Device and method for removing containers from nests

Abstract

The invention relates to a device (1) for removing containers (2) from a nest (20) or a tray (22), the containers (2) being arranged in a plurality of container rows (201, 202,..., 212) in the nest (20) or the tray (22), comprising a processing device (4) having a first gripping unit (31) and a second gripping unit (32), the first gripping unit (31) and the second gripping unit (32) being arranged in a plurality of rows (201, 202,..., 212). The handling device (4) is configured to position the first gripping unit (31) at a first container row of a number of container rows (201, 202,..., 212) of the nest (20) or tray (22) arranged in the transfer position (60) in order to grip at least one container (2) in the first container row by means of the first gripping unit (31), the at least one container (2) gripped by means of the first gripping unit (31) is moved into a first placement position (51), and the second gripping unit (32) is positioned at a second container row of a number of container rows (201, 202,..., 212) of the nest (20) or tray (22) arranged in the transfer position (60) in order to grip the at least one container (2) in the second container row by means of the second gripping unit (32), and moving the at least one container (2) gripped by means of the second gripping unit into the first placement position (51) and / or the second placement position (52). The invention also relates to a method for removing containers from a nest or tray.

Description

Technical Field

[0001] This invention relates to apparatus and methods for removing containers from a nest or tray. More particularly, it relates to apparatus and methods for removing pharmaceutical containers such as vials, syringes, cartridges, or ampoules from a nest or tray. Background Technology

[0002] It is known that ready-to-use containers (also called reservoirs, articles, or encapsulation devices) are provided for filling in the pharmaceutical industry. Here, the containers are placed by the manufacturer in nests or trays. A nest is a plate-shaped receiving device containing a receiving section into which multiple parallel rows of containers can be inserted in an orderly fashion. The nest is contained in a tub and subsequently wrapped with at least one bag as a sterile barrier. It is also known that a covering film, particularly the so-called Tyvek® film, is arranged on the nest contained in the tub. A tray or outer packaging refers to an open-topped encapsulation device with edges, in which the container is typically, but not exclusively, contained via a head. Containers arranged in nests or trays are sterilized by suitable methods and can then be used for filling without further sterilization.

[0003] Here, for example, as known from DE102005006733A1, all containers are removed from the nest and transferred individually or in rows to a processing machine for the filling process. For a filling process with a defined filling weight and a direct subsequent closure process, it is set here that the empty weight (tare weight) of the container is determined before filling and the filling weight (gross weight) is determined after filling, wherein the filling weight for each container can be precisely determined from the difference between the gross weight and the tare weight.

[0004] In order to transfer to the processing machine, as known from EP2441711, the nest is removed from the box, so that the container row can be lifted individually or as a whole from the nest. Subsequently, the containers in the exposed container row are removed from the nest by means of a gripping unit using a processing device and transferred to the subsequent work station. Summary of the Invention

[0005] The objective of this invention is to create an apparatus and a method that allow for faster removal of containers from nests or trays and transfer of containers to subsequent workstations using processing equipment.

[0006] This task is solved by the subject matter having the features of claims 1 and 8. Advantageous design solutions are derived from the dependent claims.

[0007] According to a first aspect, an apparatus for removing containers from a nest or tray, particularly for removing pharmaceutical containers such as vials, syringes, cartridges, or ampoules, from a nest or tray, wherein the containers are arranged in multiple rows in the nest or tray, the apparatus comprising a processing device having a first gripping unit and a second gripping unit, wherein the processing device is configured to position the first gripping unit at a first row of containers among a number of container rows arranged in a transfer position of the nest or tray arranged in a transfer position, so as to grip at least one container from the first row of containers by means of the first gripping unit. A container, and moves at least one container grasped by a first gripping unit to a first placement position, wherein the processing device is further configured to position a second gripping unit at a second container row of a number of container rows arranged in a nest or a tray arranged in a transfer position, wherein the first container row and the second container row are arranged parallel to each other, wherein the processing device is configured to grasp at least one container in the second container row by means of the second gripping unit, and move at least one container grasped by means of the second gripping unit to the first placement position and / or the second placement position.

[0008] According to a second aspect, a method for removing containers from a nest or tray using a processing device including a first gripping unit and a second gripping unit, particularly for removing pharmaceutical containers such as vials, syringes, cartridges, or ampoules from a nest or tray, wherein the containers are arranged in multiple rows in the nest or tray, wherein the first gripping unit is positioned by means of the processing device at a first row of containers in a number of rows of containers arranged in a transfer position in the nest or tray arranged in the transfer position, at least one container in the first row of containers is gripped by the first gripping unit, and at least one container gripped by the first gripping unit is moved to a first placement position, wherein the second gripping unit of the processing device is positioned at a second row of containers in a number of rows of containers arranged in the transfer position in the nest or tray arranged in the transfer position, wherein the first row of containers and the second row of containers are arranged parallel to each other, wherein at least one container in the second row of containers is gripped by the second gripping unit, and at least one container gripped by the second gripping unit is moved to a first placement position or a second placement position.

[0009] In connection with this application, the concepts of "first," "second," etc., are used only for distinction and do not indicate order. In particular, in connection with this application, the names of the first container row and the second container row are not used to describe the position of the container row within the nest or tray. Thus, any container row arranged in the middle or at the edge can be selected as the first container row. Similarly, any container row arranged in the middle or at the edge can be selected as the second container row.

[0010] The enumeration of "first grasping unit" and "second grasping unit" is not exhaustive, and more than two grasping units can be set in the design scheme. In conjunction with this application, the concepts "one," "an," "a kind," etc. are only used as indefinite articles and not as numerals.

[0011] The apparatus and method allow for the removal of containers from nests or pallets with high machine efficiency and their transfer to one or more subsequent workstations.

[0012] The design allows the first and second gripping units to operate synchronously, alternately, or at time offsets (either fixedly or selectively) to grip at least one container from a first container row of a certain number of container rows and transport it to a first placement position, or to grip at least one container from a second container row of a certain number of container rows and transport it to a first working position or a second placement position. In particular, the selective operation of the first and second gripping units allows for high flexibility in retrieving containers from nests and / or trays of different designs.

[0013] In synchronous operation, the system is configured to transport at least one container from a first container row of a certain number of container rows to a first working position, and at least one container from a second container row of a certain number of container rows to a different second working position. In time-offset or alternating operation, the design is similarly configured to transport at least one container from a first container row of a certain number of container rows to the first working position, and at least one container from a second container row of a certain number of container rows to a different second working position. In other design schemes, the system is configured to transport at least one container from a first container row to the first working position, and at least one container from a second container row to the first working position as well.

[0014] After removing the first and second container rows, additional containers can be removed from the same container row or from one or more other parallel offset container rows. If all container rows are removed, the design is configured to replace empty nests or empty pallets at the handover location with full nests or full pallets via a replacement device.

[0015] In conjunction with this application, positioning the gripping unit at a row of containers means positioning it relative to that row of containers, by means of which at least one container in the row of containers can be gripped. Depending on the design, the positioning may, for example, be adjacent to or above the row of containers. In conjunction with this application, the gripping unit refers to a device by means of which one or more containers can be gripped. In some designs, the gripping unit includes gripping elements that are movable relative to each other, with the container held between the gripping elements. Depending on the design, all gripping elements, a single gripping element, or only one gripping element may be movable. For example, in some designs, the gripping unit includes fixed gripping elements and movable gripping elements. In other designs, the gripping unit includes a suction opening to grip the container by means of applied negative pressure or vacuum. In still other designs, the gripping unit is alternatively or additionally designed with a contour to passively grip the container by means of shape-fitting, for example, under a protrusion. Specifically, for removal from the tray, the gripping unit is designed in this configuration such that the container can be gripped by the negative pressure or vacuum applied by the gripping unit arranged above the container row. For removal from the nest, the gripping unit is designed in this configuration such that the container can be gripped by the negative pressure or vacuum applied by the gripping unit arranged beside the container row.

[0016] According to the implementation and requirements, a single container, multiple containers in a row of containers with a defined pattern, half a row of containers, an entire row of containers, an entire row of containers, or two or more rows of containers can be retrieved from a nest or tray using a first gripping unit and / or a second gripping unit. In the design, at least one of the gripping units is designed to selectively grip a single container, multiple containers in a row of containers with a defined pattern, half a row of containers, or an entire row of containers.

[0017] In conjunction with this application, a processing device refers to a motion mechanism that allows for fully or partially automated movement of a gripping unit to remove a container from a nest or tray and transfer the removed container to a placement location. In one design, the processing device includes one or more manipulators with two or more axes. For example, one or more manipulators are designed as a so-called SCARA robot, a five-axis robot, or a six-axis robot with four axes and four degrees of freedom. However, processing devices with other motion mechanisms are also conceivable. In some designs, the processing device operates in accordance with a programmed or learned sequence of instructions. In other designs, at least temporarily, remotely controlled operation and / or operation based on signals from monitoring equipment are provided.

[0018] The apparatus and method are suitable for removing containers from a nest or tray, wherein the containers are provided in a number of rows within the nest or tray. For example, the containers are arranged in a matrix with a linear arrangement or a hexagonal offset within the nest or tray. The rows of containers may have different lengths or spacing.

[0019] In some designs, the device can also be used to return the container to the nest or tray. In this case, the steps of the method should be performed in reverse order. In other designs, return is performed using other methods and / or other devices.

[0020] To ensure high machine efficiency and the removal of a constant number of containers, the first and second container rows (from which containers can be removed by means of the first and second gripping units) are arranged in parallel offset.

[0021] In one design, the first and / or second container rows are arranged internally within the nest or tray.

[0022] In one design, the first and second container rows are arranged on the exposed sides of the nest or tray, facing each other.

[0023] The exposed row of containers on the nest or tray refers to a row of containers that can be accessed from the periphery and / or above the nest or tray without requiring processing equipment or parts thereof to be positioned above a row of containers other than those on the exposed side of the nest or tray. In the case of a full nest or a full tray, the corresponding outer rows of containers are positioned on the opposite exposed side of the nest or tray. After these rows of containers are removed, the inner rows of containers connected thereto are positioned on the exposed side.

[0024] The processing equipment can be arranged and moved in such a way that it is prevented from being located in or above the main air supply to the still-open container. Furthermore, in pharmaceutical applications within isolators or cleanrooms, the design incorporates movement of the processing equipment in such a way that it avoids interference with the main air supply to the isolator or cleanroom that could compromise the sterility of the container.

[0025] In one design, the first and second placement positions are located at different subsequent stations, wherein the device alternately feeds the first and second subsequent stations. In other designs, the first and second placement positions are arranged at exactly one subsequent station. This device allows for high machine efficiency in feeding the subsequent stations. In one design, the subsequent station is a processing machine for the filling process, wherein, in a processing machine for a filling process with a defined filling weight, the empty weight (tare weight) of the container is determined before filling, and the filled weight (gross weight) is determined after filling, wherein the filling weight for each container can be precisely determined from the difference between the gross weight and the tare weight, and wherein the container is sealed after filling. However, the invention is not limited to transferring containers to one or more processing machines for the filling process. Instead, in other designs, the filled containers are removed from a nest or tray.

[0026] In a design where the first and second placement positions are located exactly one subsequent workstation, the first and second placement positions are further configured such that at least one container in the first container row and at least one container in the second container row are arranged in a straight line. In this design, the straight line corresponds to the transport direction at the entrance of the subsequent workstation. According to this design, the containers can be directly transferred to the transport section of the subsequent workstation. In other designs, the transfer is carried out using a transfer device, which allows the containers arranged in a straight line to be moved along a suitable path to one or more subsequent workstations. In this design, the pitch of the containers (i.e., the distance between two containers) can be changed using the transfer device.

[0027] In this design, the first gripping unit is configured to grip at least two containers in a first container row, wherein the processing device is configured to pivot at least two containers about a vertical axis by an angle, particularly 90°, during transport between the first container row and a first placement position. Similarly, alternatively or additionally, the second gripping unit is configured to grip at least two containers in a second container row, wherein the processing device is configured to pivot at least two containers about a vertical axis by an angle, particularly 90°, during transport between the second container row and a second placement position. The device here allows for arbitrary orientation of the nest or tray in the transfer position relative to the first and / or second placement positions. In this design, the device is configured to remove containers from two opposing container rows by means of the first or second gripping unit, wherein the container rows are arranged laterally, particularly perpendicularly, to the orientation of at least two containers in the first and / or second placement positions.

[0028] To achieve high machine efficiency, in the design scheme, the first gripping unit is configured to grip all containers in the first container row and transport them to the first working position, and the second gripping unit is configured to grip all containers in the second container row and transport them to the first working position or the second working position.

[0029] In this design, the processing device includes a first processing unit and a second processing unit. A first gripping unit is located at the first processing unit, and a second gripping unit is located at the second processing unit. The processing units are designed with motion mechanisms that allow fully or partially automated movement of the gripping units to remove containers from a nest or tray and transfer them to a placement position. Depending on the application, the processing units may be designed with identical or different structures. In one design, one or both processing units are designed as manipulators with two or more axes, such as a SCARA robot or a six-axis robot. In this design, the processing units operate via a common control unit corresponding to programmed or learned instruction sequences.

[0030] In one design, the processing device is configured to pivot a first gripping unit about a horizontal axis by an angle, particularly 180°, when transporting at least one container from a first container row to a first placement position, and / or to pivot a second gripping unit about a horizontal axis by an angle, particularly 180°, when transporting at least one container from a second container row to a second placement position. Particularly when containers are provided in a tray, it is known that the containers are provided in the tray via a head (i.e., with a downward-pointing opening). In this design, the processing device is configured to change the orientation of the containers removed from the tray for subsequent filling from above.

[0031] As described above, in the design, the first placement position and / or the second placement position are arranged at the supporting unit of the subsequent station, which allows for changing the pitch (Stich, sometimes also called spacing) of the containers. Alternatively or additionally, in one design, the processing equipment is configured to change the pitch between two containers held by the first gripping unit when transported to the first placement position, and / or change the pitch between two containers held by the second gripping unit when transported to the second placement position.

[0032] To remove containers from the nest, the design includes a transfer device configured to position the nest in a transfer location for container removal. This transfer device is configured to lift at least one container from a first container row and at least one container from a second container row. Lifting of the containers is permitted by means of a gripping unit supplied from the outside of the nest. The transfer device is particularly configured to selectively lift containers from the container rows designated for removal. In other designs, the transfer device simultaneously lifts all containers in the nest and selectively grips them using either the gripping unit or one of the gripping units. Attached Figure Description

[0033] Further advantages and aspects of the invention will become apparent from the claims and the description of embodiments thereof, which are set forth below with reference to the accompanying drawings. Hereinafter: Figure 1 A top view of a first embodiment of a device for removing containers from a nest is shown when gripping containers arranged in two rows of containers. The device includes a processing apparatus having two processing units and two gripping units. Figure 2 It shows that according to Figure 1 A top view of the device as it moves the grasped container away from the nest; Figure 3 It shows that according to Figure 1 A top view of the device as it transfers the grasped container to the schematically shown subsequent workstation; Figure 4 A top view of a second embodiment of a device for removing containers from a tray is shown when gripping containers arranged in two rows of containers. The device includes a processing apparatus with two processing units and two gripping units. Figure 5 It shows that according to Figure 5 A top view of the device as it moves the grasped container away from the tray; and Figure 6 It shows that according to Figure 5 A top view of the device as it transfers the grasped container to the subsequent workstation, schematically shown. Detailed Implementation

[0034] Figures 1 to 3 A top view schematically illustrates an embodiment of a device 1 for removing the container 2 from the nest 20.

[0035] exist Figures 1 to 3In the illustrated embodiment, containers 2 are arranged in multiple rows of containers with hexagonal offsets within the nest 20. More precisely, in the illustrated embodiment, containers 2 are arranged in ten rows 201, 202, ..., 210 within the nest 20, wherein each row 201, 202, ..., 210 comprises twelve containers 2. However, this design is merely exemplary, and the invention is not limited to removing containers 2 from such a nest 20. In the illustrated embodiment, ten rows 201, 202, ..., 210 are defined, each having twelve containers 2 arranged along a straight (horizontal in the marking plane), wherein removal is performed from two parallel offset rows 201, 202, ..., 210. In other designs, twelve rows are defined, each having ten containers 2, arranged along zigzag (perpendicular in the marking plane) lines, wherein removal is performed from two parallel offset rows. In another design, twenty-four rows of containers are defined, each having five containers 2, which are arranged along zigzag (perpendicular in the marked plane) lines, wherein the containers are taken from two parallel offset rows of containers.

[0036] The device 1 shown includes a transfer device 6 designed as a turntable, which can accommodate two nests 20, wherein one of the two nests 20 can be positioned by means of the transfer device 6. Figures 1 to 3 The handover position 60 shown on the right is for removing container 2.

[0037] In the illustrated embodiment, two nests 20 are positioned at the transfer device 6 such that the shorter sides of the nests 20 (i.e., the sides with five or ten containers 2 per container row in the illustrated embodiment, depending on the counting method) point in the direction of the schematically indicated rotation center 61. The longer sides of the nests 20 (i.e., the sides with twelve containers 2 per container row 201,...,210 in the illustrated embodiment) are arranged on two opposite outer sides of the transfer device 6. In other designs, the nests 20 are arranged in the transfer device 6 at a 90° offset.

[0038] The apparatus 1 includes a processing device 4, schematically shown. In the illustrated embodiment, the processing device 4 includes a first processing unit 41 with a first gripping unit 31 and a second processing unit 42 with a second gripping unit 32. In the illustrated embodiment, the processing units 41 and 42 can operate independently of each other. For example, the operation of the processing units 41 and 42 is performed by means of a control unit 7, schematically shown.

[0039] In other design schemes not shown, the first gripping unit 31 and the second gripping unit 32 are arranged at a common motion mechanism.

[0040] The first processing unit 41 is appropriately designed as follows: Figure 1 The illustration shows a first gripping unit 31 positioned at the first container row 201 of a number of container rows 201, 202, ..., 210 arranged in the transfer position 60 of the nest 20, and gripping at least one container 2 by means of the first gripping unit 31; in the illustrated embodiment, all containers 2 in the first container row 201 are gripped. In the illustrated embodiment, the first container row 201 is a container row 201 arranged horizontally above the marked plan view. In other designs, different horizontal container rows 202, ..., 210 or vertical container rows serve as the first container row.

[0041] like Figure 2 and Figure 3 As illustrated in the diagram, the first processing unit 41 is appropriately designed to move the container 2 grasped by the first grasping unit 31 to the first placement position 51.

[0042] Similarly, the second processing unit 42 is appropriately designed as follows: Figure 1 The second gripping unit 32 is positioned at the second container row 210 of a number of container rows 201, 202, ..., 210 arranged in the transfer position of the nest 20, and grips at least one container 2 by means of the second gripping unit 32; in the illustrated embodiment, all containers 2 in the second container row 210 are gripped. In the illustrated embodiment, the second container row 210 is a horizontal container row 210 arranged below the marking plane. In other designs, different horizontal container rows 202, ..., 210 or vertical container rows serve as the second container row.

[0043] like Figure 2 and Figure 3 As illustrated in the diagram, the second processing unit 42 is appropriately designed to move the container 2 grasped by the second grasping unit 32 to the second placement position 52.

[0044] In the illustrated embodiment, the first placement position 51 and the second placement position 52 are located in a common subsequent station 5. Placement positions 51 and 52 are chosen such that the containers 2 arranged in placement positions 51 and 52 are arranged in a row. In the illustrated embodiment, placement positions 51 and 52 are chosen such that the containers 2 arranged in a row are aligned with two opposite transport directions 50, respectively indicated by arrows, of the subsequent station 5. In one design, the containers 2 are transported directly from placement positions 51 and 52 in the transport direction indicated by arrow 50. In other designs, the containers 2 are first offset, for example, in the direction indicated by dashed arrow 53, and then transported along the transport direction 50 indicated by arrow 50. In yet another design, the transport from placement positions 51 and 52 is carried out only along the direction indicated by dashed arrow 53 or along other paths not shown.

[0045] exist Figures 1 to 3 In the embodiments shown, according to Figures 1 to 3 The first container row 201 and the second container row 210, which are removed from the nest 20 and offset parallel to it, are arranged on the opposite exposed side of the nest 20 in the handover position 60.

[0046] Here, the container rows on the exposed side of the nest 20 refer to the container rows that can be accessed from the periphery or outside of the nest 20 without being blocked by containers 2 in other container rows 202,...,209 from accessing containers 2 in those container rows 201,210. Figure 1 In the initial state shown (where the filled nest 20 is arranged in the handover position 60), the two outermost rows of containers 201, 210 arranged above and below the marked plane are accessible via the exposed side of the nest 20, while the processing device 4 or a portion thereof is not arranged in the main air supply section of the containers 2 leading to these rows of containers 201, 210 or above the containers 2 of these rows of containers 201, 210, or in the main air supply section of the containers 2 leading to other rows of containers 202,..., 209 or above the containers 2 of other rows of containers 202,..., 209. After the outer rows of containers 201, 210 are removed, the correspondingly internally adjacent rows of containers 202, 209 become accessible via the exposed side.

[0047] exist Figures 1 to 3In the illustrated embodiment, the containers 2 are removed from the opposite exposed side of the nest 20 by means of the first gripping unit 31 and the second gripping unit 32, which is laterally, and particularly perpendicularly, to the arrangement of the containers 2 in the placement positions 51, 52, and particularly laterally, to the transport direction indicated by arrow 50 of the subsequent workstation 5. For this purpose, the processing units 41, 42 are suitably designed to pivot a row of containers 2 by 90° between lifting or gripping them at the nest and placing them at the placement positions 51, 52. The movement of the processing units 41, 42 is preferably performed such that, during movement, neither the processing units 41, 42 nor the gripping units 31, 32 are within the main air supply to the containers arranged in the nest 20.

[0048] After the first container row 201 is placed, the first gripping unit 31 can operate to grip the container row 202 located internally connected to the first container row 201 via the exposed side. Similarly, after the second container row 210 is placed, the second gripping unit 32 can operate to grip the container row 209 located internally connected to the second container row 210 via the exposed side.

[0049] In other embodiments not shown, the container 2 is removed from a row of containers arranged vertically in a marked plane in the illustrated embodiment by means of a first gripping unit 31 and a second gripping unit 32, wherein, depending on the application, twelve rows of containers each with ten containers 2 are defined, or twenty-four rows of containers each with five containers 2.

[0050] exist Figures 1 to 3 The diagram schematically illustrates gripping units 31, 32 gripping container 2 from container rows 201, 202, ..., 210 (see...). Figure 1 ), transport container 2 to the first placement location 51 or the second placement location 52 (see Figure 2 And placing container 2 in the first placement position 51 or the second placement position 52 (see Figure 3 Synchronous movement during the process. In other designs, the removal of container 2 is performed alternately or at time offsets.

[0051] exist Figures 1 to 3 The diagram illustrates the removal of container 2 from nest 20, specifically from two rows of containers arranged in a parallel offset configuration, each containing twelve containers 2. As described above, in one design, nest 20 is arranged in transfer device 6 at a 90° offset. Here, in one design, for each row of containers arranged in a hexagonal offset configuration, separate rows of containers are defined, i.e., twenty-four rows in the illustrated embodiment, wherein in one design, removal is performed from or from two corresponding containers in these rows. (Compared to...) Figures 1 to 3Compared to the previous design, the containers in the container row are arranged with a larger pitch.

[0052] exist Figures 4 to 6 In the alternative design shown, container 2 is provided in pallet 22 at handover position 60. Figures 4 to 6 The device 1 shown is in accordance with Figures 1 to 3 The apparatus is similar to device 1, and uniform reference numerals are used for the same or similar elements. Refer to the above description.

[0053] exist Figures 4 to 6 In the illustrated embodiment, containers 2 are arranged in a plurality of hexagonally offset rows within tray 22. More precisely, in the illustrated embodiment, containers 2 are arranged in twelve container rows 201, 202, ..., 212 within tray 22, wherein each row comprises nineteen containers 2. However, this design is merely exemplary, and the invention is not limited to removing containers 2 from such tray 22. Similarly, tray 22 may also be defined with vertical container rows instead of those shown in the illustration with horizontal container rows 201, ..., 212.

[0054] The gripping units 31, 32 are designed to remove containers 2 from the tray 22 such that individual or all containers 2 of the container rows 201,...,212 can be gripped by the gripping units 31, 32 arranged above the container rows 201,...,212. Gripping is performed, for example, by means of negative pressure or by means of adhesive force.

[0055] Retrieval is performed using the first grasping unit 31 from the first container row 201 of a certain number of container rows 201,...,212, and using the second grasping unit 32 from the second container row 207 of the same number of container rows 201,...,212, which is offset parallel to it. Figures 1 to 3 The embodiment shown differs in that container 2 is not simply removed from the container rows 201, 212 on the exposed side of tray 22. Instead, as... Figure 4 As shown, containers 2 can also be removed from the inner rows of containers 202,...,211 (e.g., container row 207). Clearly, instead of removing from the shown container row 207, containers 202,...,206 and 208,...,212 can also be removed. Similarly, the first gripping unit 31 can operate to remove containers 2 from the inner rows of containers 202,...,211 of the filled tray 22.

[0056] Used from Figure 4 The first and / or second row of containers removed from the full tray 22 shown may be selected as appropriate based on the application. Similarly, the row of containers for subsequent removals may be selected as appropriate based on the application.

[0057] In the design shown, container 2 is carried from tray 22 via a head and transferred via the head to placement positions 51, 52, wherein, for example at or after placement positions 51, 52, container 2 is rotated for filling.

[0058] In a modified design (not shown), the container 2 is provided via a head and pivots 180° about a vertical axis between being lifted or grasped from the tray 22 and placed in placement positions 51, 52.

[0059] exist Figures 1 to 6 In the illustrated embodiment, the distance of container 2 in container rows 201,...,212 within the nest 20 or tray 22 is equal to the distance of container 2 in the first placement position 51 or the second placement position 52. The pitch can be varied at or after placement positions 51, 52 in this design. In an alternative design, the pitch can be varied during the transfer of container 2 from the nest 20 or tray 22.

[0060] In one design, processing units 41 and 42 are used alone in the device 1 for retrieving container 2. In other designs, one or two processing units 41 and 42 are set up and arranged to individually or jointly perform additional tasks of grasping and / or manipulating the container.

Claims

1. A device for removing containers (2), in particular pharmaceutical containers such as vials, syringes, cartridges or ampoules, from nests (20) or trays (22), wherein, The containers (2) are arranged in the nest (20) or the tray (22) in a plurality of container rows (201, 202,..., 212), the device comprising a handling apparatus (4) having a first gripping unit (31), wherein the handling apparatus (4) is set up to position the first gripping unit (31) at a first container row of a certain number of container rows (201, 202,..., 212) arranged in a handover position (60) or of a tray arranged in the handover position, in order to grip at least one container (2) of the first container row by means of the first gripping unit (31) and to move the at least one container (2) gripped by means of the first gripping unit (31) into a first deposit position (51), characterized in that the handling apparatus (4) comprises a second gripping unit (32), wherein the handling apparatus (4) is set up to position the second gripping unit (32) at a second container row of a certain number of container rows (201, 202,..., 212) arranged in the handover position (60) or of a tray arranged in the handover position (60), wherein the first container row and the second container row are arranged offset parallel to one another, wherein the handling apparatus (4) is set up to grip at least one container (2) of the second container row by means of the second gripping unit (32) and to move the at least one container (2) gripped by means of the second gripping unit into the first deposit position (51) and / or a second deposit position (52).

2. The apparatus of claim 1, wherein, The first container row and the second container row are arranged at opposite exposed sides of the nest (20) or the tray (22).

3. The apparatus of claim 1 or 2, wherein, The first deposit position (51) and the second deposit position (52) are arranged at a subsequent station (5), wherein in particular the first deposit position (51) and the second deposit position (52) are selected such that the at least one container (2) of the first container row and the at least one container (2) of the second container row are arranged in a straight line.

4. The apparatus of claim 1, 2, or 3, wherein, The first gripping unit (31) is set up to grip at least two containers (2) of the first container row, wherein the handling apparatus (4) is set up to pivot the at least two containers (2) by an angle, in particular by an angle of 90°, about a vertical axis when transporting between the first container row and the first deposit position (51), and / or the second gripping unit (32) is set up to grip at least two containers (2) of the second container row, wherein the handling apparatus (4) is set up to pivot the at least two containers (2) by an angle, in particular by an angle of 90°, about a vertical axis when transporting between the second container row and the second deposit position (52).

5. The apparatus of any one of claims 1 to 4, wherein, The first gripping unit (31) is designed to grip all containers (2) in the first container row and to transport them into the first work position (51), and the second gripping unit (32) is designed to grip all containers (2) in the second container row and to transport them into the first work position (51) or the second work position (52).

6. The apparatus of any one of claims 1 to 5, wherein, The handling device (4) comprises a first handling unit (41) and a second handling unit (42), the first gripping unit (31) being arranged at the first handling unit and the second gripping unit (32) being arranged at the second handling unit, wherein in particular the first handling unit (41) and / or the second handling unit (42) are designed as manipulators having two or more axes, in particular as four-axis robots, five-axis robots or six-axis robots.

7. The apparatus of any one of claims 1 to 6, wherein, A handover device (6) is provided, which is designed to arrange a nest (20) or a tray (22) in the handover position (60) for taking out the containers (2), wherein the handover device (6) is in particular designed to lift at least one container (2) of the first container row and at least one container of the second container row (22) of a nest (20) arranged in the handover position.

8. Method for taking out containers (2), in particular pharmaceutical containers such as vials, syringes, cartridges or ampoules, from nests (20) or trays (22) by means of a handling device (4) comprising a first gripping unit (31), wherein The containers (2) are arranged in the nest (20) or the tray (22) in a plurality of container rows (201, 202,..., 212), wherein by means of the handling device the first gripping unit (31) is positioned at a first container row of a certain number of container rows (201, 202,..., 212) of a nest (20) arranged in a handover position (60) or of a tray (22) arranged in a handover position (60), at least one container (2) of the first container row is gripped by means of the first gripping unit (31), and the at least one container (2) gripped by means of the first gripping unit (31) is moved into a first deposit position (51), characterized in that the second gripping unit (32) of the handling device (4) is positioned at a second container row of a certain number of container rows (201, 202,..., 212) of a nest (20) arranged in the handover position (60) or of a tray (22) arranged in the handover position (60), wherein the first container row and the second container row are arranged offset parallel to one another, wherein at least one container (2) of the second container row is gripped by means of the second gripping unit (32), and the at least one container (2) gripped by means of the second gripping unit (32) is moved into the first deposit position (51) or a second deposit position (52).

9. The method of claim 8, wherein, The first container row and the second container row are arranged at opposite exposed sides of the nest (20) or the tray (22). The first gripping unit (31) is designed to grip all containers (2) in the first container row and to transport them into the first work position (51), and the second gripping unit (32) is designed to grip all containers (2) in the second container row and to transport them into the first work position (51) or the second work position (52). The handling device (4) comprises a first handling unit (41) and a second handling unit (42), the first gripping unit (31) being arranged at the first handling unit and the second gripping unit (32) being arranged at the second handling unit, wherein in particular the first handling unit (41) and / or the second handling unit (42) are designed as manipulators having two or more axes, in particular as four-axis robots, five-axis robots or six-axis robots. A handover device (6) is provided, which is designed to arrange a nest (20) or a tray (22) in the handover position (60) for taking out the containers (2), wherein the handover device (6) is in particular designed to lift at least one container (2) of the first container row and at least one container of the second container row (22) of a nest (20) arranged in the handover position. The containers (2) are arranged in the nest (20) or the tray (22) in a plurality of container rows (201, 202,..., 212), wherein by means of the handling device the first gripping unit (31) is positioned at a first container row of a certain number of container rows (201, 202,..., 212) of a nest (20) arranged in a handover position (60) or of a tray (22) arranged in a handover position (60), at least one container (2) of the first container row is gripped by means of the first gripping unit (31), and the at least one container (2) gripped by means of the first gripping unit (31) is moved into a first deposit position (51), characterized in that the second gripping unit (32) of the handling device (4) is positioned at a second container row of a certain number of container rows (201, 202,..., 212) of a nest (20) arranged in the handover position (60) or of a tray (22) arranged in the handover position (60), wherein the first container row and the second container row are arranged offset parallel to one another, wherein at least one container (2) of the second container row is gripped by means of the second gripping unit (32), and the at least one container (2) gripped by means of the second gripping unit (32) is moved into the first deposit position (51) or a second deposit position (52). The first container row and the second container row are arranged at opposite exposed sides of the nest (20) or the tray (22).

10. The method according to claim 8 or 9, characterized in that, The at least one container (2) of the first container row is moved into a first placement position (51) at a subsequent station, and the at least one container (2) of the second container row is moved into the first placement position (51) at the subsequent station or into a second placement position at the subsequent station, wherein, in particular, the at least one container (2) of the first container row and the at least one container (2) of the second container row are arranged in a straight line.

11. The method of claim 8, 9 or 10, characterized in that, At least two containers (2) of the first container row are grasped by means of the first gripping unit (31), wherein the at least two containers (2) are pivoted about a vertical axis by an angle, in particular by an angle of 90°, when being transported between the first container row and the first placement position (51), and / or at least two containers (2) of the second container row are grasped by means of the second gripping unit (32), wherein the at least two containers (2) are pivoted about a vertical axis by an angle, in particular by an angle of 90°, when being transported between the second container row and the second placement position (52).

12. The method according to any one of claims 8 to 11, characterized in that, All containers (2) of the first container row are grasped by means of the first gripping unit (31), and / or all containers (2) of the second container row are grasped by means of the second gripping unit (32).

13. The method according to any one of claims 8 to 12, characterized in that, The first gripping unit (31) is moved by means of a first handling unit (41) of the handling device (4) when transporting the at least one container (2) of the first container row into the first placement position (51), and the second gripping unit (32) is moved by means of a second handling unit (42) of the handling device (4) when transporting the at least one container (2) of the second container row into the first placement position (51) or into the second placement position (52).

14. The method of claim 13, wherein, When transporting the at least one container (2) of the first container row into the first placement position (51) by means of the first handling unit (41) and when transporting the at least one container (2) of the second container row into the first placement position (51) or into the second placement position (52) by means of the second handling unit (42), the first handling unit (41), the first gripping unit (31), the second handling unit (42) and / or the second gripping unit (32) are prevented from being arranged in a main air supply to still open containers (2) and / or above still open containers (2).

15. The method according to any one of claims 8 to 14, characterized in that, A handover device (6) is provided, which is designed to arrange a nest in the handover position by means of the handover device (6) for taking out the containers (2), wherein at least one container (2) of the first container row is lifted by means of the handover device (6) for grasping by means of the first gripping unit (31), and at least one container (2) of the second container row is lifted by means of the handover device (6) for grasping by means of the second gripping unit (32).

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