WO2016059662A1

WO2016059662A1 - Drug manufacturing equipment

Info

Publication number: WO2016059662A1
Application number: PCT/JP2014/005265
Authority: WO
Inventors: 格木村; 真嗣井戸
Original assignee: 日揮株式会社
Priority date: 2014-10-16
Filing date: 2014-10-16
Publication date: 2016-04-21

Abstract

[Problem] To provide drug manufacturing equipment which makes it possible to achieve a safe work environment for workers. [Solution] In a process chamber 1 of the drug manufacturing equipment, in order to subject the processing materials to different processes in order, multiple processing devices 22-27 are arranged spaced away from each other in a planar direction, and a robot 3 having a remotely controlled manipulator is provided which moves horizontally by means of a horizontal movement mechanism 34. A cleaning unit 71 discharges a cleaning fluid in the process chamber 1 in order to clean the multiple processing devices 21-28. Further, the robot 3 carries out operations relating to: conveying the processed materials to the processing devices 22-27; performing processing; and conveying conveyance containers that house the materials after processing.

Description

Pharmaceutical manufacturing equipment

The present invention relates to a pharmaceutical production facility provided with a process room for producing a pharmaceutical.

In the pharmaceutical manufacturing process, a powder (powder raw material) which is a pharmaceutical raw material is processed to manufacture, for example, a tablet-like pharmaceutical. In the pharmaceutical manufacturing plant, the bag containing the powder raw material is opened and transferred into the transfer container, and the transfer container containing the powder raw material is transferred into the process chamber, weighed, granulated, mixed in the process chamber, Processing such as tableting (molding into tablets), coating, etc. is sequentially performed. In the process chamber, a processing apparatus for performing each process is disposed, and in the weighing performed first, it may be measured with the powder raw material put in the transport container, but in the subsequent processing, An object to be treated (powder raw material, an intermediate substance or product ranging from powder raw material to product) is taken out from the transfer container and introduced into the processing device. And the to-be-processed object in which the process was performed by the processing apparatus is transferred, for example to another conveyance container, and is conveyed by the following processing apparatus.

The powder raw materials for medicines contain highly active agents that affect the human body. Therefore, each processing device should be operated in a closed space so that the object does not leak from the handling space to the outside. A working isolator is provided, for example a glove box operating via a glove. When changing the type of powder material to be used, the glove box is removed from the apparatus, carried to the cleaning area and cleaned, and then attached to the apparatus to start a series of processes. In addition to wearing protective clothing for workers, the passage from the process room to the cleaning area where the worker comes out of the process room is separated from the general passage for environmental safety.

However, even if an isolator or protective clothing is used in this way, the worker is always required to pay close attention, the burden on the worker is heavy, and the accuracy of the work may be affected by the skill of the worker, etc. It is difficult to say from the fact that powder raw materials can always be completely prevented from touching the human body. In addition, when changing the powder material, it is necessary to perform complicated work such as cleaning work of glove box, and in layout in the factory, on layout such as securing a dedicated passage for a worker who finished work in the process room. There is a limitation of

Generally, there is known a robot operation system in which an operator shares senses such as vision, hearing, and touch detected by a robot, and can operate intuitively and interlockingly without consciously trying to steer the robot.
For example, Patent Document 1 describes a surgical operation system using a manipulator arm.
Further, Patent Document 2 describes a technique for carrying in equipment such as a motor and a fan used in a thermal power plant into a cleaning chamber and supplying steam from the boiler into the cleaning chamber for cleaning.
The techniques described in these patent documents can not motivate the present invention.

JP 2007-167643 JP, 2006-231179, A

The present invention has been made under such circumstances, and an object thereof is to provide a pharmaceutical production facility capable of securing the working environment of a worker.

The pharmaceutical production facility of the present invention is a production facility provided with a process room for treating a material to be treated to produce a drug,
A plurality of processing devices disposed in the processing chamber so as to be separated from each other in the planar direction and for sequentially performing processing on the object to be processed;
A robot equipped with a remotely operated manipulator;
A horizontal movement mechanism for moving the robot horizontally in the process chamber;
A cleaning unit provided in the process chamber and discharging a cleaning solution to the processing apparatus to clean the plurality of processing apparatuses, the operation performed by the robot by remote control carries in the processing object to the processing apparatus The operation, the operation for processing the object to be processed by the processing apparatus, and the operation for transporting the transport container containing the object to be processed after the processing out of the subsequent processing apparatus or the process chamber It is characterized by including.

The pharmaceutical production facility may have the following features.
(A) The operation unit of the horizontal movement mechanism is provided in an operation area for remote control of the robot. Alternatively, the operation performed by the robot by the remote control may include the operation of the horizontal movement mechanism.
(B) An elevating mechanism for raising and lowering the robot is provided in combination with the horizontal movement mechanism. At this time, the operation unit of the elevating mechanism is provided in an operation area for performing remote control of the robot. Alternatively, the operation performed by the robot by the remote control includes the operation of the elevating mechanism.
(C) The operation unit of the cleaning unit is provided in an operation area for remotely operating the robot.

In addition, another pharmaceutical production facility is a pharmaceutical production facility provided with a process room for treating a material to be treated to produce a drug.
Using a robot including a remotely operated manipulator, a horizontal movement mechanism for horizontally moving the robot in the process chamber, and an elevating mechanism provided in combination with the horizontal mechanism to raise and lower the robot An operation for carrying an object to a processing apparatus, an operation for processing the object by the processing apparatus, and a transport container storing the object to be processed after the outside of the subsequent processing apparatus or the process chamber. And a plurality of processing devices disposed in the process chamber so as to be separated in the planar direction from each other in order to perform the processing on the processing object in order by the operation for transporting to the
And a cleaning unit provided in the process chamber and discharging a cleaning liquid to the processing apparatus to clean the plurality of processing apparatuses.

Each of the above-mentioned pharmaceutical production facilities may have the following features.
(D) The process chamber is provided with a discharge port for discharging the cleaning liquid. A cleaning unit for a robot that discharges a cleaning solution to clean the robot is provided in the process chamber. Alternatively, a cleaning area for cleaning the robot with a cleaning solution is provided outside the process chamber.

The present invention relates to transport of a transfer container containing an object to be processed and an object to be processed in a process room of a pharmaceutical manufacturing facility provided with a plurality of processing apparatuses for processing the object transferred by the transfer container. An operation for processing the image by the processing device is performed by remotely operating a robot equipped with a manipulator. For this reason, even if pharmaceutical raw materials that affect the human body are handled, the environment of the worker is not affected, and safety of the working environment can be achieved.
In addition, since it is not necessary to attach an isolator to each processing apparatus, it is possible to clean each processing apparatus in the process chamber, which facilitates cleaning work of the processing apparatus. There is no fear.

It is a cross-sectional top view of the process room provided in the pharmaceutical manufacturing facility which concerns on embodiment of this invention. It is a perspective view of a robot which works in the process room. FIG. 6 is a perspective view of the robot in a state in which a body portion is extended. It is a front view of the operator who performs remote control of the said robot. It is a side view of the said operator. It is 1st explanatory drawing which shows the operation which a robot performs in the said process chamber. It is 2nd explanatory drawing which shows the operation which the said robot performs. It is 3rd explanatory drawing which shows the operation which the said robot performs. It is a vertical side view of a process room where cleaning of a processing device is performed. FIG. 1 is a cross-sectional plan view of a process chamber provided with a cleaning area for a robot. It is a vertical side view of the washing area for said robots. It is a perspective view of the robot concerning other embodiments.

Hereinafter, the pharmaceutical production facility of the present invention, the robot 3 performing various operations in the facility, and a system for performing operation control thereof will be described with reference to FIGS. 1 to 5.
The pharmaceutical production facility of the present invention is provided, for example, in a pharmaceutical production plant as a process room 1 for handling pharmaceutical raw materials and the like that affect human bodies and the environment.

The processing room 1 is isolated from other spaces in the pharmaceutical manufacturing plant via the partition wall 13, and various processing devices 22 to 27 for processing the pharmaceutical raw materials in order are disposed in the inside thereof.
For example, in the process chamber 1, there are a weighing device 221 for weighing pharmaceutical raw materials, and a weighing and dispensing unit 22 which is a table on which a raw material container 222 for containing the raw material to be sprinkled is disposed; A granulation liquid preparation device 23 for preparing a granulation liquid to be coated or bound to a pharmaceutical raw material that has been powdered and weighed in the above manner, and the granular raw material is sprayed and dried on the pharmaceutical raw material A fluidized bed granulating apparatus 24 for obtaining the container powder, a container mixing apparatus 25 for mixing the powder and granules with an excipient, and a tableting apparatus 26 for molding the mixed powder and granules of the agitating and mixing medicine. And a coating device 27 for coating the molded pharmaceutical tablets.

The process chamber 1 is formed to be elongated in the left-right direction as viewed in FIG. 1, and the processing devices 22 to 27 are arranged separately in the planar direction along the longitudinal direction of the process chamber 1. The processing devices 22 to 27 are arranged substantially in a line along the order of processing performed on the pharmaceutical raw material.

In the side wall of the processing unit 22 to the side of the dispersion / weighing unit 22 side where the processing of the pharmaceutical raw material is started in the arrangement of the processing devices 22 to 27, the pharmaceutical raw material stored in the transport container 4 is carried in from outside the process chamber 1. A carry-in unit 21 is provided. In addition, on the side wall surface on the side of the coating device 27 at which the treatment of the medicine is finished, a discharge unit 28 for carrying the coated medicine out of the conveyance container 4 is provided.
In the following description, the pharmaceutical raw materials, the substances being processed by the processing devices 22 to 27, and the coated pharmaceuticals are also collectively referred to as "object to be treated".

The loading unit 21 and the unloading unit 28 have an air lock structure capable of loading and unloading the container in a state where the internal space of the process chamber 1 is isolated from the outside. Further, the loading unit 21 and the unloading unit 28 may be configured as a shower room provided with an air shower or a cleaning solution shower for removing the powder of the processing object attached to the surface of the container in the process chamber 1.
Here, a space which is disposed adjacent to the process chamber 1 and into which a part of the coating device 27 is inserted is a machine chamber 100. Workers can enter and leave the machine room 100 from other areas in the pharmaceutical manufacturing plant.

As shown in FIG. 1, the process chamber 1 in which various processing devices 22 to 27 are disposed is used in a pharmaceutical manufacturing plant so that objects to be treated affecting the human body and the environment do not leak out of the process chamber 1. It is isolated from other areas.
For example, an open / close door (not shown) provided in the partition 13 of the process chamber 1 is closed, and a worker can not enter the process chamber 1 at normal times. Further, the air conditioning exhaust in the process chamber 1 is performed through a filter unit (not shown), and the object floating in the process chamber 1 is removed from the exhaust.

As described above, in the process chamber 1 isolated from the surroundings, an operation for carrying in / out an object to be processed through the loading / unloading unit 21 and the unloading unit 28, an operation for transporting the object to be processed among the plurality of processing apparatuses 22 to 27, and each process The loading and unloading operations to the devices 22 to 27 are performed using the robot 3.

As shown in FIGS. 2 and 3, the robot 3 includes a human-shaped upper body provided with a head 31 and two arm-like manipulators 32 in a body portion 36, and is a slave robot operated by remote control. It is configured.
The head 31 provided at the upper end of the body portion 36 includes, for example, two 3D cameras 311, and the direction of the 3D camera 311 can be changed by moving the head 31 vertically and horizontally by remote control. Further, the head 31 is provided with a microphone for detecting the sound in the process chamber 1.

Each manipulator 32 includes an arm portion 321 having a plurality of joints, and a plurality of, for example, 3 to 5 finger portions 322 provided at the tip of the arm portion 321, and each finger portion 322 has a plurality of joints Is provided. The movement of the arm 321 and the finger 322 using each joint is performed by remote control described later. Further, each finger portion 322 is provided with a pressure sensor (not shown), so that the tactile sensation when holding the transport container 4 containing the object to be processed can be fed back to the operator P. In addition, a proximity sensor may be provided on the outer surface of the arm portion 321 to detect the proximity of these devices in order to avoid collision with the devices in the process chamber 1.

As shown in FIGS. 2 and 3, the lower end portion of the body portion 36 is connected to an elevation portion (elevation mechanism) 33 for raising and lowering the entire body portion 36 (raising and lowering the robot 3). The height position at which the object to be treated and the transport container 4 are handled can be changed. The body 36 provided on the elevating part 33 is configured to be horizontally pivotable. The raising and lowering operation of the raising and lowering unit 33 and the turning operation of the body unit 36 are performed by remote control.

Further, the lower end portion of the elevating portion 33 is fixed on a carriage portion 34 constituting a horizontal moving mechanism of the robot 3 (the elevating portion 33 is provided in combination with the carriage portion 34). The carriage unit 34 can horizontally move the robot 3 in the process chamber 1 by using a wheel 341 which is rotated by a drive mechanism (not shown). The drive mechanism can switch the wheels 341 between the forward rotation direction and the reverse direction and rotate them, thereby moving the carriage portion 34 forward or backward. Furthermore, the drive mechanism can change the orientation of the wheel 341, and can also move the carriage 34 in the left-right direction. The movement operation of the carriage unit 34 is also performed by remote control.

Further, on the lower surface of the carriage portion 34, a sensor (not shown) for detecting the guide line 12 indicating the movement trajectory of the robot 3 is provided. As shown in FIG. 1, the guide line 12 is drawn in advance on the floor of the process chamber 1. The carriage unit 34 is configured as an AGV (Automated Guided Vehicle) that moves along the guideline 12 based on the detection result of the sensor. The plan view of FIG. 1 shows the position at which the robot 3 moved along the guide line 12 accesses the loading unit 21, the unloading unit 28, and the processing devices 22 to 28.
Further, the carriage unit 34 is provided with a collision sensor for automatically stopping the carriage unit 34 when detecting an impact colliding with an obstacle, and a control unit of a drive mechanism.

Further, as shown in FIG. 2, on the upper surface of the carriage portion 34 on the front side in the traveling direction of the robot 3, a mounting surface 340 for mounting the transport container 4 is provided. The transport container 4 accommodating the object to be processed is transported between the loading unit 21, the unloading unit 28, and the processing devices 22 to 27 in a state of being placed on the mounting surface 340. From this point of view, it can be said that the carriage portion 34 doubles as a container moving mechanism for moving the transport container 4.

The robot 3 includes a wireless communication unit (not shown), and the head 31, the manipulator 32, the body 36, the elevator 33, and the carriage 34 between the robot 3 and the slave controller 51 disposed in the process chamber 1. Reception of the operation signal, transmission of video information captured by the 3D camera 311, audio information of the microphone, and pressure information detected by the finger unit 322 are performed. The slave side control unit 51 performs input / output of these pieces of information with the master side control unit 52 provided on the operation area side outside the process chamber 1 (“signal A, shown in FIG. 2 and FIG. B ").

Next, with reference to FIGS. 4 and 5, a master system for performing remote control of the robot 3 will be described. The operation area of the robot 3 in which the master system is provided is not particularly limited as long as it is outside the process chamber 1, but is provided, for example, in the same pharmaceutical manufacturing plant as the process chamber 1.
The master system of this example includes a headgear unit 61 mounted on the head of an operator P who performs remote control of the robot 3, a head link mechanism 623 for detecting the position and orientation of the headgear unit 61, and both hands of the operator P. A finger link mechanism 621 attached to the finger to detect the position and orientation of each finger, and an arm link mechanism 622 attached to the hand of the operator P to detect the position and orientation of the arm of the operator P. The head link mechanism 623, the finger link mechanism 621, and the arm link mechanism 622 are attached to the trunk (for example, the back) of the operator P, and the head 31 and the manipulator 32 (arms 321 and fingers 322) of the robot 3. Is connected to an input / output unit 62 that detects and outputs information that teaches the position and orientation of the image.

The movement of the body of the operator P is detected as the amount of change in the joints accompanying the shape change of the head link mechanism 623, the finger link mechanism 621, and the arm link mechanism 622 (polyjoint structure), and the robot 3 is operated remotely. An existing system can be used as a method of outputting as teaching information (operation signal) for the purpose.

The direction of the headgear portion 61 detected using the head link mechanism 623 is input as an operation signal for changing the direction of the head 31, and the head 31 of the robot 3 moves in conjunction with the movement of the head of the operator P. It will be. Further, the operator P is equipped with an upper body link mechanism (not shown) for detecting a twist around the vertical axis of the upper body, and when the upper body of the operator P is twisted, the body portion 36 is horizontally turned toward the twist direction. Can. Thereafter, when the upper body of the operator P is untwisted, the turning of the body portion 36 is stopped.
Furthermore, the headgear unit 61 is provided with a 3D monitor for displaying an image taken by the 3D camera 311 of the robot 3 and the operator P can visually recognize the situation in the process chamber 1 through the 3D monitor. .

Similarly, the position or orientation of the arm or finger of the operator P detected using the finger link mechanism 621 or the arm link mechanism 622 is input as an operation signal of the manipulator 32, and the movement of the arm or finger of the operator P In conjunction with this, the manipulator 32 of the robot 3 moves. Further, pressure information detected by the pressure sensor of the finger portion 322 is transmitted to a glove worn by the operator P as a tactile sensation when holding the transport container 4 by the manipulator 32 or the like.

Further, as shown in FIG. 4 and FIG. 5, in the master system of this example, on the work chair 65 on which the operator P who performs remote control of the robot 3 is seated, and on the floor of the foot of the operator P seated on the work chair 65 The

various operation pedals

631, 632, 633, 634, 641, 642 which are arranged are provided.

For example, below the foot on the right foot side of the operator P seated on the work chair 65, a forward pedal 631 for moving the carriage 34 forward and a reverse pedal 632 for moving backward are provided. At a position further to the right from the home position where the forward pedal 631 and the reverse pedal 632 are provided, there are a lift pedal 633 for causing the lift unit 33 to perform a lift operation and a descend pedal 634 for performing a descent operation. It is provided. On the other hand, below the foot on the left foot side of the operator P, a right movement pedal 641 for moving the carriage 34 in the right direction and a left movement pedal 642 for moving the carriage 34 in the left direction are provided. While the

operation pedals

631, 632, 633, 634, 641, and 642 are being depressed, various corresponding operations are performed. Further, the moving speed of the carriage 34 and the lifting and lowering speed of the lifting and lowering unit 33 may be changed according to the stepping amount of the

operation pedals

631, 632, 633, 634, 641, and 642.

The teaching information of the head link mechanism 623, the finger link mechanism 621, the arm link mechanism 622, the head 31, the manipulator 32, and the body 36 acquired from the upper body link mechanism is in the operation area via the input / output unit 62. Is input to the master side control unit 52 disposed in FIG. Further, operation information of each

operation pedal

631, 632, 633, 634, 641, 642 is also input to the master side control unit 52. These pieces of information are output to the slave side control unit 51 on the process chamber 1 side as an operation signal for remotely operating the robot 3. In addition, the video information, the audio information, and the pressure information acquired from the slave side control unit 51 are also transmitted to the headgear unit 61 and the glove worn by the operator P via the master side control unit 52.

An operation performed using the robot 3 in the process chamber 1 having the configuration described above will be described with reference to FIGS. 6 to 8.
First, when the transport container 4 containing the powdered pharmaceutical raw material (powder raw material) is carried into the carry-in unit 21 from the outside of the process chamber 1, the robot 3 carries out the separation from the outside. Take out the transport container 4 from the inside (Fig. 6 (a)).

Then, as shown in FIG. 2, the robot 3 places the transport container 4 on the placement surface 340 of the carriage unit 34 and transports the transport container 4 to the diversion / weighing unit 22. In the doubling / weighing unit 22, the medicine raw material in the transfer container 4 is transferred to another container for weighing while being placed in the transfer container 4 and mounted on the weighing device 221 (FIG. 6 (b The figure shows an example in which the transport container 4 is mounted on the weighing device 221 as it is. Next, the robot 3 adds and mixes the raw material to be dispersed in the raw material container 222 to the pharmaceutical raw material in the transport container 4 by a predetermined weight.

After the completion of the doubling, the robot 3 places the transport container 4 on the carriage 34 and transports it to the fluidized bed granulator 24, and the open / close door 242 provided on the main body 241 of the fluidized bed granulator 24 is used. The drug material dispersed in the body portion 241 is loaded (carried in) through the main body portion 241 (FIG. 7A).

Further, the robot 3 extracts the granulation liquid from the preparation tank 231 of the granulation liquid preparation device 23 at a predetermined timing before and after the operation of carrying the pharmaceutical raw material into the fluidized bed granulation device 24 (FIG. 6 (c)). It conveys to the granulation liquid tank of the fluid bed granulator 24 using a conveyance container (not shown), and inject | pours. For example, cellulose serving as a binder and purified water are supplied to the preparation tank 231 via a supply pipe, and these liquids are mixed by a mixer (not shown) disposed in the preparation tank 231 to prepare a granulation liquid. ing.

After the pharmaceutical raw material is charged into the main body portion 241 of the fluidized bed granulating apparatus 24, the open / close door 242 is closed and hot air for drying is supplied from the lower side of the main body portion 241 to form a fluidized bed of the pharmaceutical raw material By spraying the granulation liquid toward the fluidized bed, fluidized bed granulation drying is performed in which a binder is coated on the pharmaceutical raw material to obtain powder particles of the medicine.

After the fluidized bed granulation and drying are completed, the robot 3 extracts the powder particles from the extraction line (not shown) provided in the main body portion 241 into the transport container 4 and then places the transport container 4 on the carriage portion 34 to mix the containers. Transport to device 25. In the container mixing device 25, the powder particles in the transport container 4 are introduced (carried in) toward the inside of the container portion 251 held by the drive unit 252, and an excipient for formation is introduced (FIG. 7) (B). After that, the container portion 251 is rotated using the drive portion 252, and the falling of the container portion 251 is repeated to mix the pharmaceutical powder and the excipient.

When the mixing operation of the pharmaceutical powder and the excipient is completed, the robot 3 extracts the mixed powder from the container unit 251 into the transport container 4 and places it on the carriage 34 and transports it to the tableting device 26. The robot 3 inserts (imports) the mixed powder particles into the input hopper 262 of the tableting device 26, and compresses and shapes the mixed powder particles using the tableting mechanism installed in the main body portion 261, Form The tablets dispensed from the main body of the tableting device 26 are conveyed by the transport mechanism 263 and dispensed to the dispensing hopper 264 (FIG. 8A).

As shown in FIG. 8 (b), the delivery hopper 264 is configured to be able to move up and down by a lifter 265. Further, as shown in FIG. 1 and FIG. 8 (b), between the tableting device 26 and the coating device 27, the lower position of the dispensing hopper 264 raised by the lifter 265 and the loading of the tablet into the coating device 27. A mounting table 266 is provided which is configured to be horizontally pivotable between the position where the operation is performed. The transport container 4 for transporting tablets is placed on the mounting table 266, and after the transport container 4 is inserted below the dispensing hopper 264 raised by the lifter 265, the transport from the dispensing hopper 264 to the transport container 4 Take out the tablets.

When the tablet is dispensed to the transport container 4, the mounting table 266 is pivoted to the coating device 27 side, and the robot 3 receives the transport container 4 on the mounting table 266, and the tablet in the transport container 4 is It is carried into the drum in the main body 271 (FIG. 8 (b)). After sealing the drum into which the tablets have been carried, it starts to rotate, and while the film liquid is sprayed into the drum, the film liquid is dried and coated on the surface of the tablet by passing air for drying. Medicines are obtained.

When the coating of the medicine is completed, the robot 3 dispenses the medicine of the product from the drum of the coating device 27 to the clean transport container 4 and seals the transport container 4 and places it on the carriage 34 and transports it to the outlet 28 . When the robot 3 carries the transfer container 4 into the discharge unit 28, the inside of the discharge unit 28 is isolated from the space in the process chamber 1, and the outer surface of the transfer container 4 is cleaned by an air shower or a cleaning solution shower. The transport container 4 containing the medicine of the present invention is carried out to the outside.

As described above, in a series of processes from the loading unit 21 to the unloading unit 28 via the processing devices 22 to 27, the robot 3 includes the objects to be processed (granulation liquid) to the processing devices 22 to 27. Hereinafter, the same operation of carrying in) and the operation of conveying the transport container 4 storing the object to be processed to the processing units 23 to 27 and the unloading unit 28 after placing the transport container 4 on the carriage unit 34 are performed. Further, the robot 3 performs processing operations for processing by the processing devices 22 to 27 after loading of the processing object, that is, presses a button provided on the operation panel of each processing device 22 to 27 to It also executes the operation of activating 27.

Here, as the transport container 4 for transporting the object to be processed between the loading unit 21 and the processing devices 22 to 27, the one transported from the loading unit 21 into the process chamber 1 may be continuously used. Different transport containers 4 may be used between the respective devices. However, in the operation of transporting the medicine coated by the coating device 27 to the unloading unit 28, the inside can be cleaned and sealed in order to prevent the medicine of the product from being contaminated by the raw material powder and the like. It is preferable to use the transport container 4.

In the process chamber 1 described above, processing on an object to be processed is sequentially performed using the robot 3 operated by remote control.
Here, conventionally, a worker wearing protective clothes is made to enter the process chamber 1, and the worker manually carries in the processing object to each processing device 22 to 27, transports the processing object, and each processing device. Operations 22 to 27 were performed. For this reason, in order to avoid the outflow of the processing object into the process chamber 1, each processing apparatus 22 to 27 is provided with an isolator such as a glove box, and the transport container 4 is carried into the isolator to An operation of carrying in the object to be processed into the processing devices 22 to 27 and an operation of storing the object in the processing device 22 in the transport container 4 have been performed.

On the other hand, since the robot 3 that moves by remote control is not affected by the object to be processed, the processing devices 22 to 27 do not need to be provided with an expensive isolator. However, when an object to be treated is handled in the process chamber 1 without providing the isolator, powder raw materials and the like are scattered to contaminate the surfaces of the processing apparatuses 22 to 27 and the floor and side walls of the process chamber 1. If these regions are contaminated, there is a possibility that cross contamination may occur in which the product to be processed of the pharmaceutical product before switching is mixed into the product after switching the pharmaceutical product manufactured in the process chamber 1. In addition, it becomes difficult for a worker to enter the process chamber 1 and perform maintenance on the processing devices 22 to 27 and the robot 3 or the like.

Therefore, the process chamber 1 of the present embodiment includes a cleaning unit that discharges the cleaning solution into the process chamber 1 and cleans the loading unit 21, the unloading unit 28, the processing devices 22 to 27, and the robot 3. In the description related to the cleaning unit, the loading unit 21 and the unloading unit 28 are collectively referred to as “processing apparatus”.

The configuration of the cleaning unit will be described with reference to FIG. 9. A cleaning solution is discharged from the upper side of the processing apparatuses 21 to 28 to the ceiling of the process chamber 1 to clean the processing apparatuses 21 to 28. A shower unit 71 is provided. For example, the shower unit 71 has a configuration in which a plurality of cleaning liquid discharge ports are provided on the bottom surface of the pipe along the extending direction of the pipe through which the cleaning liquid flows, at an interval. For example, a plurality of shower parts 71 are disposed at an interval from each other on the entire ceiling surface of the process chamber 1, and the entire internal space of the process chamber 1 including the floor surface and the side wall surface of the process chamber 1 can be cleaned. It is supposed to be.

Also, in order to thoroughly clean the robot 3 having a large number of joints and having a complicated shape, for example, at a predetermined area in the process chamber 1 where the cleaning of the robot 3 is performed, the height position close to the robot 3 Alternatively, the robot shower unit 73 may be provided.
The

shower units

71 and 73 are connected to a storage tank for a cleaning solution (for example, cleaning water), a supply pump, and a cleaning solution supply unit 72 having a flow rate adjustment mechanism. The cleaning liquid supply unit 72 is operated, for example, on the side of the operation area where the operator P is present, and discharge of the cleaning liquid to each of the processing devices 21 to 28 and the robot 3 is performed. For this reason, the electric systems of the processing devices 21 to 28 and the robot 3 are waterproofed, and each drive mechanism is also configured to be able to be cleaned by the cleaning liquid. In addition, it is not essential to provide the shower part 73 for robots, and it is needless to say that you may wash the robot 3 using the shower part 71 by the side of a ceiling part.

On the other hand, when the inside of each processing apparatus 21 to 28 is cleaned, a cleaning liquid nozzle (not shown) disposed in the process chamber 1 is used. The robot 3 inserts the cleaning solution nozzle into the processing apparatuses 21 to 28 to clean the inside thereof. If the operator P determines that the cleaning is insufficient through the 3D camera 311 of the robot 3, the interior of each processing device 21 to 28 can be cleaned with a brush or the like using the manipulator 32 of the robot 3.

As shown in FIGS. 1 and 9, on the floor surface in the process chamber 1, a side groove 11 for discharging the cleaning liquid is disposed along the partition wall 13 on the side wall side. The side groove 11 is provided with a discharge port 110 for discharging the cleaning liquid after cleaning from the process chamber 1. Although the cleaning liquid discharged from the discharge port 110 contains components of the processing object, the cleaning liquid is collected in a drainage processing unit (not shown), and the drainage processing is performed to remove and decompose the processing object components. After being performed, it is discharged to the outside or reused as a washing solution.

Next, FIGS. 10 and 11 show an example in which a robot cleaning chamber 101 which is a cleaning area dedicated to the robot 3 is provided outside the process chamber 1. For example, the robot cleaning chamber 101 is provided adjacent to the process chamber 1, and the entrance of the robot 3 between the process chamber 1 and the robot cleaning chamber 101 can be closed by the open / close door 102. A robot shower unit 73 is disposed in the robot cleaning chamber 101, and the robot 3 can be cleaned independently of the processing devices 21 to 28 in the process chamber 1.

When the processing devices 21 to 28 in the process chamber 1 and the robot 3 moved to the robot cleaning chamber 101 can be separately cleaned, for example, when the processing devices 21 to 28 do not need to be cleaned, The robot 3 can be cleaned in a small space without wetting the inside of the large process chamber 1. As a result, it is possible to dry the robot 3 in a relatively short time and to shorten the time to restart the processing of the object.

According to the process chamber 1 of the present embodiment, the following effects can be obtained. In the process chamber 1 of a pharmaceutical manufacturing facility provided with a plurality of processing devices 22 to 27 for performing processing on an object transported by the transport container 4, transport of the transport container 4 containing the object to be processed, An operation for processing an object to be processed by the processing devices 22 to 27 is performed by remotely operating the robot 3 provided with the manipulator 32. For this reason, even if pharmaceutical raw materials that affect the human body are handled, the environment of the operator P is not affected, and safety of the working environment can be achieved.
In addition, since it is not necessary to attach an isolator to each of the processing devices 22 to 27, the processing devices 22 to 27 can be cleaned in the process chamber 1, which facilitates cleaning of the processing devices 22 to 27. There is no risk of environmental pollution during transportation of the isolator.

The configurations of the robot 3 and the master system for performing remote control thereof, and the transport container 4 are not limited to the examples described with reference to FIGS. 2 to 5. For example, in FIG. 12, instead of the

various operation pedals

631, 632, 633, 634, 641, 642 provided on the operation area side, the robot 3a itself is a horizontal moving mechanism, the carriage 34 or An example of performing the operation 33) is shown.

For example, on the upper surface of the carriage portion 34 of the robot 3a, an advancing button 351, a retracting button 352 for executing the forward movement and backward movement of the carriage portion 34, and a right for carrying out right movement and left movement of the carriage portion 34 A move button 353, a left move button 354, and a raise button 355 and a lower button 356 for executing the raising operation and the lowering operation of the body portion 36 are provided. An operator in the operation area moves the manipulator 32 using the above-described master system to operate these operation buttons 351 to 356. The operation buttons 351 to 356 are provided at positions where the field of view of the 3D camera 311 is entered when the 3D camera 311 provided on the front of the head 31 is directed downward.

Further, in FIG. 12, instead of the method of placing and conveying the transport container 4 on the placement surface 340 of the carriage portion 34, a caster 41 serving as a container moving mechanism is provided at the bottom of the transport container 4a. The method of carrying out is described. The robot 3a (which may be the robot 3 shown in FIGS. 2 and 3) holds the grip portion 42 provided on the upper side of the transfer container 4a by the manipulator 32 and pushes the transfer container 4a, or By the pulling operation, the transport container 4a is moved along with the

robot

3a, 3 horizontal movement.
Furthermore, as a matter of course, the transport container 4 may be transported using the

robot

3 or 3a by moving the carriage 34 in a state where the transport container 4 is lifted using, for example, both manipulators 32. .

For example, as shown in FIG. 2, the size of the transport container 4 which can be placed and transported on the mounting surface 340 of the carriage portion 34 is a case where the volume is about several liters to 300 liters. In addition, when the volume exceeds 400 liters, it is preferable to use the transfer container 4a with the caster 41. FIG. 12 shows a relatively small transport container 4a, but when transporting a large transport container 4a of about 400 to 1000 liters, for example, the grip portion 42 of the transport container 4a with casters 41 is used. May be attached and pulled, or the transport container 4a with casters 41 may be disposed in front of the carriage portion 34 and pushed by the left and right manipulators 32.

The horizontal movement mechanism for moving the

robots

3 and 3a in the horizontal direction is not limited to the case where it is configured as the carriage 34 on which the body 36 of the

robots

3 and 3a is mounted. For example, a support member may be provided to support the body portion 36 from the lower surface side, and a moving mechanism such as a moving belt for moving the support member may be disposed along the floor surface of the process chamber 1. Of course, the supporting member may be provided with an elevating mechanism for raising and lowering the body portion 36 as well.
Furthermore, the number of

robots

3 and 3a working in the process chamber 1 is not limited to one, and a plurality of

robots

3 and 3a remotely operated by a plurality of operators P may be used to carry in the object to be processed. , And the transport operation of the

transport containers

4 and 4a may be performed.

Furthermore, here, the processing apparatuses 22 to 27 disposed in the process chamber 1 are not limited to the examples shown in FIG. 1, FIG. 2 and the like. For example, a film liquid preparation apparatus for preparing a film liquid supplied to the coating apparatus 27, a test of an object to be processed by each processing apparatus 22 to 27, for example, a process test apparatus for performing an in-process test It may be located inside.

In addition to these, in all the transport of the processing object between the loading unit 21, the unloading unit 28 and the processing devices 22 to 27, the transport of the processing object by the

robot

3, 3a is executed in the state of being accommodated in the

transport containers

4 and 4a. It is not necessary to do. For example, an operation may be included in which some of the processing apparatuses 22 to 27 are connected with each other by piping, and the material to be treated in the form of powder is transported by piping together with the transport gas. Also in this case, the

robots

3 and 3a execute button operation and the like of the operation panel for carrying out the piping transportation.

Further, the arrangement of the loading unit 21, the unloading unit 28 and the processing devices 22 to 27 in the process chamber 1 is not limited to the case where they are arranged in a line as shown in FIG. 1, FIG. For example, the loading portion 21, the unloading portion 28 and the processing devices 22 to 27 are arranged in a ring along the circumferential direction of the process chamber 1 so as to surround the central portion of the process chamber 1 having a substantially square cross section. You may

P operator 1 process chamber 101 robot cleaning chamber 21 loading unit 22 double dose / weighting unit 23 granulation liquid preparation device 24 fluid bed granulation device 25 container mixing device 26 tableting device 27 coating device 3 slave robot 31 head 32 manipulator 33 Lifting unit 34 Bogie unit 4 Transport container 71 Shower unit 72 Cleaning solution supply unit 73 Robot shower unit

Claims

In a pharmaceutical production facility equipped with a process room for treating a material to be treated to produce a medicament,
A plurality of processing devices disposed in the processing chamber so as to be separated from each other in the planar direction and for sequentially performing processing on the object to be processed;
A robot equipped with a remotely operated manipulator;
A horizontal movement mechanism for moving the robot horizontally in the process chamber;
A cleaning unit provided in the process chamber and discharging a cleaning solution to the processing apparatus to clean the plurality of processing apparatuses, the operation performed by the robot by remote control carries in the processing object to the processing apparatus The operation, the operation for processing the object to be processed by the processing apparatus, and the operation for transporting the transport container containing the object to be processed after the processing out of the subsequent processing apparatus or the process chamber Pharmaceutical manufacturing equipment characterized by including.
The pharmaceutical manufacturing facility according to claim 1, wherein the operation unit of the horizontal movement mechanism is provided in an operation area for performing remote control of the robot.
The medicine manufacturing facility according to claim 1, wherein the operation performed by the robot by the remote control includes the operation of the horizontal movement mechanism.
The pharmaceutical manufacturing facility according to claim 1, wherein a lifting mechanism for lifting and lowering the robot is provided in combination with the horizontal movement mechanism.
The pharmaceutical manufacturing facility according to claim 4, wherein the operation unit of the elevating mechanism is provided in an operation area for performing remote control of the robot.
The medicine manufacturing facility according to claim 4, wherein the operation performed by the robot by the remote control includes the operation of the elevating mechanism.
The pharmaceutical manufacturing facility according to claim 1, wherein the operation unit of the cleaning unit is provided in an operation area where the robot is remotely operated.
In a pharmaceutical production facility equipped with a process room for treating a material to be treated to produce a medicament,
Using a robot including a remotely operated manipulator, a horizontal movement mechanism for horizontally moving the robot in the process chamber, and an elevating mechanism provided in combination with the horizontal mechanism to raise and lower the robot An operation for carrying an object to a processing apparatus, an operation for processing the object by the processing apparatus, and a transport container storing the object to be processed after the outside of the subsequent processing apparatus or the process chamber. And a plurality of processing devices disposed in the process chamber so as to be separated in the planar direction from each other in order to perform the processing on the processing object in order by the operation for transporting to the
And a cleaning unit provided in the process chamber and discharging a cleaning liquid to the processing apparatus to clean the plurality of processing apparatuses.
The pharmaceutical manufacturing facility according to claim 1 or 8, wherein the process chamber is provided with a discharge port for discharging the cleaning liquid.
The medicine manufacturing facility according to claim 1 or 8, wherein a cleaning unit for a robot that discharges a cleaning solution to clean the robot is provided in the process chamber.
The pharmaceutical manufacturing facility according to claim 1 or 8, wherein a cleaning area for cleaning the robot with a cleaning solution is provided outside the process chamber.