EP4267499A2 - Dispositif de manipulation pour contenants pharmaceutiques, et système de traitement pour contenants pharmaceutiques équipé d'un dispositif de manipulation - Google Patents

Dispositif de manipulation pour contenants pharmaceutiques, et système de traitement pour contenants pharmaceutiques équipé d'un dispositif de manipulation

Info

Publication number
EP4267499A2
EP4267499A2 EP21843978.4A EP21843978A EP4267499A2 EP 4267499 A2 EP4267499 A2 EP 4267499A2 EP 21843978 A EP21843978 A EP 21843978A EP 4267499 A2 EP4267499 A2 EP 4267499A2
Authority
EP
European Patent Office
Prior art keywords
handling device
holding elements
holding
containers
relative position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21843978.4A
Other languages
German (de)
English (en)
Inventor
Florian BÖRRET
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bausch and Stroebel SE and Co KG
Original Assignee
Bausch and Stroebel SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bausch and Stroebel SE and Co KG filed Critical Bausch and Stroebel SE and Co KG
Publication of EP4267499A2 publication Critical patent/EP4267499A2/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B3/003—Filling medical containers such as ampoules, vials, syringes or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Definitions

  • the present invention relates to a handling device for pharmaceutical containers, for example vials, syringes, carpules or ampoules, in particular for use in a processing system for pharmaceutical containers.
  • the present invention relates to a processing system for pharmaceutical containers, for example vials, syringes, carpules or ampoules, with such a handling device.
  • a handling device of the type mentioned above is used, for example, in a processing system for pharmaceutical containers (also referred to as "vessels" or “objects”).
  • the handling device comprises two or more holding elements, via which a respective container can be gripped.
  • the containers can be handed over to a transport device, for example.
  • Different stations for processing the containers can be provided along the transport device.
  • a filling station is conceivable for filling a pharmaceutical substance into the container, at least one weighing station for checking the degree of filling and/or at least one closing station for closing a container opening.
  • a marking station for applying a label to the filled and closed container is conceivable.
  • the pharmaceutical substance can in particular be a medically active substance (agent).
  • the containers can be removed, for example, from a pharmaceutical packaging material, which is is a common carrier for the containers.
  • a pharmaceutical packaging material which is is a common carrier for the containers.
  • Such packaging can be referred to as a nest, for example, in which the containers are accommodated in a matrix-like manner.
  • Another example of such packaging is a so-called tray, in which in particular syringes are accommodated side by side.
  • the containers to be processed can include, for example, vials, syringes, cartridges or ampoules. Vials can also be referred to as “vials” or “vials”.
  • vials syringes
  • vials vials
  • vials vials
  • the object of the present invention is to provide a handling device and a processing system for pharmaceutical containers which can be used in a variety of ways.
  • a handling device for pharmaceutical containers, for example vials, syringes, carpules or ampoules, comprising two or more holding elements, each of which can be used to grip a container and of which at least one holding element can be moved back and forth along a direction of movement , and a distance changing device for transferring the holding elements from a first relative position to a second relative position and vice versa, in which the holding elements have a distance from one another which differs from the distance in the first relative position.
  • At least two holding elements are provided, which are each designed to grip a container, so that the container can be gripped.
  • at least one holding element can be moved back or forth in the direction of movement, the movement being relative to a carrying device, for example. tion of the handling device can take place.
  • the distance between the holding elements can be changed along the direction of movement by means of the distance changing device. In the first relative position, the distance between the holding elements is different from the distance between the holding elements in the second relative position.
  • This distance between the containers can depend, for example, on the common carrier receiving the containers and can vary in size for different carriers.
  • the distance between the containers can be changed via the handling device to a different distance, in particular for transfer to a transport device, when the holding elements are transferred from the first relative position to the second relative position. This makes it possible to adjust the original distance of the containers from one another to the distance required for the transport device--to a certain extent the "pitch" of the transport device.
  • the handling device has a high degree of versatility. It is also conceivable, for example, to remove the containers from the transport device via the handling device and to feed them back to a common carrier, with the passage of the transport device differing from the passage of the receiving carrier.
  • a change in the distance between the containers from one another by means of the handling device can be referred to in particular as "stitch distortion".
  • the distance in the first relative position can be greater than in the second relative position.
  • the at least one movable holding element can be moved back and forth in a straight line along the direction of movement.
  • a linear movement of the holding element can be provided.
  • the movement of the at least one holding element can be guided, for example, by means of a guide device.
  • the holding elements can preferably be arranged laterally next to one another along the direction of movement, in particular arranged and aligned parallel to one another.
  • the handling device comprises more than two holding elements, which are arranged laterally next to one another along the direction of movement and which can be transferred by means of the distance changing device from a first relative position to a second relative position and vice versa, in which the distance between respectively adjacent holding elements differs from the distance is in the first relative position.
  • the handling device can preferably comprise more than two holding elements. This provides the ability to grab more than two containers. Exemplary embodiments may include four to twelve or even more support members. It is particularly favorable if the number of holding elements corresponds to the number of containers arranged next to one another in a row in a common carrier (for example a nest), so that each container is assigned a holding element.
  • a respective distance between adjacent holding elements can be changed by transferring the two or more holding elements from the first to the second relative position. This can be used in particular to adapt the original layout of the containers, for example in the carrier, to a different layout, for example in the transport device.
  • the number of holding elements can be even or odd.
  • the holding elements are preferably arranged equidistantly from one another in the first relative position and/or in the second relative position.
  • the holding elements can be moved relative to one another synchronously with one another and/or simultaneously by means of the distance changing device.
  • the relevant holding element can form a fixed point on the support device relative to which at least one further holding element can be moved by means of the distance changing device for transferring from the first relative position to the second relative position and vice versa.
  • the fixed holding element is in particular not moved by the distance changing device.
  • the carrying device has already been discussed above.
  • the carrying device can, for example, comprise or form a frame of the handling device, to which the other components can be fixed.
  • a housing of the carrying device or a housing can be provided as the carrying device.
  • a drive unit of the distance changing device and/or a guide device for the holding elements can be fixed to the support device.
  • the carrying device can be held in particular on an adjustment device for a translational movement and/or a pivoting device, via which the handling device can be moved within the processing system. This will be discussed further below. It can be advantageous if the distance between the holding elements along the direction of movement can be adjusted and/or specified discretely or continuously by changing the distance. For example, the distance changing device can be controlled for this purpose.
  • a displacement path of the holding elements can be adjustable along the direction of movement.
  • the handling device comprises a guide device with at least one guide element on which a holding element is guided along the direction of movement and, in particular, is guided displaceably along the direction of movement.
  • the holding element can interact directly or indirectly with the at least one guide element and can be guided on it.
  • At least one bearing element is preferably provided, on which the at least one guided holding element is fixed and which is in engagement with the guide element.
  • the bearing element can form a ball bearing or roller bearing, for example.
  • the at least one guide element is or comprises a guide rail.
  • the at least one movable holding element can be displaced along the guide rail by means of the distance changing device.
  • the guide device preferably comprises two guide elements arranged at a distance from one another, with more than two holding elements being guided on a part of the holding elements on one guide element and another part of the holding elements on the further guide element, and with adjacent holding elements being guided on different guide elements. It turns out, for example, in practice that in this way in addition to a reliable function of the handling device a compact design can be achieved.
  • the compact design proves to be advantageous, for example, in being able to process containers that are at relatively small distances from one another and can still be gripped by the holding elements when they are in the approximated position (for example the first relative position).
  • the distance changing device comprises an actuatable and/or controllable drive unit which is operatively connected to at least one holding element.
  • the drive unit can be controlled by a control device of the handling device or a control device of the processing system to transfer the holding elements from the first to the second relative position and/or vice versa.
  • the drive unit is preferably designed electrically. Alternatively or additionally, a different type of drive unit can be provided, for example a pneumatic, hydraulic or magnetic drive unit.
  • the drive unit is designed electrically and includes or forms, for example, a linear drive, for example with an electromagnetically controlled thrust shaft.
  • the drive unit acts directly or indirectly on only one of the holding elements, with preferably only one drive unit of the drive changing device being provided.
  • the distance changing device comprises more than one drive unit.
  • two or more drive units are provided, which are assigned to a respective holding element.
  • the handling device comprises a coupling unit via which two or more holding elements are coupled to one another, with a movement of at least one holding element by means of the drive unit via the coupling unit to at least one further holding element is transferred.
  • the coupling unit can preferably be designed mechanically, as a result of which a structurally simple structure and reliable functioning of the handling device are achieved.
  • the coupling unit comprises or forms at least one scissors joint, in particular if a scissors lattice is provided, via which the two or more holding elements are connected to one another.
  • the scissor lattice also referred to as a scissor pull, is understood here to mean, in particular, a plurality of scissor joints connected to one another.
  • the scissor lattice can in particular be transferred from a collapsed state to an extended state and vice versa, with the distance between the holding elements preferably being smaller in the collapsed state than in the extended state. Reliable operation of the handling device can be ensured via the scissor lattice.
  • a joint member of the scissor-type lattice is articulated on a respective holding element and is connected in an articulated manner to at least one further joint member of the scissor-type lattice.
  • Two articulated members of the scissor-type lattice preferably intersect on a respective holding element.
  • the distance changing device for example as part of the coupling unit, comprises a worm body with which the holding elements engage directly or indirectly and which can be driven, for example rotatably, by means of a drive unit of the distance changing device.
  • a suction line with a suction opening is arranged on the respective holding element for subjecting a container to a vacuum, the suction line being connectable or connected to a vacuum device.
  • the suction line being connectable or connected to a vacuum device. This makes it possible, for example, to grip the containers pneumatically with the holding elements. If negative pressure is applied, the containers can be sucked onto the holding element and held there.
  • a contour of the holding element is preferably adapted to a contour of the container.
  • the holding element comprises a recess into which the container at least partially engages, with the suction opening preferably being arranged on the recess.
  • the holding element can, for example, lie against a casing of the container.
  • the vacuum device can be part of the handling device or the processing system. By activating the vacuum device, the container can be subjected to a vacuum and held on the holding element. The container can be detached from the holding element by eliminating the negative pressure. Alternatively or additionally, it can be provided that the holding elements can be transferred between a holding position and a release position by means of at least one electric actuating unit. In the holding position, the holding elements can, for example, partially enclose the container and hold it by means of a positive fit. In the release position, the containers are released and, for example, are or can be disengaged from the holding elements.
  • the handling device can comprise a housing in which the distance changing device and a guide device for the holding elements are accommodated and in which the holding elements are partially accommodated, with a holding section of a respective holding element being arranged outside the housing.
  • the components of the handling device arranged within the housing are protected, for example, from an atmosphere in which the handling device is used. This is, for example, a protective atmosphere and/or an atmosphere for decontamination purposes.
  • the holding elements can protrude from the housing.
  • a container can be gripped with the respective holding section.
  • the holding elements comprise a respective holding section for gripping the containers and a respective carrying section, the holding section being releasably connectable to the carrying section.
  • This offers the possibility, for example, of replacing the holding section with a different type of holding section.
  • the handling device can be adapted, for example, to use with different types of containers (for example different in terms of container type and/or container size).
  • the holding elements can, for example, comprise a guide section which can be guided directly or indirectly on the guide device mentioned above. It is favorable if the handling device comprises a first format set of detachable holding sections and a second format set of detachable holding sections, the format sets differing from one another in at least one container-specific property. Depending on the nature of the containers to be processed, the appropriate format set can be used. For this purpose, its holding sections are connected to the supporting sections. When changing over to a different type of container, a so-called format change can be carried out, in which the holding sections of the respective other format set can be used.
  • the holding sections can be detached from the format sections manually and without tools.
  • the holding sections are held by magnetic force on the supporting sections.
  • a different type of attachment can be used, for example a screw connection.
  • a processing system for pharmaceutical containers according to the invention which achieves the object mentioned at the outset, comprises at least one handling device of the type mentioned above and an adjustment device on which the handling device is held or which comprises the handling device, with the adjustment device being designed to move the handling device from a receiving position into transfer position and vice versa, wherein the containers can be picked up in the pick-up position by means of the holding elements occupying the first relative position by a first pick-up unit of the processing system and in the transfer position can be transferred from the holding elements occupying the second relative position to a second pick-up unit of the processing system.
  • the handling device can be used as part of the adjustment device or can be held on it in order to transfer containers from the first receiving unit to the second receiving unit.
  • the distance between the containers in the first receiving unit is different from the distance between the containers in the second receiving unit.
  • a relevant change in distance can take place via the handling device when the holding elements are transferred from the first relative position to the second relative position.
  • a position of the containers in the first receiving unit can be matched to the position of the containers in the second receiving unit, with the stitch delay being carried out by means of the handling device.
  • the first receiving unit and/or the second receiving unit comprise or are, for example, pharmaceutical packaging, for example a common carrier for a plurality of containers, in particular a nest or a tray. Accordingly, provision can be made for the containers to be removed from the packaging or inserted into the packaging.
  • pharmaceutical packaging for example a common carrier for a plurality of containers, in particular a nest or a tray. Accordingly, provision can be made for the containers to be removed from the packaging or inserted into the packaging.
  • a filling station, a weighing station, a closing station and/or a marking station are arranged along the transport device, as explained above.
  • the transport device can comprise a number of components, for example at least one cell chain or synchronization chain, at least one transport wheel and/or at least one linear transport system, the cell chain being used, for example, to transfer cyclically supplied containers to continuously moving transport wheels.
  • the handling device for example, containers are transferred from the common carrier with a first pass to the transport device with a different second pass.
  • the containers can be transferred from the transport device with its stitch to the carrier with a different stitch.
  • the adjusting device is or preferably comprises at least one pivoting device for pivoting the handling device about at least one pivoting axis and/or at least one displacement device for displacing the handling device along at least one axis.
  • the handling device is moved, for example, relative to a holding device of the processing system via the adjusting device.
  • the holding device can be, for example, a frame or a substructure of the processing system, to which the adjustment device is fixed.
  • the displacement device can be a lifting device, for example, in order to raise and lower the handling device.
  • a control device is preferably provided in order to control drive units of the adjustment device.
  • the adjustment device can preferably comprise a plurality of segments which can be moved relative to one another and which are connected to one another in a pivotable and/or displaceable manner via a respective joint device.
  • the adjusting device is or includes a robotic device, in particular an articulated-arm robot(s).
  • the articulated-arm robot (for example a so-called Scara robot) is, for example, a horizontal articulated-arm robot.
  • a suction line and/or an electrical line of the handling device is routed through the adjustment device.
  • the processing system preferably includes a vacuum device to which at least one suction line, which is preferably routed through the adjustment device to the handling device, is connected.
  • the processing system preferably comprises an electrical device to which at least one electrical line, which is preferably routed through the adjusting device to the distance changing device, is connected.
  • the vacuum device and the adjustment device are arranged, for example, in a first zone formed by the holding device, which is spatially separated from a second zone and in particular separated for pharmaceutical purposes, in which second zone the handling device is arranged and the containers are processed.
  • the processing system preferably comprises a transport device, to which the containers can be transferred in the transfer position of the adjustment device, a filling station arranged on the transport device, via which a pharmaceutical substance can be filled into the containers, and at least one closing station downstream of this for closing a container opening of the containers with a locking element.
  • the processing system can advantageously comprise a further handling device and a further adjusting device.
  • the additional handling device is preferably configured identically to the previously mentioned handling device. The same can apply to the further adjusting device.
  • the containers can advantageously be picked up by the transport device by means of the holding elements of the further handling device occupying the first relative position and can be transferred to a receiving unit in the transfer position of the further handling device by the holding elements of the further handling device occupying the second relative position.
  • This pick-up unit is preferably that common carrier for the containers from which the containers have been picked up for transfer to the transport device with the first handling device. In this way, the containers removed from the carrier can be filled at the filling station, sealed at the closing station and then reinserted into the carrier.
  • the holding elements can be transferred from the first relative position to the second relative position during the transfer of the handling device from the receiving position to the transfer position. In this way, the duration for processing the containers can be kept short and the cycle time increased.
  • the holding elements can be moved relative to one another and, in particular, a stitch delay can be carried out, in particular to adapt the distance from the stitch of the first receiving unit (e.g. a packaging material) to the stitch of the second receiving unit (e.g. the transport device).
  • FIG. 1 a schematic representation of a processing system according to the invention in a plan view
  • Figure 2 is a view corresponding to Figure 1 showing the processing system at a later point in time;
  • FIG. 3 an enlarged view of section A in FIG. 1 in a detailed representation
  • FIG. 4 an enlarged view of section B in FIG. 1 in a detailed representation
  • FIG. 5 schematically a plurality of pharmaceutical containers accommodated in a common carrier
  • FIG. 6 schematically a plurality of pharmaceutical containers held on a transport device
  • FIG. 7 a schematic partial illustration of the processing system from FIG. 1, partly in section, in which an adjustment device and a handling device for holding pharmaceutical containers are shown;
  • FIG. 8 an enlarged representation of detail C in FIG. 7;
  • FIG. 9 a perspective representation of a handling device according to the invention for pharmaceutical containers
  • FIG. 10 the handling device from FIG. 9 in a perspective view without the housing
  • FIG. 11 a plan view of the handling device in the direction of arrow “11” in FIG. 10, with holding elements of the handling device assuming a first relative position
  • FIG. 12 an illustration corresponding to FIG. 11, with the holding elements assuming a second relative position.
  • FIGS. 1 and 2 show an advantageous embodiment of the processing system according to the invention for pharmaceutical containers, which is denoted overall by reference numeral 10, at different points in time (hereinafter system 10).
  • system 10 makes it possible to remove pharmaceutical containers from a common carrier 12, also referred to as a "nest", to fill them with a pharmaceutical substance, to close them and then to reinsert them into the carrier 12.
  • FIGS. 9 to 12 examples of containers 14 to be filled, which are designed as syringes 16 .
  • the system 10 is preferably also suitable for the alternative processing of vials, carpules and/or ampoules.
  • the present invention is not limited to the type of different containers 14 - syringes, vials, cartridges or ampoules.
  • the present invention allows to process containers of the same type with different characteristics, for example different sizes.
  • the containers 14 fed in via the carrier 12 in the direction of the arrow 18 can be picked up in a pick-up position by means of a first handling device 20 .
  • the handling device 20 is surrounded by a first adjustment device 22 or held on it.
  • the adjustment device 22 allows the handling device 20 to be moved from the pick-up position to to transfer a transfer position.
  • FIG. 1 shows the handling device 20 with solid lines in the pick-up position and dotted in the transfer position, in FIG. 2 this is reversed.
  • the received containers 14 can be transferred to a transport device 24 of the system 10.
  • the transport device 24 can be designed in different ways and includes, for example, a linear transport system, at least one transport wheel and/or at least one cell chain (or synchronization chain).
  • the carrier 12 and the transport device 24 or their components are receiving units for the containers 14.
  • the containers 14 are transferred in the transfer position to a cell chain 26 and from there via transport wheels 28 to a transport system 30.
  • the transport system 30 is a linear transport system on which a filling station 32 is arranged.
  • the containers 14 can be filled with a pharmaceutical substance via a plurality of filling elements in the form of needles.
  • the filling station 32 Downstream of the filling station 32 in the transport direction 34, the filling station 32 is followed by a weighing station 36 for checking the degree of filling and then a closing station 38 for closing a respective container opening with a closing element, not shown in the drawing.
  • the closure element can be, for example, a mushroom stopper or a plunger stopper.
  • the containers 14 are transferred from the transport system 30 to a cell chain 42 of the transport device 24 via transport wheels 40 .
  • the containers 14 can be picked up from the cell chain 42 with a second handling device 44 in a pickup position.
  • the second handling device 44 is from a second adjusting device 46 of the system 10 includes or held by it. With the adjustment device 46, the handling device 44 can be moved from the pick-up position to a transfer position.
  • FIG. 1 shows the handling device 44 with solid lines in the pick-up position and dotted in the transfer position, in FIG. 2 this is reversed.
  • the containers 14 are transferred to the carrier 12 and reinserted into it.
  • the carrier 12 is transported away by a transport device (not shown in the drawing) and transported past the transport device 24 into the end position (arrow 48) in order to pick up the processed containers 14 again.
  • the carrier 12 is in particular a pharmaceutical packaging material.
  • the containers 14 are usually arranged in a matrix-like manner in the carrier 12 and have predetermined distances 50 from one another (FIG. 5). This distance 50 depends on the carrier 12 used, the dimensions and recordings of which are adapted to the containers 14 to be accommodated.
  • the distance 50 between adjacent containers 14 is also referred to as a "stitch", in the present case as a stitch of the carrier 12 or "nest stitch” if the carrier 12 is a nest.
  • FIG. 6 shows this schematically and by way of example for containers 14 which are at a distance 52 from one another.
  • the distance 52 is predetermined by the design of the system 10 .
  • the distances 50 and 52 deviate from one another, it is necessary to change the relative distance between the containers 14 that are removed from the carrier 12 so that the distance 52 is preferably identical at the filling station 32, the weighing station 36 and the closing station 38 is, although it may differ from the distance 50. Conversely, after processing the containers 14, it is necessary to change the spacing 52 of the containers 14 again before transferring them back to the carrier 12 and to reinsert the containers 14 into the carrier 12 at the relative spacing 50.
  • the present invention has the advantage that by means of the handling devices 20, 44, which are each an advantageous embodiment of the handling device according to the invention, the spacing 50 of the containers 14 in the carrier 12 can be changed to the spacing 52 of the transport device 24 and vice versa can.
  • This offers the possibility that the machine stitch can remain unchanged within the transport device 24 independently of the containers 14 to be processed and the nature of the carrier 12 (distance 52).
  • a change from distance 50 to distance 52 when transferring to the transport device 24 and a change from distance 52 to distance 50 when receiving from the transport device 24 can be carried out with the handling devices 20, 44.
  • This adjustment of the stitch of the carrier 12 to the machine stitch and vice versa is also referred to as "stitch distortion".
  • the distance 50 can be changed to the distance 52 during the transfer of the handling device 20 from the receiving position shown in solid line in FIG. 1 to the transfer position shown in solid line in FIG.
  • the change in the distance 52 to the distance 50 during the transfer of the handling device 44 from that illustrated in solid lines in FIG Recording position can be performed in the transfer position shown in solid line in Figure 2. In this way, the cycle time of the system 10 can be kept low.
  • handling devices 20, 44 and the adjustment devices 22, 46 are configured identically or at least with the same function. This is the case with the system 10 in the present example. For this reason, only the configurations of the handling device 20 and the adjusting device 22 are discussed below. The relevant statements apply in a corresponding manner to the handling device 44 and the adjustment device 46.
  • the adjusting device 22 comprises at least one joint device 54.
  • the joint device 54 can be, for example, a pivoting device or a displacement device, in particular for a linear movement.
  • the displacement device can be a lifting device, for example.
  • the adjusting device 22 can only be pivoted about one axis in order to transfer the handling device 20 from the pick-up position to the transfer position.
  • a displacement of the handling device 20 can be provided.
  • a plurality of joint devices 54 are provided as in the advantageous exemplary embodiment explained below.
  • the adjusting device 22 is in this case a robotic device designed as an articulated arm robot 56, specifically as a horizontal articulated arm robot 56.
  • This can in particular be a so-called Scara robot.
  • the robot 56 comprises a plurality of segments 58 which can be moved relative to one another and which are connected to one another in an articulated manner via a respective joint device 54 .
  • the system 10 includes at least one substructure 62, which can be designed, for example, as a frame.
  • the base 62 houses the components of the system 10 and provides support for them.
  • a separator 64 separates a first zone 66 from a second zone 68.
  • the system 10 includes at least one cover element 70, presently designed as a so-called isolator.
  • the cover element 70 covers the second zone 68 and provides an atmosphere for protective and/or decontamination purposes, in particular via a protective gas such as H2O2.
  • the containers 14 are processed in the second zone 68, in which in particular the carrier 12, the handling device 20, the transport device 24, the filling station 32, the weighing station 36 and the closing station 38 are arranged.
  • the first zone 66 is separated from the second zone 68 in a manner suitable for pharmaceutics by the, for example, plate-shaped separating element 64 .
  • a first segment 72 of the robot 56 reaches through the separating element 64 and is arranged partially in the first zone 66 and partially in the second zone 68 .
  • a pivoting device 74 enables rotation of the first segment 72 relative to the separating element 64 about a pivot axis 76.
  • a displacement device 78 enables an axial movement of the first segment 72 along the pivot axis 76.
  • the robot 56 comprises a second segment 80.
  • the segments 72, 80 are connected to one another via a joint device 54 in the form of a pivot device 82 so as to be pivotable about a pivot axis 84.
  • the robot 56 also includes a third segment 86.
  • the segments 80, 86 are connected to one another via a joint device 54 in the form of a further pivot device 88 so as to be pivotable about a pivot axis 90.
  • the third segment 86 is formed by the handling device 20 , for example, so that it is pivotably held on the segment 80 .
  • pivot axes 76, 84, 90 are aligned parallel to one another.
  • An electrical device 92 of the system 10 is arranged in the first zone 66, for example.
  • the electrical device 92 is used to supply energy and/or to control the articulation devices 54 and the handling device 20.
  • Electrical lines 94 are preferably routed from the first zone 66 through the robot 56, which is preferably sealed off in the second zone 68 in accordance with pharmaceutical regulations. The lines 94 connect the handling device 20 and the pivoting devices 82, 88 to the electrical device 92.
  • a vacuum device 96 is advantageously arranged in the first zone 66 .
  • the vacuum device 96 can be part of the system 10 or just the handling device 20 .
  • a suction line 98 is routed through the robot 56 from the first zone 66 into the second zone 68 to the handling device 20 .
  • the suction line 98 can optionally be subjected to negative pressure.
  • the system 10 preferably comprises a control device 100 with which the entire operation of the system 10 can be controlled and/or regulated.
  • the electrical device 92 and the vacuum device 96 can be controlled and/or regulated.
  • the handling device 20 includes a support device 102.
  • the support device 102 has a housing 104 in the present case, via which the Handling device 20 is held on the second segment 80 .
  • the housing 104 is designed essentially cuboid and has a first section 106 and a second section 108 .
  • the second section 108 has smaller dimensions in one spatial direction, so that a recess or a recess 110 is formed on the housing 104 (FIGS. 8 and 9).
  • carrying device 102 also includes a frame 112 for holding other components of handling device 20.
  • the handling device 20 comprises a plurality of holding elements 114 for gripping the containers 14.
  • the holding elements 114 are preferably configured identically.
  • Each holding element 114 comprises a holding section 116, a support section 118 and a guide section 120.
  • a suction opening 122 is formed on each holding section 116.
  • the suction opening 122 is arranged at an edge of a recess 124 whose shape and/or size is adapted to the container 14 .
  • the container 14 engages in the recess 124 in such a way that the holding section 116 bears against a casing of the container 14 .
  • the suction line 98 has a section 126 which is routed through the robot 56 .
  • the section 126 is connected to a connection element 128 and branches off at this into further sections 130 of the suction line 98 (FIG. 8).
  • a respective section 130 runs through the holding element 114 and opens into the suction opening 122.
  • the suction opening 122 is subjected to a vacuum.
  • a respective container 14 can be gripped with the holding element 114 and is thereby arranged in the recess 124 in contact with the holding portion 116 . In this way, the containers 14 can be picked up by the carrier 12 or, in the case of the handling device 44, by the transport device 24. If the vacuum device 96 is deactivated, there is no vacuum at the suction opening 122. The containers 14 can be transferred to the transport device 24 or, in the case of the handling device 44, to the carrier 12.
  • the holding elements 114 are arranged laterally next to one another along a direction of movement 132 and, in particular, are aligned parallel to one another.
  • a guide device 134 is arranged in the housing 104 and is held, for example, on the frame 112 .
  • the guide device 134 includes guide elements 136, 138.
  • the guide elements 136, 138 are designed as guide rails, which each have a longitudinal extension in the direction of movement 132.
  • the guide elements 136, 138 are spaced apart from one another transversely to the longitudinal extension, so that an intermediate space 140 is formed between them (FIG. 10).
  • the supporting section 118 of the holding element 114 projects out of the housing 104 in the region of the recess 110 .
  • the holding portion 116 is arranged outside of the housing 104 .
  • the support portion 118 includes a first segment 142 protruding from the housing 104 and a second segment 144 angled relative thereto.
  • the angle is, for example, substantially 90°.
  • the segment 144 is connected to the guide section 120, in particular by screwing.
  • the guide section 120 can be formed in one piece with the support section 118 .
  • a respective holding element 116 is displaceably guided on one of the guide elements 136 .
  • a bearing element 146 is provided which is connected to the guide section 120 and comprises, for example, a ball bearing or a roller bearing.
  • the use of a plain bearing is also conceivable.
  • the bearing element 146 is, for example, by screwing with the Guide section 120 connected, with a different type of connection is conceivable ( Figure 10).
  • each holding element 114 is mounted on only one of the guide elements 136, 138 via the bearing element 146. Adjacent holding elements 114 are mounted on different guide elements 136, 138. This offers the advantage that a compact design can be achieved for the handling device 20 .
  • the holding elements 114 can assume an approximated state in that they can be arranged close together (FIG. 11).
  • One of the holding elements 114 is held stationary on the carrying device 102 .
  • a fixing element 148 is used for this purpose.
  • the relevant holding element 114 cannot be displaced along the direction of movement 132 .
  • the remaining holding elements 114 can optionally be pushed back and forth relative to one another and relative to the fixed holding element 114 along the direction of movement 132 .
  • the fixed holding element 114 is one of the holding elements 114 arranged approximately in the middle, in FIGS. 11 and 12 the fifth from the left.
  • another holding element 114 can be fixed, for example also one of the holding elements 114 arranged at the end.
  • the handling device 20 includes a distance changing device 150.
  • the distance changing device 150 includes in particular a drive unit 152, in this case an electric drive unit.
  • the electrical line 94 serves to supply energy and control the drive unit 152 and, as mentioned, is routed through the robot 56 into the first zone 66 .
  • the actuation can be carried out by the electrical device 92, for example under the command of the control device 100.
  • the drive unit 152 comprises a linear drive 154, for example with an electromagnetically controlled thrust shaft.
  • the drive unit 152 is accommodated in the housing 104 and is positioned on a bottom wall 156, for example.
  • the drive unit 152 is preferably arranged on the side of the guide elements 136 , 138 opposite the guide sections 120 . In this way, a compact design of the handling device 20 can be achieved.
  • the drive unit 152 can be arranged below the guide elements 136 , 138 and the guide sections 120 .
  • a thrust member 158 is arranged on the linear drive 154 .
  • the pusher member 158 protrudes through the gap 140 and engages one of the retaining members 114, for example at the guide portion 120 ( Figure 10).
  • the relevant holding element 114 can be pushed in the direction of movement 132 . Both orientations are possible. Depending on the operating state of the drive unit 152 , the displacement can optionally take place in one of the two orientations of the direction of movement 132 .
  • the distance-changing device 150 does not include any further drive unit, as a result of which the design of the handling device 20 is simplified.
  • the distance changing device 150 also includes a coupling unit 160, via which the holding elements 114 are coupled to one another.
  • the coupling unit 160 ensures that when only one holding element 114 A relative movement of all holding elements 114 with regard to a change in distance can be achieved via the drive unit 152 . In this way, the movement of the driven holding element 114 is transmitted to the other holding elements 114, with the exception of the fixed holding element 114.
  • the coupling unit 160 is or comprises a scissor-type lattice 162.
  • the holding elements 114 are connected to one another via the scissor-type lattice 162.
  • two joint members 164 are articulated on a respective holding element 114 and cross over (FIGS. 11 and 12).
  • Each articulated link 164 is articulated at opposite ends to two further articulated links 164 of the scissor-type grating 162 .
  • the scissor lattice 162 comprises in particular a plurality of scissor joints connected to one another in series.
  • Articulated members 164 of the scissor-type lattice 162 are connected to one another in the present case by screwing, with a different type of connection being conceivable.
  • a compact design is achieved, for example, by the scissor lattice 162 being arranged above the support sections 118, in particular the segments 144.
  • the scissor lattice 162 and the guide sections 120 are accordingly arranged on opposite sides of the segments 144.
  • the scissor lattice 162 can assume a collapsed state ( Figure 11).
  • the holding elements 114 When the scissor lattice 162 is pushed together, the holding elements 114 are brought closer to one another. Adjacent holding elements 114 are at a distance 166 from one another.
  • the distances 166 between adjacent holding elements 114 are identical.
  • the scissor lattice 162 can assume an extended state ( Figure 12).
  • the holding elements 114 are spread apart relative to one another and are at a distance 168 from one another. Distance 168 is different from and greater than distance 166.
  • the extended state of the concertina grate 162 can define a second relative position of the holding elements 114 . In the second relative position, the holding elements 114 are arranged equidistantly from one another. Respectively adjacent holding elements 114 have an identical spacing 168 from one another.
  • Retaining elements 114 are transferred from the first relative position to the second relative position and vice versa in each case by movement and, in particular, displacement along direction of movement 132.
  • the drive unit 152 is activated.
  • the driven holding element 144 is pushed away from the nearest holding element 114 in order to transfer the holding elements 144 from the first relative position to the second relative position (arrow 170 in FIG. 11).
  • the holding elements 114 arranged to the right of the fixed holding element 114 in the drawing are thereby displaced in the same direction.
  • the holding elements 114 arranged to the left of the fixed holding element 114 are displaced in the opposite direction. All holding elements 114 are spread relative to each other.
  • the driven holding element 114 can be displaced in the direction of the nearest holding element 114 (arrow 172 in FIG. 12).
  • the holding elements 114 arranged to the right of the fixed holding element 114 in the drawing are displaced in the direction of this.
  • the ones on the left of the fixed bracket in the drawing teiatas 114 arranged holding elements 114 are moved in the opposite direction. Overall, all of the holding elements 114 are brought closer together in order to reduce the distance 166 to the distance 168 .
  • the distance 166, 168 that the holding elements 114 occupy in the first or second relative position can be predetermined. Accordingly, it is favorable if, depending on the containers 14 to be processed, the first and/or the second relative position can be predetermined via the distance changing device 150. In the system 10, however, as already mentioned, the machine pass over the transport device 24 is constant and independent of the containers 14 to be processed. Accordingly, it is advantageous if the distance 168 is maintained in the second relative position independently of the containers 14. In this case, the distances 52 and 168 in particular match.
  • the distance 166 in the first relative position of the holding elements 114 can in particular be adapted to the stitch of the wearer 12 and correspond to the distance 50 .
  • distances 50, 52, 166, 168 are smaller than the distances 50, 52, 166, 168 to one another in the present case merely serve to explain the invention by way of example and do not restrict it.
  • distance 166 is greater in the first relative position than distance 168 in the second relative position of holding elements 114.
  • distance 52 can be greater than distance 50, in contrast to the illustration in FIGS 6.
  • the containers 14 are received with the holding elements 114 assuming the first relative position.
  • the robot 56 which initially occupies the pickup position, moves the handling device 20 to the transfer position. Meanwhile, the holding members 114 in the second Relative position transferred to adjust the spacing 168 of the containers 14 to the machine stitch with the spacing 52.
  • the situation is reversed in the case of the handling device 44.
  • the holding elements 114 assume the first relative position, but in this case with an increased distance 168 when the handling device 44 assumes the receiving position.
  • the robot 56 transfers the handling device 44 to the transfer position.
  • the holding elements 114 are transferred into the second relative position, the distance between the containers 14 corresponding to the distance 166 in this case. In this way, the machine stitch is matched to the carrier 12's nest stitch.
  • the handling device 20 includes ten holding elements 114 by way of example.
  • the detailed drawing according to FIG. 3 shows eight holding elements 114 by way of example .
  • Figure 4 shows a simultaneous processing of six containers 14 at the filling station 32 and at the weighing station 36.
  • the number of containers 14 removed from the carrier 12 can be adjusted, for example by means of the cell chain 26, to the number of containers 14 that can be processed in these stations will. This also in no way restricts the present invention and does not lead to any contradiction.
  • the respective holding section 116 is detachably connected to the supporting section 118, in the present example by screwing. This gives the possibility of replacing the holding portion 116 with a different type of holding portion 116 adapted to containers 14 of different configurations.
  • the different containers 14 to be processed differ, for example, in terms of size and/or in terms of their type.
  • the system 10 can in particular include a format set 174 of holding elements 114 used, which are used in the representation according to FIGS. 9 to 12. Another format set 176 of different types of holding elements 114 can be provided (FIG. 1). A corresponding format set 176 can be provided for the handling device 44 in addition to the format set 176 used.
  • swivel device Pivot axis, displacement device, second segment, pivot device, pivot axis, third segment, pivot device, pivot axis, electrical device, electrical line, vacuum device, suction line, control device, support device, housing, 108 section, recess, frame, holding element, holding section, support section, guide section, suction opening, recess section, connection element, section direction of movement, guide device, 138 guide element, intermediate space, 144 segment, bearing element fixing element

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

L'invention concerne un dispositif de manipulation pour contenants pharmaceutiques (14), par exemple des flacons, seringues, carpules ou ampoules, ledit dispositif de manipulation comprenant deux ou plus de deux éléments de retenue (114) permettant respectivement de saisir un contenant (14) et au moins un élément de retenue (114) pouvant être déplacé sélectivement selon un mouvement de va-et-vient le long d'une direction de déplacement (132) ; et un système de modification de distance (150) pour transférer les éléments de retenue (114) d'une première position relative à une deuxième position relative et inversement. Dans ladite deuxième position relative, les éléments de retenue (114) se trouvent à une distance (166, 168) les uns des autres qui est différente de la distance (166, 168) dans la première position relative. Cette invention concerne en outre un système de traitement pour contenants pharmaceutiques.
EP21843978.4A 2020-12-23 2021-12-22 Dispositif de manipulation pour contenants pharmaceutiques, et système de traitement pour contenants pharmaceutiques équipé d'un dispositif de manipulation Pending EP4267499A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020134783.9A DE102020134783A1 (de) 2020-12-23 2020-12-23 Handhabungsvorrichtung für pharmazeutische Behälter und Verarbeitungssystem für pharmazeutische Behälter mit einer Handhabungsvorrichtung
PCT/EP2021/087258 WO2022136531A2 (fr) 2020-12-23 2021-12-22 Dispositif de manipulation pour contenants pharmaceutiques, et système de traitement pour contenants pharmaceutiques équipé d'un dispositif de manipulation

Publications (1)

Publication Number Publication Date
EP4267499A2 true EP4267499A2 (fr) 2023-11-01

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EP21843978.4A Pending EP4267499A2 (fr) 2020-12-23 2021-12-22 Dispositif de manipulation pour contenants pharmaceutiques, et système de traitement pour contenants pharmaceutiques équipé d'un dispositif de manipulation

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US (1) US20230406553A1 (fr)
EP (1) EP4267499A2 (fr)
CN (1) CN116635316A (fr)
DE (1) DE102020134783A1 (fr)
WO (1) WO2022136531A2 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020134859A1 (de) 2020-12-23 2022-06-23 Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG Vorrichtung zum Verarbeiten pharmazeutischer Behälter und Befülleinrichtung
DE102020134866A1 (de) 2020-12-23 2022-06-23 Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG Vorrichtung zum Befüllen pharmazeutischer Behälter
CN114955541B (zh) * 2022-06-30 2024-04-09 歌尔科技有限公司 电池测试设备

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Publication number Priority date Publication date Assignee Title
IT1190555B (it) * 1986-03-19 1988-02-16 Ferrero Spa Dispositivo di presa particolarmente per apparecchiature automatiche di sollevamento e trasporto di impianti per il confezionamento di prodotti alimentari
DE102004003188A1 (de) 2004-01-22 2005-08-11 Iwk Verpackungstechnik Gmbh Tuben-Handhabungsvorrichtung
DE102004003189A1 (de) 2004-01-22 2005-08-11 Iwk Verpackungstechnik Gmbh Tuben-Handhabungsvorrichtung und Verfahren zu deren Steuerung
US7540369B2 (en) 2005-12-19 2009-06-02 Zoran Momich Product handling system
DE102010025392B4 (de) * 2010-06-28 2014-11-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungssystem zur Aufnahme von wenigstens zwei räumlich geordneten Werkstücken und Abgeben der Werkstücke mit einer geordnet veränderten Relativlage der Werkstücke

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CN116635316A (zh) 2023-08-22
WO2022136531A3 (fr) 2022-08-18
WO2022136531A2 (fr) 2022-06-30
DE102020134783A1 (de) 2022-06-23
US20230406553A1 (en) 2023-12-21

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