or containers or the like.

The delta robot 2, e.g. its base and arms, may otherwise be conventional and will not be described further.

The end effector 10 comprises a picker in this example configured to pick up and/or hold a product 12, e.g. under positive or negative pneumatic pressure. The picker may comprise a movably actuated gripper, for example, a claw-type gripper or a clamping type gripper. In other embodiments, the picker comprises a gripper actuated by suction, for example, a pneumatic suction cup. The picker 10 may be removably mounted, such that pickers 10 of different types may be mounted to the end effector carriage 4, e.g. interchangeably. According to other examples, the end effector may comprise other forms of conventional manipulation means, i.e. other than a picker, which may be arranged to move/rotate products without picking, or else which may perform other operations on such products. For example the end effector could deposit material onto a product or else comprise a tool for modifying a product.

The picker 10 is located on a lower/distal end of the carriage 4 such that the picker 10 is located adjacent a product 12. The product/articles 12 may comprise inter alia: a food item or product; a partially completed food product; a partially packaged food product; or product ingredient.

The delta robot 2 may pick up article 12 then move the end effector 2 so that the article 12 can be moved to new location, for example, a different conveyor or a product package at further stage of manufacturing/packaging process.

The end effector carriage 4 comprises an external pneumatic line 14 to provide pneumatic pressure to the picker 10. The end effector carriage 4comprises an external electrical line 16 to provide electrical power/signalling to the end effector 4. The pneumatic/electrical lines may be attached to a base unit 15, or may be attached to a pneumatic/electrical source external to the delta robot 2.

Figure 2 shows a close up view of a first embodiment of the carriage 4. The carriage 4 comprises a housing 17. The housing 17 surrounds the internal components of the carriage (i.e. for actuating/controlling/powering the end effector) and provides a substantially hermetic barrier between the internal environment and the external environment of the carriage 4. The housing 17 provides a sanitary barrier and prevents the ingress of, for example, dust or foodstuffs into the carriage 4.

The carriage 4 comprises an electric motor 18 disposed within the housing to provide movement of the picker 10 relative to the housing 17.

In an embodiment, the electric motor 18 provides rotational movement of the picker 10. The rotational movement is provided about a longitudinal axis 20 of the carriage 4 and/or end effector 10 (i.e. such that the plane of rotation is substantially parallel to the conveyor in use 14 and/or the axis of rotation 20 is substantially perpendicular thereto). The rotational movement of the picker provides rotational movement of the product 12, i.e. to reorient the product 12 when held by the picker 10. The rotation may be used, for example, to align the product 12 with a package or to reorient the product 12 with respect to one or more further item on the conveyor. The picker may be used for manipulating, stacking or collating of products.

In other embodiments, the electric motor provides rotation of the picker 10 offset at an angle relative to the longitudinal axis 20 of the carriage. For example, the axis of rotation may be offset by an oblique angle or 90 degrees relative to longitudinal axis 20 (i.e. so that the product may be rotated by an angle perpendicular to the conveyor in use).

In a second embodiment of the carriage 4, the motor 18 is located remote from the carriage. For example, the motor 18 may be located in the base unit 15. As shown in figure 8, the picker 10 is operatively connected to the motor 18 by a transmission shaft 19a. The transmission shaft 19a may be extendible/pivotable, allowing the shaft 19a to follow the movement of the carriage 4. For example, the shaft 19a may mounted to the base unit 15 and/or carriage 4 via rotatable joints 19b. The shaft 19a may be telescoping. The shaft 19a is operatively connected to an internal transmission shaft 19c provided within the carriage 4. The internal transmission shaft 19c can then provide rotational power to the picker 10.

In this example, the gearbox could be provided in the base unit 15 or the carriage 4 housing as required.

The end effector 4 comprises a pneumatic connector 24 (e.g. a gland connector) for connection of the external pneumatic line 14 to the housing 17 interior. The carriage 4 comprises a pneumatic line/pathway within the housing, generally designated as 22. The pneumatic line 14 may terminate at a further connector 25 within the housing 17, e.g. so that the line passes through the gland 24. The connector 25 may comprise a push-fit connector.

The pneumatic pathway 22 provides a fluid pathway from the pneumatic connector 24 through the housing interior to provide pneumatic power for actuation and/or suction of the picker 10. The pneumatic pathway 22 passes within an internal cavity alongside the motor 18 (where present), i.e. bypassing the motor which is sealed within a separate internal compartment of the housing 17 The carriage 4 or end effector may comprise a control means, such as one or more valve, to control the flow of pneumatic fluid (i.e. to actuate the picker 10). In other embodiments, the control means may be external to the carriage 4 and the end effector 4 merely acts a passive fluid pathway.

The end effector comprises a gland/connector 26 to receive to the external power/signal line 16 to provide power/signalling to the electric motor 18, picker 10 and/or other components. The power line 16 may provide electrical power and/or control signals to the motor 18. The power line terminates at an electrical connection with the motor 18 and/or any other actuation/control means inside the housing 17 interior.

The glands 24 and 26 seal against the housing 17 to ensure the desired hermetic sealing of the housing 17.

The pneumatic and/or electrical lines enter the housing at a position removed from the picker 10 so that external pneumatic/electrical line is less likely to interfere with/contact the product 12. The pneumatic/electrical connectors/glands are located above the arms 9 and are, preferably, located at a proximal end of the end effector 4 relative to the base 15, i.e. the upper end and/or the opposing end of the end effector 4 from the picker 10. The pneumatic/electrical connectors extend from the end effector housing 17 in a direction away from the picker 10, e.g. upwards.

The end effector carriage 4 and/or the end effector itself comprises a shaft 28 operatively located in the force path between the electric motor 18 and the picker 10 in use. The shaft 28 is movably mounted to the carriage 4 to allow movement/rotation of the picker 10 under the operative action of the electric motor 18. The shaft 28 may partially protrude from the housing 17 to provide a convenient mounting point for the picker 10.

A bearing and/or seal 29 is provided between the shaft 28 and housing 17 outlet, through which the shaft 28 protrudes. A seal may be provided outside a bearing so as to seal the interior of the housing. The bearing and/or seal 29 may be mounted in a neck/throat formation of the housing 17, e.g. at its lower end, surrounding the opening for the shaft 28.

As shown in more detail in figures 3 and 4, the shaft 28 comprises a channel 30 extending therethrough to provide a fluid pathway between the pneumatic pathway 22 and the picker 10 in use. The carriage system 4 thus provides a continuous pneumatic pathway 23 between an external source and the end effector in use (shown schematically in figure 1). The pneumatic pathway in substantially contained within the carriage 4. The carriage 4 provides a pneumatic pass-through. One or more valve could be provided in the carriage for control of fluid delivery to the end effector if required.

The shaft 28 comprises a plurality of inlets 32 to permit the flow of pneumatic fluid from the pneumatic pathway 22 into the channel 30. The pneumatic line 22 comprises a chamber 34 adjacent the shaft 28 configured to surround the inlets 32 to provide a fluid pathway therebetween. The chamber 34 may be a peripheral/annular chamber surrounding the portion of the shaft having the inlets 32.

As shown in figure 2, the pneumatic pathway 22 thus takes the path of arrows A, passing alongside the motor and turning at an elbow towards the lower end of the housing 17 towards the chamber 34 and shaft 28. This provides an optimal space within the housing for mounting of other components in the housing interior.

The inlets 32 are spaced, e.g. angularly/evenly, about the shaft 28 such that during movement of the shaft 28, a plurality, or all, of the inlets remain in fluid communication with the chamber 34 at all stages/angles of the movement.

Therefore, the fluid pathway is maintained between the pneumatic line 22 and the picker 10 during the full cycle of movement of the shaft 28, e.g. a full revolution, without interruption or significant flow restriction.

In an embodiment, the plurality of inlets 32, such as four, six, eight or more inlets, are circumferentially spaced about the shaft. In other examples, the inlets 32 could instead comprise one or more slot extending in a circumferential direction around the shaft. Additionally or alternatively the chamber 34 could be replaced with a plurality of openings or one or more slot arranged to always be in fluid communication with the shaft inlet(s), regardless of its orientation.

One or more seal 33 may be provided to seal the interface between the pneumatic pathway 22 and the shaft 28, e.g. towards the upper end of the shaft. An upper and/or lower ring seal/gasket may be provided above and below (e.g. adjacent) the chamber 34 and/or openings 32. The shaft 28 and/or housing 17 comprises one or more channels 35 (see figs. 3 and 4) to retain a gasket/seal therein. The gasket/seal provides a seal between the shaft 28 and the housing 17 to prevent the escape of pneumatic fluid and/or to prevent contamination of the pneumatic flow passage from other internal components of the housing 17.

A gearbox 36 may be operatively located between the electric motor 18 and the shaft 28. The gearbox 36 allows the shaft 28 to rotate at a different rotational speed to that of the electric motor 18 and therefore provide greater control of the movement of the picker 10.

Where the electric motor 18 is remote from the carriage, the gearbox 36 may be remote from the carriage 4 (i.e. such that the shaft 28 is directly connected to the transmission shaft 19a,19c). Alternatively, where the gearbox 36 is provided within the carriage 4, the gearbox 36 is operatively connected to the electric motor 18 via the transmission shafts 19a,19c.

In an embodiment, the gearbox 36 comprises a two stage gearbox, e.g. of planetary type. The gearbox comprises a first stage 38 operatively connected to the electric motor 18 and a second stage 40 operatively connected to the shaft 28. The shaft 28 may comprise a cavity 42 configured to accommodate a portion the second stage 40 of the gearbox.

The planet gears 44 of the second stage 40 are located within cavity 42 and are rotationally mounted to the shaft 28 at the pivot mounts 46. The planet gears 44 engage a gear shaft 50 (acting as the sun gear) extending from the first stage 38. Thus, the shaft 28 acts as a carrier for the planet gears 44 and forms a part of the gearbox 36.

As shown in figures 3 and 4, the shaft 28 has a head end/formation 49 of greater width than the remainder of the shaft and shaped to define the cavity 42. The inlet openings 32 are provided beneath the head end 49 and cavity 42, e.g. being separated therefrom by an internal wall 51 of the shaft shown in fig. 4. In this way, the pneumatic line is separated from the gearbox all within a single multi-function shaft member.

The head end 49 has a central opening 48 to receive the gear shaft 50 of the gearbox. Different sun/planet gearbox types could be accommodated, e.g. using a 25 fixed gear ring, or other gearing arrangements accommodated by the head end of the shaft.

The shaft 28 may comprise one or more connection features to provide a connection between the picker 10 and the shaft 28, e.g. to provide mechanical keying of the picker and shaft. The connection features may comprise one or more elongate channels 52 and/or ridges extending along the axis of the shaft 28 to prevent rotation of the picker 10. A plurality of ridges 52 are provided to engage with corresponding splines on the picker. Alternatively, a non-circular, e.g. elliptical or polygonal, profile of the shaft and picker could be used to this end. Thus the picker 10 can be rotationally keyed to the distal end of the shaft 28, whilst permitting attachment and removal, e.g. in an axial direction, for cleaning/replacement.

The shaft 28 may comprise an outlet cavity 54 at an end thereof. The cavity 54 has a larger diameter than the channel 30 to accommodate a pneumatic connector on the picker 10. The pneumatic connector may comprise a seal/gasket to seal against the shaft 28.

In other embodiments, the pneumatic system may be substituted with a hydraulic system. It can be appreciated the apparatus will work in substantially the same way as described with the pneumatic. The system allows fluid actuation of a picker in combination with electrically-powered rotation on a delta robot end effector in a manner that is hermetically sealed and simple to clean/change with minimal downtime. The fluid system and electric drive are isolated within the common housing interior.

According to a further example of the invention shown in figures 5-7, the end effector 4 comprises a plurality of pneumatic pathways 22 extending through the housing 17. The plurality of pneumatic pathways 22 provide a plurality of discrete fluid pathways to a plurality of discrete pneumatic actuators on the picker 10. The discrete pneumatic actuators may be configured to perform different operations on the product 12 (for example, any or any combination of a gripping, manipulating, pressing, cutting, deforming, or other operation). Additionally, or alternatively, the plurality of pneumatic pathways could be used to perform different stages of a multi-stage operation, e.g. different stages of actuation of a common end effector type. Various functional options or combinations of actuator types/stages are available.

The carriage 4 comprises a plurality of connectors/glands 24/25 for each pneumatic pathway 22 to connect to a respective external pneumatic line 14.

The shaft 28 comprises a plurality of channels 30 for each of the respective pneumatic pathways 22. Each of the channels 30 comprises at least one inlet 32 and the housing 17 comprises a plurality of chambers 34 configured to surround a respective inlet 32, e.g. at different heights. The channels 30 extend along the axial length of the shaft 28 and are transversely spaced.

The plurality of pneumatic pathways 22 and shaft/channel arrangements of the second embodiment are configured to operate in substantially the same way as the pneumatic pathway 22 and shaft/channel arrangement of the first embodiment.

As shown in figure 7, the length of channels 30 between the inlet 32 and the end of shaft 28 varies between the discrete pneumatic pathways. For example, a first pneumatic pathway has a channel 30 of first length, a second pneumatic pathway has a channel 30 of a second length greater than the first length, and so on. This permits spacing of the respective inlets 32 and chambers 34 along the length of the shaft 28 to maintain separation of the discrete fluid pathways between the pneumatic pathway 22 and the shaft 28. Each pathway 22 may end at a different chamber 34, e.g. at different chambers communicating with different inlets at different heights of the shaft. The chambers 34 are therefore axially spaced (i.e. stacked on top of one another).

A plurality of seals 33 are provided along the axis of the shaft 28, each of the seals segregating the plurality of discrete fluid pathways between the shaft 28 and the pneumatic pathways 22 (i.e. the seals 33 are spaced along the axis between each of the inlets 32).

In an embodiment, the end effector 4 comprises four discrete pneumatic pathways, although greater/fewer pathways could be provided if required.

Operation of the invention The products 12 are moved into position along the conveyor 13 to a location proximal the delta robot 2/end effector.

The limbs 6 are actuated by the motors 8 to position the end effector carriage 4 and/or picker 10 directly above the product.

Pneumatic pressure is applied through the external pneumatic line 14 and the pneumatic pathway 22 within the end effector housing 17, providing pneumatic actuation of the picker 10 in order to hold the product 12. Where the end effector carriage 4 comprises a plurality of discrete pneumatic pathways 22, pneumatic pressure is applied to one or more of pneumatic actuators on the picker 10 selectively, and/or in a sequence of operation.

The delta robot 2 moves the end effector carriage 4 and the product 12 into a new position by translation of the end effector 4.

The product 12 is rotated using the electric motor 18, e.g. before, after or during the translation of the end effector.

In other embodiments, the delta robot 2 may rotate the product 12 without any translation, for example, to provide realignment of products 12 on the conveyor 13.

The picker 10 releases the product 12 by de-actuation of the pneumatic line 22, i.e. shut off or the negative fluid pressure or by actuation of the picker to a positive release position.

The incorporation of the electric motor 18 into the carriage 4 removes the need for an external mechanical linkage between the end effector and an external driver to provide rotation/fine movement of the picker 10. This reduces the complexity of the exposed components of the apparatus, e.g. reduces the number/complexity of components which require sanitising and reduces the risk of contamination from lubricants etc. or ingress of dirt due to an exposed mechanical linkage.

The housing 17 of the carriage 4 provides a hermetic barrier between the internal components of the end effector carriage 4 and the external environment. This reduces cleaning burden as it limits the number of cracks or crevices in which can dirt/foodstuff can accumulate and prevents the transfer of contaminants either in or out of the end effector.

Providing a pneumatic pathway through the carriage and shaft etc., isolates the pneumatic pathways from the external environment. The carriage thus acts as a pneumatic pass-through. This allows positioning the electrical and pneumatic connectors away from the picker 10 reduces the risk of dirt/foodstuff accumulating on the connectors and prevents the external electrical/pneumatic lines from interfering/contacting the product. This prevents damage to the product and allows complex shaped product to be rotated without contacting the electrical/pneumatic lines.

The shaft arrangement allows rotation of picker whilst maintain pneumatic connection therewith. The system is universal, thus allowing a plurality of different pickers to be used with the same carriage. Provision of a plurality of discrete pneumatic pathways increases the number of operations the picker can perform, thus providing a more flexible system.

It can be appreciated the above embodiments are not limited to use in food product handling or pharmaceutical manufacturing environments and may be used in any suitable manufacturing environment, e.g. where hygiene, automation and frequent cleaning or changing of the production line or end effector are required.

Claims

Claims: 1. An end effector carriage for a delta robot comprising: a housing configured to operatively connect to a delta robot arms in use for actuation of the housing; an end effector device depending from the housing for interaction with a product in use; and an output shaft mounted to the housing and operatively connected to a motor configured to rotate the end effector device relative to the housing in use; where the end effector carriage comprises a fluid pressure line passing within the housing and configured to provide fluid pressure actuation of the end effector device in use.
2. An end effector carriage according to claim 1, where the end effector device comprises a picker.
3. An end effector carriage according to claim 2, where an axis of rotation of the end effector device is substantially parallel to an axis of the end effector carriage.
4. An end effector carriage according to any preceding claim, where the motor is located distal from the carriage and is operatively connected to the output shaft via a transmission shaft.
5. An end effector carriage according to any preceding claim, where, the shaft comprises a fluid pathway operatively extending between the fluid pressure line and the end effector device in use.
6. An end effector carriage according to claim 5, where the shaft is hollow and the hollow shaft interior provides the fluid pathway.
7. An end effector carriage according to claim 5 or 6, where the fluid pressure line extends across a rotating interface between the housing and the output shaft.
8. An end effector carriage according to any preceding claim, where the end effector carriage comprises a plurality of discrete fluid pressure lines within the housing configured to provide fluid pressure actuation of a respective end effector device or respective end effector device function in use.
9. An end effector carriage according to any one of claims 5 to 8, where the shaft comprises a plurality of discrete fluid pathways operatively extending to the end effector device.
10. An end effector carriage according to claim 9, where the plurality of discrete fluid pathways comprise fluid pathways of different lengths.
11. An end effector carriage according to claim 9 or 10, where the one or more inlets of the respective fluid pathways are axially spaced along the shaft
12. An end effector carriage according to any preceding claim, where the output shaft comprises one or more fluid inlet arranged to be range-taking relative to an axis of the shaft such that fluid communication between the fluid pathway and the fluid pressure line is maintained during movement of the shaft.
13. An end effector carriage according to claim 12, where the one or more fluid inlet is circumferentially spaced and/or angularly range-taking about the shaft axis such that fluid communication between the fluid pathway and the fluid pressure line is maintained during rotation of the shaft.
14. An end effector carriage according to any one of claims 5 to 13, where the fluid pressure line within the housing comprises a chamber surrounding an inlet of the fluid pathway of the shaft.
15. An end effector carriage according to any preceding claim, where a gearbox is operatively located between the motor and the shaft.
16. An end effector carriage according to claim 15, where the fluid pressure line within the housing bypasses a casing of the motor and/or the gearbox.
17. An end effector carriage according to any of claims 15 or 16, where the shaft comprises one or more formation providing an operational and/or integral part of the gearbox.
18. An end effector carriage according to any of claims 15-17, where the shaft comprises a cavity and one or more gearing of the gearbox is mounted within the cavity, e.g. for rotation with the shaft in use.
19. An end effector carriage according to any preceding claim, where the end effector housing comprises a connector to connect an external fluid pressure line to the housing interior, the connector located at an end/side of the end effector spaced/distal from the end effector device.
20. An end effector carriage according to 19 where the carriage provides a substantially uninterrupted fluid pressure pathway between the connector and the end effector device in use.
21. An end effector carriage according to any preceding claim, wherein the end effector device is releasably attached to the output shaft and comprises one or more keying formation for ensuring movement of the output shaft and end effector device in unison.
22. An end effector carriage according to any preceding claim, where the picker comprises one or more of: a pneumatic suction device; a claw-type gripper; or a clamping type gripper.
23. An end effector carriage according to any of claims 19-21, when dependent on claim 8, where the plurality of discrete fluid pressure lines within the housing configured are operatively connected to a plurality of fluid pressure actuators of the end effector device.
24. A delta robot comprising the end effector carriage of any preceding claim.