Equipment for transferring medicine bottles from the first station to the second station

Abstract

The present invention relates to a device (100) for transferring a medicine bottle (200) from a first station (301) to a second station (302), comprising a medicine bottle storage place (101) at the first station, a movable arm (1) having at least three clamping elements (2a to 2d), the at least three clamping elements being able to move between each other in a controlled manner between at least a first and a second position, wherein the free ends of at least a part of the clamping elements (2a to 2d) have a magnet (5), and wherein the area of ​​a polygon (P) having the free end as a vertex at the first position is smaller than the area of ​​the polygon (P) having the free end as a vertex at the second position.

Description

Technical Field

[0001] The present invention relates to the field of handling pharmaceutical vials, and more particularly to the field of transporting pharmaceutical vials from a first location where they are stored to a second location, typically within an apparatus suitable for processing such vials. The invention is particularly suitable for transferring pharmaceutical vials intended for gas or liquid chromatography from a storage station to a station for sampling the contents of such vials. Background Art

[0002] Known medicine bottles come in various sizes. The largest ones typically have a metal element placed on their upper portion. Therefore, devices are known for moving such bottles, comprising a transport arm equipped with a magnetic element, the dimensions of which typically correspond to the upper portion of the respective medicine bottle.

[0003] However, it is not common to provide the smallest medicine bottles with metal or ferromagnetic elements due to their small size. Therefore, the corresponding transport arm has a movable gripping element suitable for gripping the medicine bottle.

[0004] Thus, there are devices suitable for moving large medicine bottles and devices suitable for moving small medicine bottles.

[0005] Furthermore, it is known in the art to have the same device with replaceable ends, thereby being able to selectively process large and small vials. Although this allows the processing of both types of vials, this solution requires the replacement of a part of the device, thus increasing the complexity and cost of the device.

[0006] Therefore, an object of the present invention is to solve the above-mentioned problems in the prior art.

[0007] A specific object of the present invention is to provide an apparatus that can handle medicine bottles of different sizes. Summary of the Invention

[0008] These and other objects of the invention are solved by a device according to one or more of the accompanying claims.

[0009] According to one aspect of the invention, an apparatus for transferring a medicine bottle from a first station to a second station comprises a movable arm having at least two, preferably at least three, clamping elements, which in turn have magnets arranged at least at the free ends of the clamping elements. The clamping elements are movable relative to each other in a controlled manner between at least a first and a second position. The area of ​​the polygon having the free ends of the clamping elements as vertices in the first position is smaller relative to the second position. Preferably, each clamping element is movable relative to the other clamping element. In any case, an embodiment is provided in which only part of the clamping elements is movable relative to the body to which the clamping elements are confined.

[0010] Thus, the apparatus of the present invention is capable of handling different types of vials. Large vials can be raised by coupling a magnet to a corresponding magnetic element of the vial. Alternatively, the vial can be raised by mechanically coupling a gripping element to the vial, wherein a first portion is secured around a second portion.

[0011] Preferably, at least some of the clamping elements, even more preferably all of the clamping elements, have the same length measured from the same surface of the device.

[0012] According to one possible aspect, the clamping elements have a substantially rectilinear longitudinal axis, and the axes of the clamping elements are substantially parallel to each other.

[0013] According to one aspect of the present invention, the first and second positions of the clamping element are stable positions. Preferably, they are mechanically stable, i.e., the device includes mechanical elements, such as gears, springs, form-fitting couplings, etc., adapted to alternately maintain the clamping element in the first and second positions. Therefore, to move the clamping element between the first and second positions, a force must be applied that is adapted to overcome the resistance of the mechanical elements. This force is typically provided by an electric motor.

[0014] According to one aspect of the present invention, the clamping elements are restrained on a cam adapted to move them. Preferably, a motor drives the movement of the cam, which in turn causes the movement of the clamping elements. According to a preferred aspect, the cam comprises a rotatable body provided with slots for accommodating the clamping elements. Rotation of the cam causes the clamping elements to move within the corresponding slots.

[0015] Another sensor can be used to check the presence of the vial in the first station.

[0016] Furthermore, the device may comprise sensors for checking the presence of a vial constrained to the gripping elements.

[0017] Furthermore, the device may comprise sensors for checking the position of the gripping elements.

[0018] According to another aspect of the invention, sensors may be used to inspect medicine bottles held vertically.

[0019] According to one aspect of the invention, in the second position, the polygon having vertices at the ends of the clamping element has a maximum and minimum distance between 100 and 400 mm. 2 Between, more preferably between 130 and 350 mm 2 The area between.

[0020] According to an aspect of the present invention, in the first position, the area of ​​the polygon having the vertex at the end is 0.2 to 0.7 times the area of ​​the polygon in the second position.

[0021] According to a preferred aspect, in the first and second positions of the clamping element, the polygon is substantially a square. The area of ​​the square in the second position is preferably between 170 and 250 mm 2 between.

[0022] Preferably, in the first position or in the second position, such polygon has sides of substantially equal length.

[0023] One aspect of the present invention further relates to a method for moving a vial between a first station and a second station by means of an apparatus according to one or more of the aspects discussed above, the method comprising the steps of:

[0024] i. Move the movable arm to the side of the medicine bottle at the first station;

[0025] ii. Arrange the gripping element to collect the vials from the first station;

[0026] iii. Move the vial from the first station to the second station;

[0027] iv. Release the vial at the second station.

[0028] As discussed above, in step ii, if the size of the medicine bottle is greater than a predetermined value, the clamping elements are magnetically coupled to the corresponding ferromagnetic elements of the medicine bottle; if the size of the medicine bottle is smaller than the predetermined value, the clamping elements are placed in the first position around the medicine bottle, thereby achieving a mechanical connection between the clamping elements and the medicine bottle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Exemplary and non-limiting embodiments of the present invention will now be discussed with reference to the accompanying drawings, in which:

[0030] - Figure 1 is an exploded perspective view of a portion of an arm according to a possible embodiment of the present invention;

[0031] - Figure 2 yes Figure 1 A perspective view of the assembled form of the components;

[0032] - Figure 2A yes Figure 2 The partial cross-sectional view shown in ;

[0033] - Figure 3 is a schematic diagram illustrating the coupling between the arm of the device according to the invention and a vial;

[0034] - Figure 4 It shows Figure 3 Schematic diagram of the connection between the arm and the large medicine bottle with ferromagnetic elements;

[0035] - Figure 5 It is from Figure 2 A plan view of the bottom of the arm;

[0036] - Figure 6A It is from Figure 5 a simplified plan view of the cam arm viewed from the bottom, wherein the clamping elements are arranged in a first position in which the distance between the clamping elements is minimal;

[0037] - Figure 6B It is from Figure 5 a simplified plan view of the cam arm viewed from the bottom, wherein the clamping elements are in a second position in which the distance between the clamping elements is at a maximum;

[0038] - Figure 7 yes Figure 1 A perspective view of an arm coupled to a device for moving equipment according to a possible embodiment of the present invention;

[0039] - Figure 7A yes Figure 7 A perspective view of an arm disposed in a vial storage area of ​​a device according to one embodiment of the present invention;

[0040] - Figures 8 to 14 is a schematic series of views of the steps of moving a medicine bottle by an apparatus according to one embodiment of the present invention. DETAILED DESCRIPTION

[0041] The apparatus 100 for transferring a vial 200 from a first station 301 to a second station 302 comprises a movable arm 1 having gripping elements 2a, 2b, 2c, 2d.

[0042] In particular, at a first station 301, the apparatus 100 comprises a storage 101 for vials 200, typically comprising one or more trays 102. The trays 102, or more generally, the storage 101, comprise a plurality of housings 101a, each housing being adapted to receive one vial 200.

[0043] The movable arm 1 is mounted in a known manner on Figure 7 It is shown in detail in Figures 8 to 14 , which is known in the art and will not be discussed in detail. The moving device 50 is suitable for moving, translating and / or rotating the movable arm 1 so as to move it alternately at least at the first station 301 and the second station 302. Typically, the moving device 50 has a motor and a control unit suitable for driving the movement of the movable arm 1. In an alternative embodiment, the motor and / or the control unit can be arranged on the movable arm 1. In other words, the movable arm 1 can be coupled to the moving device so that the movement of the movable arm 1 is driven by the arm itself.

[0044] Typically, the movable arm 1 has Figure 1 、 2 and end 1a shown in detail in 5, and Figure 7 As shown in Figures 8 to 14 Schematically shown are connecting elements 1b, 1c, 1d adapted to allow the end portion 1a to move relative to the mobile device 50. For example, in the embodiment shown, two elements 1b, 1c are shown articulated in series with one another. The first element 1b is articulated to a cursor 1d that is translationally constrained relative to the mobile element 50. The embodiment shown is merely exemplary, as the arm 1 and / or the mobile device 50 may be equipped with a different number and / or type of elements that allow the end portion 1a to move relative to the mobile device 50.

[0045] Generally, the movable arm 1 is preferably constrained on movement means 50 so as to be able to translate at least in the vertical direction and then to rotate about a vertical axis. A "vertical" direction is considered in the use state of the device 100 .

[0046] The movable arm 1 (hereinafter also referred to as "arm 1") generally has a body 10 on which the gripping elements 2a to 2d are mounted. In the embodiment shown, the body 10 contains an electric motor M adapted to indirectly move the gripping elements 2a to 2d via an actuating pin 3, as better discussed below.

[0047] The body 10 is constrained directly or more preferably indirectly to the mobile device 50. In the embodiment shown, the body 10 is constrained to a plate 4 which in turn is constrained to the mobile device 50 in a known manner (not shown in detail).

[0048] According to one possible embodiment, a limited translation between the body 10 and the plate 4 is possible. This translation occurs in the longitudinal direction, i.e. parallel to the axis A of the plate and the clamping elements 2a to 2d, as better discussed below. Typically, this translation occurs when the arm 1 encounters a vial 200 or another obstacle during its vertical movement. Therefore, the device 100 can detect the relative translation between the body 10 and the plate 4 by means of a special sensor, such as an optical sensor mounted on the plate 4, which is blocked by the movement of the body 10, or which is configured to evaluate the extension or compression of the spring 8 inserted between the body 10 and the plate 4. Since this movement is caused by an obstacle encountered by the arm 1, the device 100 is typically configured to stop the movement of the arm 1 when a translation between the body 10 and the plate 4 is detected.

[0049] As described above, arm 1 has at least two gripping elements 2a, 2b, 2c, 2d that are movable relative to one another. The gripping elements 2a to 2d are typically secured to the main body 10 at their ends, thereby protruding from the main body. According to one possible aspect, at least a portion of the gripping elements 2a to 2d have the same length. Preferably, all gripping elements 2a to 2d have equal length.

[0050] One embodiment can, for example, provide two clamping elements shaped like pliers or in a similar manner. However, the clamping elements 2a to 2d preferably have a substantially straight longitudinal axis A, as in the embodiment shown. In particular, according to a preferred aspect, the clamping elements 2a to 2d have a substantially prismatic or cylindrical shape. It is therefore preferred to provide an arm 1 with at least three clamping elements 2a to 2d in order to ensure a good connection between them and the medicine bottle 200. According to the embodiment shown in the figure, the arm 1 has four clamping elements 2a to 2d.

[0051] At least a portion of the clamping elements 2a to 2d have a magnet 5 at their free end, opposite the magnet confined to the body 10. The magnet 5 is preferably a permanent magnet, even if the possibility of providing the clamping elements with electromagnets is not excluded. Preferably, all clamping elements 2a to 2d have a magnet 5. The magnetic force of the magnet 5 can be adjusted by appropriately orienting the magnetic field of the magnet. In particular, a maximum magnetic force can be achieved by orienting the magnets in an alternating manner, i.e. with their poles opposite to each other. For example, in a possible embodiment, a first clamping element has a magnet with its magnetic north pole facing the container 200, while a different clamping element has a magnet with its magnetic south pole facing the vial 200.

[0052] The clamping elements 2a to 2d can be moved relative to each other in order to change Figure 6A and 6B The area of ​​the polygon P shown in FIG is obtained by taking the ends of the elements themselves as vertices. The polygon P is drawn by connecting the geometric centroids of the free ends of the clamping elements 2 a to 2 d. The polygon P is traced so as to prevent intersections between the sides of the polygon P.

[0053] Therefore, the clamping elements 2a to 2d can be Figure 6A At least one first position and Figure 6B Thus, the second position coincides with the maximum area of ​​polygon P, while the first position P coincides with the minimum area of ​​polygon P.

[0054] Therefore, the area of ​​the polygon P in the first position of the clamping elements 2a to 2d is smaller than the area of ​​the polygon P formed when the clamping elements 2a to 2d are in the second position. Various methods known in the art can be used to move the clamping elements 2a to 2d. According to the present invention, a possible system for moving the clamping elements 2a to 2d provides a cam 6 suitable for moving the clamping elements 2a to 2d.

[0055] In particular, according to a preferred aspect, the cam 6 is a cylindrical element rotatably mounted on the main body 10 and has slots 6a to 6d, which are passed through by each clamping element 2a to 2d. The slots 6a to 6d have a substantially circular shape, i.e., are shaped like an arc. However, the slots 6a to 6d are not concentric with each other. Like this, when the cam 6 rotates from the first position to the second position, or vice versa, the clamping elements 2a to 2d move between the opposite ends of the corresponding slots 6a to 6d. Since the slots 6a to 6d are not concentric, when the clamping elements 2a to 2d move along the slots 6a to 6d, the distance between each clamping element 2a to 2d changes. In other words, when the cam 6 rotates, the area of ​​the polygon P with vertices at the clamping elements 2a to 2d changes, thereby defining the above-mentioned first and second positions.

[0056] Typically, in the second position, the gripping elements 2a to 2d are in contact with the respective ends of the slots 6a to 6d, which therefore determine the limit stop of the gripping elements 2a to 2d relative to the cam 6. In the first position, the gripping elements 2a to 2d are closer to the respective ends of the slots 6a to 6d, without, however, reaching them, since in this case the limit stop of the gripping elements 2a to 2d is determined by their contact with the vial 200, typically with the cap 201 of the vial.

[0057] In the first and / or second position, the polygon P preferably has sides whose lengths are substantially equal to each other or whose lengths differ in any way by a negligible amount (eg by less than 15%).

[0058] Typically, when the arm 1 has to collect a large medicine vial 200, the clamping elements 2a to 2d are positioned so that the magnets 5 are arranged at one or more ferromagnetic elements 205 of the medicine vial 200. For example, if the ferromagnetic elements 205 occupy a large surface area on the medicine vial 200, the clamping elements 2a to 2d can be arranged in both the first position and the second position, since in both cases the magnets 5 can be arranged at the ferromagnetic elements 205. If the ferromagnetic elements 205 instead have a specific arrangement, the clamping elements 2a to 2d are arranged in a position that ensures a better connection between the medicine vial 200 and the clamping elements 2a to 2d.

[0059] Thus, overall, the clamping elements 2a to 2d are arranged in a position that ensures greater cooperation between the magnets 5 of the clamping elements 2a to 2d and the one or more ferromagnetic elements 205 of the vial 200.

[0060] If the vial 200 has very small dimensions and generally has no ferromagnetic elements, the gripping elements 2a to 2d are initially arranged in the second position so as to be able to be arranged around the vial 200. Subsequently, the gripping elements 2a to 2d are brought to the first position so as to be screwed into contact with the vial 200, gripping it.

[0061] According to one aspect of the invention, in the second position, the polygon P described by the vertices at the ends of the clamping elements 2a to 2d has a maximum value between 100 and 400 mm. 2 Between, more preferably between 130 and 350 mm 2 The area between.

[0062] The area of ​​the polygon P in the first position is preferably 0.2 to 0.7 times the area of ​​the polygon in the second position.

[0063] As mentioned above, in a preferred embodiment of the present invention, the device 100 has four gripping elements 2a to 2d. In such an embodiment, in the second position, the area of ​​the polygon P is preferably between 170 and 250 mm. 2 between.

[0064] According to one possible aspect, at least one of the first and second positions, preferably at least the first position, is stable. In a preferred embodiment, such as the embodiment shown in the figures, both positions are stable.

[0065] The device 100 preferably has a mechanical element 7 to stably hold the clamping elements 2a to 2d alternately in the first position and the second position. With particular reference to the embodiment shown, such a mechanical element 7 is configured so as to alternately hold the cam 6 in a position that determines the first and second positions of the clamping elements 2a to 2d.

[0066] In the illustrated embodiment, the mechanical element comprises a spring 7 acting on a cam 6. The spring 7 is arranged so that when the clamping elements 2a to 2d are in the first or second position, the spring 7 resists displacement of the clamping elements 2a to 2d from their original positions. In other words, to move the clamping elements 2a to 2d from the first position to the second position, the resistance of the spring 7 must be overcome. Similarly, to move the clamping elements 2a to 2d from the second position to the first position, the resistance of the spring 7 must be overcome. Consequently, the first and second positions of the clamping elements 2a to 2d are stable.

[0067] In particular, according to possible solutions, e.g. Figure 2A In the solution shown, the cam 6 is constrained to a shaft 9 which is usually moved by a corresponding electric motor M. The shaft 9 can be a shaft constrained to the actuating pin 3 or, similar to what is shown in the figures, the shaft 9 can coincide with the actuating pin 3 .

[0068] Another rotatable element 9a is constrained to the shaft 9 so that rotation of the shaft 9 causes rotation of both the cam 6 and the rotatable element 9a. The spring 7 is constrained to the rotatable element 9a so that rotation of the rotatable element 9a causes deformation of the spring 7. Thus, the spring 7 is constrained to the rotatable element 9a, which is spaced apart from the shaft 9, so that rotation of the rotatable element causes translation of the end of the spring 7, or in any case, of the point of the spring 7 constrained to the rotatable element 9a.

[0069] Thus, typically, the spring 7 is positioned such that, when the clamping elements 2a to 2d are in the first or second position, rotation of the shaft 9 causes a movement of the rotatable element 9a and a deformation of the spring 7 opposite to this movement. For example, in the first and second positions of the clamping elements 2a to 2d, the spring 7 may be essentially at rest or preloaded in an elongated state. In this case, rotation of the shaft 9 causes a rotation of the rotatable element 9a, thereby causing a possible additional extension of the spring 7. Since the spring 7 is in a state of equilibrium or preloaded in an elongated state, the spring 7 resists this extension and exerts a force on the rotatable element 9a which, in the absence of any other forces acting thereon, will tend to return the rotatable element 9a to its initial state, i.e., to rotate the shaft 9 and, thereby, return the clamping elements 2a to 2d to their starting position, i.e., the first or second position, as the case may be.

[0070] This allows implementation of an embodiment in which the spring 7 defines stable positions (the said first and second positions) for the clamping elements 2a to 2d. In fact, if the clamping elements are in such positions, rotation of the shaft 9 causes deformation of the spring 7, thereby resisting such movement.

[0071] Similarly, in an optional embodiment, the spring 7 can be arranged such that in the first and second positions of the clamping elements 2a to 2d, the spring 7 is in a balanced or compression-loaded state, and movement of the shaft 9 away from the first or second position of the clamping elements 2a to 2d causes possible further compression of the spring 7.

[0072] The spring 7 is just one possible mechanical element for the above purpose. Typically, the mechanical element 7 is configured to resist movement of the clamping elements 2a to 2d away from the first and second positions.

[0073] Typically, as previously described, the arm 1 has an electric motor M suitable for allowing the movement of the clamping elements 2a to 2d. The electric motor M is thus able to overcome the resistance provided by the mechanical element 7, thereby allowing the clamping elements 2a to 2d to move between the first and second positions. Thus, the electric motor M is activated to move the clamping elements 2a to 2d towards the first or second position, but is not activated to maintain them in such a position. In other words, the movable arm 1 is configured so that, due to the presence of the mechanical element 7, the clamping elements 2a to 2d can be stably maintained in the first position or the second position without having to operate the electric motor M. This obviously has advantages, as it reduces the energy consumption of the device 100 and avoids overheating of the electric motor M, in particular in the event of an interruption in the power supply to the device, the clamping elements 2a to 2d being maintained in the first or second position. Thus, also in the event of an electrical failure, the medicine bottle 200 that may be confined to the clamping elements 2a to 2d does not detach from it.

[0074] There may be one or more sensors S present on the device 100. A first sensor S may, for example, be used to detect the presence of a vial 200 constrained to the gripping elements 2a to 2d. The same sensor S may also be used to detect the presence of a vial at the first or second station. Alternatively, two different sensors may be used to perform the above functions.

[0075] Such sensors may be proximity sensors, for example. In the embodiment shown in the drawings, they are optical sensors.

[0076] The sensor S can also be used to check the position of the gripping elements 2a to 2d. For example, in the case of an optical sensor, the sensor S can detect when the gripping element enters a cone drawn by a vertex located at the sensor itself, the cone defining the detection area of ​​the sensor itself, such as Figure 3 As an alternative, suitable sensors can be dedicated for this purpose.

[0077] Similarly, the same sensor S or another sensor can be used to determine the type of vial present at the first station 301, or the type of vial that the movable arm 1 must move.

[0078] According to a preferred embodiment, the sensor S is a sensor capable of detecting or estimating at least one dimension of a portion 101 b of the depository 101 , typically a portion 101 b of a corresponding pallet.

[0079] For example, the aforementioned sensor S can detect contact with the portion 101 b during the descent of the arm 1 , thereby determining or estimating in any way the height of the corresponding portion 101 b .

[0080] According to one possible embodiment, each type of deposit 101, typically each pallet 102, has a portion 101b positioned at a different height relative to the other deposits. In this way, thanks to the sensor S, it is possible to identify any type of deposit 101 or pallet present at the first station 301.

[0081] According to one aspect, each tray 102 can accommodate a single type of medicine bottles. Thus, by detecting the type of tray or depository, the device 100 identifies which type of medicine bottles 200 it has to move. In any case, in an embodiment each tray 102 can accommodate a different number, typically a limited number, of medicine bottles 200. In this case, the identification of the type of medicine bottles 200 can provide a further step of evaluating the height of the medicine bottles 200, i.e. evaluating the extent to which the medicine bottles 200 protrude from the corresponding housing 101a. Likewise, such an operation can be performed, for example with the aid of a sensor S, by evaluating the new descent point of the movable arm 1, which is typically at least partially raised after having hit the portion 101b of the depository 101, which hits the corresponding medicine bottle 200.

[0082] refer to Figures 8 to 14 The arm 1 initially moves to a vial 200 arranged at a first station 301. The gripping elements 2a to 2d are arranged in the desired positions according to the type of vial 200, which can be detected by one of the sensors of the device 100 or communicated to the device 100 by a user, for example.

[0083] For example, in one possible embodiment, the movable arm 1 can handle medicine bottles 200 with a capacity of 2 ml, 10 ml and 20 ml. The medicine bottles have different sizes, including different heights, such as 33 mm, 48 mm and 78 mm respectively.

[0084] The 2ml vials are mechanically gripped by arm 1, while the 10ml and 20ml vials are magnetically lifted by arm 1.

[0085] The apparatus 100 processes two types of trays 102. The first tray only accommodates 2ml vials, while the second tray can accommodate 10ml and 20ml vials. The two trays have sections 101b arranged at different heights.

[0086] In a first step, the movable arm 1 is therefore lowered to detect the height of the portion 101 b and thus distinguish the type of pallet 102 present at the first station 301 .

[0087] As soon as the first tray, ie the tray for 2 ml vials, is detected, the gripping elements 2 a to 2 d are operated in order to mechanically grip the vials 200 .

[0088] Once the second tray—the one for 10 or 20 ml vials—is detected, the gripping element is positioned in the optimal position for magnetically lifting the vials. This optimal position can vary depending on the vial type; for example, the position for a 10 ml vial may differ from that for a 20 ml vial. Therefore, it is necessary to detect which vial is held in the respective tray.

[0089] This operation is performed by detecting the height of the vial itself, with the aid of sensor S. In particular, after contact with the tray, the arm, typically after having been raised again, is brought to the vial 200 and lowered towards it until contact is made between the vial 200 and the arm 1. This contact, detected by sensor S, allows the device 100 to estimate the height of the vial 200 and, therefore, its type.

[0090] As discussed, detection of the height of portion 101b and vial 200 is preferably performed by detecting contact of the gripping elements 2a to 2d with these items.

[0091] The contact with the surface determines a vertical displacement of the clamping elements 2a to 2d relative to the body 10, which can be detected by a corresponding sensor S, for example an optical sensor.

[0092] It should be noted that because the sizes of the vials are reported in exemplary form only, the present device 100 can handle vials of different types and sizes.

[0093] It should be noted that in an optional embodiment, the operator may provide the apparatus 100 with information relating to the type of vial 200 to be processed.

[0094] Typically, the behavior of arm 1 varies depending on the type of vial 200.

[0095] For example, in Figures 8 to 14 In the case shown, the medicine bottle 200 is small. Therefore, the arm 1 is close to the medicine bottle 200, and the clamping elements 2a to 2d are arranged in the second position. When the clamping elements 2a to 2d are arranged around the medicine bottle 200, as shown in FIG. Figure 9 and 10 As shown, they can be moved to a first position, thereby grasping a vial 200, typically by tightening its cap 201.

[0096] Preferably, during this step, the motor M is activated to overcome the resistance of the mechanical device 7, thereby bringing the gripping elements 2a to 2d from the second position to the first position. Then, because the mechanical device 7 is sufficient to maintain the gripping elements 2a to 2d in contact with the vial 200, the motor M is deactivated. In particular, the motor M is preferably activated to rotate the cam 6, thereby causing the gripping elements 2a to 2d to move from the second position to the first position along the corresponding slots 6a to 6d.

[0097] although Figures 8 to 14 The displacement of a small vial 200 is shown, but the same device 100 can be used to collect and move larger vials, provided they are provided with a ferromagnetic element 205. In fact, in this case, the gripping elements 2a to 2d of the same arm 1 are arranged in positions that allow for better magnetic coupling between the magnets 5 of the gripping elements 2a to 2d and the ferromagnetic element 205 of the vial 200. When the arm 1 is brought closer to the vial 200, the attractive force between the magnets 5 and the ferromagnetic element 205 results in coupling between the vial 200 and the gripping elements 2a to 2d, as shown in FIG. Figure 4 and Figure 7 shown.

[0098] Once the vial 200 is restrained to the arm 1 by mechanical or magnetic coupling, the arm 1 is moved from the moving device 50 so that the vial 200 is transported from the first station 301 to the second station 302. Typically, during this step, the vial 200 is raised from the first station 301, translated, and lowered to the second station 302, as shown in FIG. Figures 11 to 14 Shown schematically.

[0099] Then, the medicine bottle 200 is separated from the clamping elements 2a to 2d. Generally, if the medicine bottle 200 is grasped by the clamping elements 2a to 2d, as shown in FIG. Figures 8 to 14 As schematically shown, the gripping element is then moved from the first position to the second position, thereby releasing the vial 200. Preferably, the motor M is activated to perform this operation.

[0100] If the vial 200 is magnetically restrained to the clamping elements 2a to 2d, the vial can, for example, be at least partially inserted into a corresponding seat of the second station 302 and the clamping elements 2a to 2d translated (typically horizontally) so that the vial 200 is held by the second station 302.

[0101] The medicine bottle 200 is preferably kept in a vertical state through all steps of moving it. In addition, the device 100 is preferably configured to collect the medicine bottles 200 arranged in a substantially vertical manner from the first station 301 and release the medicine bottles 200 in a substantially vertical state at the second station 302.

Claims

1. A device (100) for transferring a medicine bottle (200) from a first station (301) to a second station (302), comprising a medicine bottle storage (101) at the first station, a movable arm (1) having a body (10), on which at least three gripping elements (2a-2d) can be moved between each other in a controlled manner between at least a first position and a second position, wherein: The clamping element (2a-2d) is constrained at its end to the body (10) of the movable arm (1) so that, in order to protrude from the body, the clamping element has a free end opposite to the end constrained to the body, the free end having a magnet (5), and wherein the area of ​​a polygon (P) having the free end as a vertex in the first position is smaller than the area of ​​a polygon (P) having the free end as a vertex in the second position, the first and second positions of the clamping element (2a to 2d) being stable positions, the device further comprising a mechanical element (7) configured to alternately hold the clamping element (2a to 2d) stably in the first or second position, wherein the clamping elements (2a to 2d) are constrained to a cam (6) adapted to move the clamping elements (2a to 2d), wherein the cam (6) is rotatable and provided with a slot (6a to 6d) for each clamping element (2a to 2d) such that rotation of the cam (6) causes the clamping elements (2a to 2d) to move along the slot (6a to 6d), The mechanical element comprises a spring (7) configured such that the rotation of the cam causes deformation of the spring, and such that rotation of the cam away from the first position or the second position of the clamping element (2a to 2d) is hindered by a resistance provided by the deformation of the spring (7), so that in order to move the clamping element between the first and second positions, the resistance of the spring (7) must be overcome.

2. The device (100) according to claim 1, characterized in that The movable arm (1) has an electric motor (M) adapted to allow the gripping elements (2a to 2d) to move, the electric motor (M) being capable of directly or indirectly moving the gripping elements (2a to 2d).

3. The device (100) according to claim 1 or 2, characterized in that The clamping elements (2a to 2d) have a substantially rectilinear longitudinal axis (A), and wherein the clamping elements (2a to 2d) have a substantially prismatic or cylindrical shape.

4. The device according to claim 1 or 2, characterized in that The cam (6) is constrained to a rotatable shaft (9), a rotatable element (9a) is constrained to the rotatable shaft (9a), and the spring (7) is constrained to the rotatable shaft, so that the rotation of the rotatable shaft (9a) away from the first or second position of the clamping elements (2a to 2d) causes movement of the rotatable element (9a), the movement of the rotatable element being hindered by the resistance provided by the spring (7).

5. The device according to claim 1 or 2, characterized in that The storage comprises at least one tray having a plurality of housings (101a) for the medicine bottles.

6. The device (100) according to claim 1 or 2, characterized in that Contains at least one sensor selected from the group consisting of: a. a sensor (S) for checking the presence of a medicine bottle (200) at the first station (301); b. a sensor (S) for checking the presence of a medicine bottle (200) constrained to said gripping elements (2a to 2d); c. a sensor (S) for checking the position of the clamping element (2a to 2d); d. A sensor (S) for determining the type of vial (200) to be moved.

7. The device (100) according to claim 1 or 2, characterized in that In the first and second positions, the polygon (P) having the free ends of the clamping elements (2a to 2d) as vertices has sides of substantially equal length.

8. A movable arm (1) for a device (100) according to any one of claims 1 to 7, the movable arm having at least two clamping elements (2a to 2d) capable of being moved between each other in a controlled manner between a first position and a second position, wherein the free ends of at least a part of the clamping elements (2a to 2d) have a magnet (5), and wherein the area of ​​a polygon (P) having the free ends as vertices in the first position is smaller than the area of ​​a polygon (P) having the free ends as vertices in the second position.

9. A method for moving a medicine bottle (200) from a first station (301) to a second station (302) by means of an apparatus (100) according to any one of claims 1 to 8, the method comprising the following steps: i. moving the movable arm (1) to the side of the medicine bottle (200) at the first station (301); ii. arranging the gripping elements (2a to 2d) so as to collect the vials (200) from the first station (301); iii. moving the medicine bottle (200) from the first station (301) to the second station (302); iv. releasing the vial (200) at the second station (302); in, In the step ii, if the size of the medicine bottle (200) is greater than a predetermined value, the clamping elements (2a to 2d) are magnetically coupled with the corresponding ferromagnetic elements (205) of the medicine bottle (200); Wherein, in the step ii, if the size of the medicine bottle (200) is smaller than a predetermined value, the clamping elements (2a to 2d) grip the medicine bottle (200).

10. The method according to claim 9, characterized in that It comprises a step of detecting the type of medicine bottle (200) to be moved before said step ii.

11. The method according to claim 10, characterized in that The detecting step includes the step of detecting or estimating at least one dimension of a portion (101b) of the storage location (101).

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