Device for manipulating and transporting items within a barrier system

Abstract

An apparatus (1) for manipulating a transported article (2) within a barrier system (3) includes a manipulator (4) arranged in the barrier system (3) and having a magnetic actuator (5) for applying a magnetic force (7) to the transported article (2), the magnetic actuator (5) having a design-related magnetic action direction (6) of the magnetic force (7), wherein the manipulator (4) is arranged within the barrier system (3) and adapted to couple the transported article (2) to the manipulator (4) with the magnetic force (7) and move the transported article within the barrier system (3) using the manipulator (4).

Description

Technical Field

[0001] This invention relates to an apparatus for manipulating the transport of articles within a barrier system, particularly suitable for interaction with a transfer device by which articles can be brought into or out of the barrier system. Such a transfer device is particularly suitable for transporting articles under barrier system conditions, and preferably, the transfer device itself forms a small barrier system. This transfer device can preferably be connected to an interface of the barrier system and then opened so that articles can be transported from the transfer device to the barrier system and vice versa. Background Technology

[0002] A system consisting of a barrier system and a transfer device forms a comprehensive system for handling and transporting items. For example, a barrier system can be a cleanroom. A barrier system can also be a system for safely handling contaminated materials, requiring the safe prevention of these materials from entering the environment.

[0003] Essentially, it is desirable to handle transported items within the barrier system and cleanroom with as little human intervention as possible. In particular, manual intervention (e.g., through gloved openings) is both expensive and difficult and should be avoided whenever possible. Furthermore, the safest possible handling of transported items is required within the cleanroom, which should be able to be performed without errors or interference. Errors and interference are particularly problematic during the handling of transported items in a cleanroom because access is naturally restricted within the barrier system in order to maintain its condition. Summary of the Invention

[0004] The problem addressed by this invention is at least partially solved by the issues discussed in the prior art. In particular, an apparatus for manipulating and conveying items in a cleanroom should be provided, which enables efficient manipulation and provides good handling safety.

[0005] Further advantageous embodiments are presented in the following description, particularly in the description of the accompanying drawings. It should be noted that those skilled in the art will combine individual features in a technically meaningful manner to obtain further embodiments of the invention.

[0006] The present invention describes an apparatus for manipulating and transporting articles within a barrier system, comprising a manipulator disposed in the barrier system and having a magnetic actuator for applying magnetic force to the transported articles, the magnetic actuator having a design-related magnetic action direction of the magnetic force, wherein the manipulator is disposed within the barrier system and adapted to magnetically couple the transported articles to the manipulator, and the transported articles are moved within the barrier system by the manipulator.

[0007] The device specifically includes a manipulator, which can be arranged within the barrier system, or can be provided for arrangement within the barrier system. The device is preferably part of the barrier system.

[0008] For example, the manipulator may be a robotic arm or similar device, preferably having a manipulator head capable of intentionally moving within the barrier system. A magnetic actuator is preferably disposed on the manipulator head. The manipulator is preferably electrically driven. The manipulator preferably has multiple manipulator arm segments disposed on top of each other, interconnected by joints. The manipulator head is preferably disposed on the last manipulator arm segment. An electric drive unit is preferably used to activate the joints so that the manipulator arm segments move relative to each other. The electric drive unit of the manipulator is preferably actuated by a controller to achieve the desired movement of the manipulator or the manipulator head together with the magnetic actuator.

[0009] Particularly preferred is that the magnetic actuator includes at least one electromagnet.

[0010] The magnetic actuator can optionally be designed as a permanent magnet or an electromagnet. In a preferred variant embodiment, the magnetic actuator can be activated and deactivated. This means that the magnetic force generated by the magnetic actuator can preferably be intentionally activated and deactivated—e.g., turned on or off. In such a variant embodiment, the magnetic actuator is at least partially configured with an electromagnet. In a further variant embodiment, the magnetic actuator is adjusted such that the magnetic force is at least partially permanently effective. In such a variant embodiment, the magnetic actuator is at least partially configured with a permanent magnet.

[0011] The magnetic direction of action of a magnetic actuator, which is relevant to its design, is preferably determined by the arrangement of the magnets within the actuator. The orientation of the magnetic direction of action in space can be influenced by changing the orientation of the magnetic actuator using a manipulator. The magnetic direction of action refers to the direction in which an attractive or repulsive force is generated due to magnetic force. This does not mean that the magnetic actuator has no effect in other directions. However, metal parts that can move freely relative to the magnetic actuator will be attracted in the magnetic direction of action of the actuator. For example, the magnetic direction of action can be considered as the principal component or average direction of action of the magnetic force of the actuator. The magnetic direction of action is preferably parallel to the axis extending through the north and south poles of the magnet.

[0012] By using magnetism to "couple" the transport item to the manipulator, the transport item and the manipulator are temporarily held together by magnetism, creating a magnetic coupling between them. Movement of the manipulator will also cause the transport item to move.

[0013] Coupling between the manipulator and the transported item can be achieved in various ways without causing interference. Undesirable interference is, for example, the generation of a magnetic force at a specific point during the magnetic actuator's approach to the transported item, causing uncontrolled movement of the transported item relative to the manipulator. This can be avoided, for example, by activating the magnetic actuator and the magnetic force only when the magnetic actuator is in the coupled position. Another possibility is to design the manipulator to approach the transported item from a direction or in a specific orientation before coupling actually occurs, in which little or no magnetic force acts on the transported item. In further variant embodiments, means are provided to hold the transported item in a predetermined position until coupling occurs between the transported item and the manipulator.

[0014] Compared to manual movement through the glove opening, using manipulators and magnetic actuators to move and deliver items in a barrier system has significant advantages because it enables automated processing.

[0015] Compared to manipulation using robotic arms with grippers on grippers, there are significant advantages because the magnetic coupling allows for very gentle manipulation, especially since there are no mechanical interactions that could damage or harm the transported items. Furthermore, the grippers' grippers (even within the barrier system) always pose a risk of contaminating the barrier system, as such grippers come into contact with a large number of transported items or samples in succession.

[0016] Furthermore, glove openings pose problems when conveying items such as pharmaceuticals or medical samples. The device described herein can minimize or even eliminate the use of glove openings. Glove openings can generate particles that can contaminate the interior of the barrier system or the conveyed items.

[0017] The advantage of the solution described here is that it arranges the manipulator and magnetic actuator together within the barrier system. This allows for highly efficient manipulation of transported objects using the manipulator within the barrier system.

[0018] By arranging the manipulator and magnetic actuator together within the barrier system, it is possible to utilize magnetic force at a very short effective distance from the object being transported. For this reason, the magnetic force of the magnetic actuator does not need to be very large. The magnetic field preferably propagates only in the immediate vicinity of the magnetic actuator.

[0019] It is particularly advantageous when the manipulator is adapted to move the conveyed item in a direction of movement having at least one directional component parallel to the direction of magnetic action of the magnetic force.

[0020] Furthermore, it is advantageous when the direction of the magnetic force extends parallel to the direction of movement of the transported item.

[0021] This arrangement differs from arrangements that use magnetic force in a linear drive manner with the direction of movement perpendicular to the magnetic field. Because the movement is parallel to the magnetic field, a strong or robust coupling can be achieved using a relatively small magnetic force. Furthermore (unlike in the case of linear drive), it is difficult to disengage the coupling because the coupling is preferably generated against mechanical stop, and for this reason, the coupling force can be greater than the required force. The stop referred to here means that the magnetic actuator and the transported item are preferably close together, and there is a mechanical counterforce between the transported item and the magnetic actuator relative to each other. The combined effect of the magnetic force and the mechanical counterforce has the effect that the coupling generated by this device is robust against various resistances (friction, etc.) during the movement of the transported item.

[0022] Furthermore, it is advantageous when the items being transported include magnetic materials.

[0023] In such a variant embodiment, the transported item itself is magnetic. For example, the transported item could be a metal sample or the like.

[0024] Furthermore, it is advantageous when the transported items are transport vessels and / or at least containers for materials. Preferably, samples or the like are arranged in transport vessels and / or containers. Particularly preferably, the containers or transport vessels are carriers for multiple samples, such as sample arrays. Transport vessels are also conventionally referred to as standardized components. For example, they may contain numerous glass containers (e.g., small petri dishes, test tubes, etc.) which in turn contain samples. In principle, all components required for performing a specific task in a barrier system can be transported using the apparatus described herein.

[0025] Furthermore, it is advantageous when the magnetic actuator is arranged on the manipulator head, which is capable of rotating about a rotation axis oriented parallel to the direction of magnetic action.

[0026] With a rotatable manipulator head, the angular orientation of the manipulator head relative to the axis of rotation can be easily adjusted. Preferably, an electric drive unit is provided for intentionally rotating the manipulator head about the axis of rotation.

[0027] Furthermore, it is advantageous when the transported items include magnetic coupling elements.

[0028] Preferably, the coupling element is fixed to the container or transport vessel, and it is adapted to engage with the magnetic actuator as intended during coupling. Particularly preferably, the coupling element is designed to correspond to the magnetic actuator such that certain intended regions of the coupling element interact with certain intended regions of the magnetic actuator in a intended manner during coupling to produce coupling.

[0029] It is particularly advantageous when both the coupling element and the magnetic actuator have at least one north pole magnetic element and at least one south pole magnetic element, wherein the magnetic actuator can be selectively positioned relative to the coupling element in a first orientation or a second orientation, wherein in the first orientation, the magnetic elements interact to establish an attractive magnetic force from the magnetic actuator to the coupling element, and in the second orientation, the magnetic elements interact to establish a repulsive magnetic force from the magnetic actuator to the coupling element.

[0030] Furthermore, it is advantageous to provide a third position in addition to the first and second positions, where the attractive and repulsive magnetic forces interact so that the resultant force from the magnetic actuator does not act on the coupling element.

[0031] Moreover, it is advantageous when the north pole magnetic element and the south pole magnetic element are arranged alternately on a circular trajectory around the rotation axis of the magnetic actuator, so that the magnetic actuator can selectively achieve a first orientation or a second orientation relative to the coupling element by rotating the magnetic actuator around the rotation axis.

[0032] Preferably, a north pole magnetic element and a south pole magnetic element are arranged correspondingly on the coupling element and the magnetic actuator.

[0033] Each north pole magnetic element and each south pole magnetic element preferably has a north pole and a south pole. The terms "north pole magnetic element" or "south pole magnetic element" as used refer to the surface of the magnetic actuator that is coupled to the transported article (especially to the coupling element) with its north or south pole. The other corresponding pole of the magnetic element is preferably located in the opposite position.

[0034] The described arrangement of the north pole magnetic element and the south pole magnetic element is particularly suitable for creating a strong coupling between the magnetic actuator and the coupling element.

[0035] Furthermore, it is advantageous when the manipulator and the interface are arranged opposite each other in the barrier system, wherein the transfer device for transporting the items to the barrier system can be placed against the interface, and the interface is adapted to form a sealed channel from the transfer device to the outside of the barrier system, while the items can be transported through the channel from the transfer device to the interface and the barrier system by a magnetic actuator.

[0036] The transfer device preferably forms its own small barrier system. Preferably, the transfer device, together with the barrier system, forms a total system through which transport items within the barrier system can be brought in and removed under the conditions of the barrier system. An internal space is provided for the transfer device, preferably sterile. Due to its connection to the barrier system, the conditions within the barrier system (e.g., cleanroom conditions) are also preferably established within the transfer device. The transfer device is preferably airtight before being decoupled from the barrier system so that the conditions within the barrier system (e.g., cleanroom conditions) are also maintained within the transfer device.

[0037] The transfer device is preferably docked at the interface of the barrier system. The transfer device and the interface preferably form a cyclic seal connection, within which a sealed channel can be created.

[0038] Furthermore, it is advantageous that the interface includes a first door that closes the interface, the transfer device includes a second door that closes the transfer device, and the interface is adapted to interact with the transfer device such that the first and second doors are opened when a passage from the transfer device to the interface and the outer seal of the barrier system is established.

[0039] The transfer device is preferably small relative to the barrier system. This specifically refers to the internal volume of both the transfer device and the barrier system. The sealed channel from the barrier system (via the interface) to the transfer device preferably has a relatively small cross-section, such that at least 50% (especially at least 80%) of the cross-section is filled when the transfer item is transported from the transfer device to the barrier system. As the transfer item moves from the transfer device along the direction of movement, the magnetic action direction of the magnetic actuator is preferably parallel to the direction of movement. Due to the use of a magnetic actuator with this orientation of magnetic action, the magnetic actuator can be coupled to the transfer item from its end face without requiring additional space, which is necessary, for example, where a gripper must extend around the transfer item. For this reason, transfer items that are particularly large relative to the transfer device can be handled using the apparatus described herein.

[0040] A further advantage of magnetic actuators with this orientation of magnetic action is that, since the magnetic actuator is located at the end face, it does not need to be moved into the transfer device. This is particularly advantageous when the transfer device has different cleanroom classifications. This is not usually the case for RTP port systems, but it is more suitable for inlet or outlet isolation walls through which a standard material flow is generated during production: the incoming transport of empty packages / containers and the outgoing transport of filled packages / containers or waste.

[0041] Such inlet or outlet barriers are typically not completely sealed, as is the case with the transfer device described herein and its connection to the barrier system. These inlet or outlet barriers are usually protected against contamination of the barrier system by overpressure (in the case of a cleanroom) or negative pressure (in the case of a system used to manipulate contaminated samples or products). Conventional grippers need to extend around the object, thus at least partially protruding from or overlapping with the object within the inlet or outlet barrier, whereas with the magnetic actuator described herein, contact between the object and the magnetic actuator can potentially occur on only a single plane. Therefore, protection against contamination is significantly improved by using the actuator described herein in relation to the inlet or outlet barrier.

[0042] Preferably, a guiding structure is provided so that, once a sealed channel is created, the transported item can be guided from the transfer device to the barrier system. This guiding structure may include, for example, a guide rail that extends from the transfer device through the channel into the barrier system and vice versa.

[0043] Because of the apparatus described herein, it is also possible to place transported items in the correct positions when they are removed from the transfer device. This enables an automated unloading process, particularly in the preferred case where the transported items are containers or shipping vessels.

[0044] For example, in the case of the device described herein, the positioning between the magnetic actuator and the conveying item, container, or transport vessel is significantly more responsive to uncertainty in terms of positioning compared to the form-fitting connection using a gripper. If the orientation is not precisely matched, the system will not over-determinate, and in particular, will not jam.

[0045] As previously mentioned, the magnetic force acts along the direction of movement. A further advantage of this orientation is that, in this orientation, the clearance in the guide structure affects the air gap of the magnet. This, in turn, has a positive impact on process safety. In particular, since the direction of the magnet's action is consistent with the direction of movement, no attractive force is generated, which would increase the frictional resistance to the movement of the transported items.

[0046] Therefore, a key feature of the apparatus described herein is that a transport item (here, a container or vessel carrying a sample) is drawn into the barrier system by means of magnetic force. The linear movement of the transport item can be automated via a manipulator. Magnets do not necessarily need to be arranged on the magnetic actuator. Alternatively, only a single coupling element with magnetic components can be arranged on the transport item, interacting with a magnetizable element on the magnetic actuator to couple the transport item to the magnetic actuator. The magnetic components can be welded, press-fitted, cast, bonded, or threaded into the magnetic actuator and / or coupling element. When the transport item is a container for a sample, the sample can be removed, and the container or vessel can be unloaded or loaded (after the transport item has been drawn into the barrier system).

[0047] In a preferred variant embodiment, coupling and decoupling of the transported items are achieved by rotating the magnetic actuator. Once the unloading or loading process is complete, the transported items, containers, or transport vessels are preferably pushed back into the transfer device. This can be achieved by utilizing the repulsive effect of like magnetic poles. Therefore, the magnets on the transported items and the magnets on the magnetic actuator are preferably arranged such that north poles face north poles and south poles face south poles. This can be achieved in a magnetic actuator or coupling element, each having two north pole magnetic elements and two south pole magnetic elements, wherein, starting from the orientation where the north and south pole magnetic elements attract each other, a 90° rotation of the magnetic actuator moves to the orientation where the north and south pole magnetic elements repel each other. The number and size of the north and south pole magnetic elements can be flexibly chosen according to the required magnetic force and available design space. The minimum number is only one magnet on the magnetic actuator and / or coupling element, plus a piece of material that magnetically interacts with the magnets on the corresponding other elements (coupling element or magnetic actuator). A further variant embodiment has one magnet on each side (on the magnetic actuator and coupling element). Due to the opposite polarities, a greater force can be obtained, enabling the pulling of heavy transported items from the transfer device. The effective force of the magnetic element can be continuously reduced by the rotation of the magnetic actuator. Preferably, a neutral position exists between the magnetic actuator and the coupling element where attractive and repulsive magnetic forces cancel each other out.

[0048] Because the movement of transported items is automated, no operator intervention is required. This eliminates the possibility of the operator being a source of error. It ensures that transported items are brought to their desired, precisely defined locations in an automated manner. This is a prerequisite for a safe process sequence, especially when the transport containers used for further manipulation of samples arranged in them are automatically unloaded and loaded.

[0049] To improve the positioning accuracy of transported items, or containers or transport vessels used for transporting items, within a barrier system, a centering auxiliary device can be installed at the entrance. For example, this centering auxiliary device can consist of a centering bolt and a centering sleeve.

[0050] A barrier system is also described herein, having at least one of the described means for manipulating and transporting items within the barrier system.

[0051] It should be noted that the particular benefits and configuration features described for the above-mentioned device can also be applied to and adapted to barrier systems.

[0052] In particular, the barrier system can possess all the features proposed for the described device, and it can also form the overall unit for the described device. The barrier system and the device can also form components of a (general) processing system for products and / or samples. In this case, a clear distinction between the features of the barrier system and the features of the device may even be impossible. In other words, certain features may form components of both the barrier system and the device. For example, this includes an interface that is part of both the barrier system and the device, as it interacts with the aforementioned manipulator.

[0053] Barrier systems are particularly well-suited for pharmaceutical applications. A key focus of barrier systems is preventing the leakage of undesirable substances. Especially in pharmaceutical applications, barrier systems operate in this way because, for various reasons, pharmaceutical substances should not accidentally enter the surrounding environment and cause contamination. This differs from pure cleanroom barrier systems, where the products or samples being processed within the barrier system are considered pure under all circumstances and cannot generate contaminants. In the case of pure cleanroom barrier systems, the focus is typically primarily on preventing impurities / contaminants from entering the barrier system.

[0054] The barrier system is also preferably adapted to operate in a bidirectional manner so that it prevents both the surrounding environment from contaminating the products or samples processed within the barrier system and the products or samples processed within the barrier system from contaminating the surrounding environment.

[0055] Depending on the application, barrier systems can be used for the handling of pharmaceuticals and / or samples. This includes handling samples under laboratory conditions for research purposes or for purposes other than research (such as clinical practice). Attached Figure Description

[0056] The present invention and its technical environment will be explained in more detail below with the aid of the accompanying drawings. The drawings illustrate preferred exemplary embodiments, but the invention is not limited to these embodiments. It should be particularly noted that the drawings, and especially the dimensional relationships shown in the drawings, are merely illustrative. The drawings show:

[0057] Figure 1 : A schematic diagram of the described device, and

[0058] Figure 2 : Front view of the magnetic actuator of the described device. Detailed Implementation

[0059] Figure 1 The described apparatus 1 is shown, which has a barrier system 3 and a manipulator 4 arranged within the barrier system 3. The manipulator 4 is preferably electrically operated and is adapted to perform the transport and handling of transported articles 2 within the barrier system 3. For example, the transported articles 2 may be samples or sample arrays, the sample array consisting of a plurality of individual samples undergoing special inspection or manipulation within the barrier system 3. (Illustrative) Figure 1 The document does not show the means used to perform the inspection and processing of samples.

[0060] The transport item 2 can preferably be brought into the barrier system 3 via a transfer device 19. The transfer device 19 is preferably an enclosed space that can be airtightly sealed for transporting the transport item 2 to maintain its purity. The transfer device 19 itself preferably forms a barrier system. The transfer device 19 can preferably be closed at the interface 18 of the barrier system 3 to create an externally sealed (outside the barrier system 3) channel 20 through which the transport item 2 can be moved from the transfer device 19 to the barrier system 3. The transfer device 19 is particularly suitable for transporting the transport item from one barrier system 3 to another, in which case each of the two barrier systems 3, serving as cleanrooms, has the described interface 18. The interface 18 of the barrier system 3 preferably has a first door 21, which can be used to close the interface 18 when no transfer device 19 is connected to it. The transfer device 19 preferably has a second door 22, which can be used to close the transfer device 19 when no transfer device 19 is connected to the interface 18 of the barrier system 3. The transfer device 19 and the interface 18 preferably interact such that when the sealed passage 20 from the transfer device 19 to the interface 18 and the barrier system 3 is created, the first door 21 and the second door 22 are opened. Preferably, when the transfer device 19 is connected to the interface 18, the first door 21 and the second door 22 are coupled so that both doors 21, 22 can be opened simultaneously. When the transfer device 19 and the interface 18 are tightly connected to each other, the opening of the doors 21, 22 preferably occurs automatically because the door opening mechanism is activated.

[0061] The item 2 is preferably placed in a transport container 9, which is used to transport the item 2.

[0062] The manipulator 4 preferably has a manipulator head 10 together with the magnetic actuator 5. Particularly preferably, the magnetic actuator 5, together with the manipulator head 10, is rotatable about a rotation axis 11. The transport vessel 9 for conveying the article 2 preferably has a coupling element 12. The magnetic actuator 5 is designed to couple with the coupling element 12, and then the manipulator 4 moves the transport vessel 9 and conveys the article 2. The magnetic actuator 5 and the coupling element 12 preferably have magnetic elements 13, 14, and preferably both the magnetic actuator 5 and the coupling element 12 have their own north pole magnetic element 13 and south pole magnetic element 14. Each north pole magnetic element 13 of the magnetic actuator 5 attracts the south pole magnetic element 14 of the coupling element 12, and vice versa. The interaction of the north pole magnetic elements 13 and south pole magnetic elements 14 of the magnetic actuator 5 and the coupling element 12 will be explained below by means of… Figure 2A more detailed description follows. The attractive or repulsive magnetic force 7 between the magnetic actuator 5 and the coupling element 12 acts in the magnetic direction 6. The device 1, and especially the manipulator 4 of the device 1, is preferably adapted to cause movement of the conveying article 2 or the transport vessel 9 along a direction of movement 8, which has at least one directional component parallel to the magnetic direction 6. Figure 1 A variant embodiment is shown in which the direction 8 of movement of the conveying item 2 or the transport vessel 9 is parallel to the direction of magnetic action 6.

[0063] will rely on Figure 2 To explain a preferred layout of the magnetic actuator 5. Figure 2 A front view of the magnetic actuator 5 is shown, the front view being... Figure 1 Viewpoint A is used in the diagram. The magnetic actuator 5 is preferably rotatable about a rotation axis 11, which is located in... Figure 1 and Figure 2 The magnetic actuator 5 is shown in the diagram. It preferably has an even number of north pole magnetic elements 13 and an even number of south pole magnetic elements 14, which are distributed about the rotation axis 11 on a circular track 17. Figure 2 In a variant embodiment, there are exactly two north pole magnetic elements 13 and two south pole magnetic elements 14.

[0064] The magnetic actuator 5 is designed to interact with the coupling element 12, which has a relationship with... Figure 2The arrangement of the magnetic actuator 5 shown corresponds to the arrangement of the north pole magnetic element 13 and the south pole magnetic element 14. The degree of overlap or coincidence of the north pole magnetic element 13 and the south pole magnetic element 14 of the magnetic actuator 5 and the coupling element 12 is related to the angular orientation of the magnetic actuator 5 and the coupling element 12 relative to the axis of rotation. By rotating the magnetic actuator 5, this degree of overlap or coincidence can be intentionally adjusted. It can be adjusted to a first orientation 15, in which the north pole magnetic element 13 of the magnetic actuator 5 is arranged opposite to the south pole magnetic element 14 of the coupling element 12, and vice versa, thereby obtaining (maximum) attractive force between the magnetic actuator 5 and the coupling element 12. It can be adjusted to a second orientation 16, in which the north pole magnetic element 13 of the magnetic actuator 5 is arranged opposite to the north pole magnetic element 13 of the coupling element 12, and the same applies to the south pole magnetic element 14, thereby obtaining (maximum) repulsive force between the magnetic actuator 5 and the coupling element 12. Preferably, the magnetic actuator 5 can also be adjusted to a third position 23, where the repulsive and attractive forces between the magnetic actuator 5 and the coupling element 12 cancel each other out, allowing the magnetic actuator 5 to move without affecting the coupling element 12. The magnetic actuator 5 can preferably be positioned in such a third position 23 that when the magnetic actuator 5 is released from the coupling element 12 and / or placed closer to or further away from the coupling element 12, no uncontrolled magnetic force effects, such as a sudden, unexpected attraction or repulsion of the coupling element 12, will occur.

[0065] As the magnetic actuator 5 rotates about the rotation axis 11, mechanical torque may be generated on the coupling element 12. This mechanical torque may cause, for example, tilting of the transport container 9 used to transport the article 2. To counteract this mechanical torque during the rotation of the magnetic actuator 5, a guide structure 24 for the transport container 9 or the article 2 may optionally be provided, which... Figure 1 The diagram is schematically shown. This guiding structure can be arranged in the barrier system 3 and extend into the transfer device 19 after creating the sealed channel 20, and vice versa. Preferably, the transport vessel 9 or the transported item 2 will be guided by such a guiding structure 24 during removal from or into the transfer device 19. The guiding structure 24 can, for example, interact with a guide bolt 25 on the transport vessel 9, which runs in the guiding structure 24 as if in a track, and is adapted to absorb the mechanical torque generated by the rotation of the magnetic actuator 5 about the rotation axis 11.

[0066] List of reference numerals

[0067] 1 device

[0068] 2. Transporting items

[0069] 3. Barrier System

[0070] 4. Manipulator

[0071] 5. Magnetic actuator

[0072] 6. Direction of magnetic effect

[0073] 7. Magnetic force

[0074] 8. Direction of movement

[0075] 9. Transport containers

[0076] 10. Manipulator Head

[0077] 11. Axis of rotation

[0078] 12 Coupling elements

[0079] 13 Arctic Magnetic Components

[0080] 14 Antarctic magnetic components

[0081] 15 First position

[0082] 16 Second position

[0083] 17. Circular trajectory

[0084] 18 pairs of interfaces

[0085] 19 Transfer device

[0086] 20 channels

[0087] 21 First Gate

[0088] 22 Second Gate

[0089] 23 Third position

[0090] 24. Guiding Structure

[0091] 25 Guide bolts

Claims

1. A device (1) for manipulating a transported article (2) within a barrier system (3), comprising a manipulator (4) arranged in the barrier system (3) and having a magnetic actuator (5) for applying a magnetic force (7) to the transported article (2), the magnetic actuator (5) having a design-related magnetic action direction (6) of the magnetic force (7), wherein, The manipulator (4) is arranged within the barrier system (3) and is adapted to couple the transport item (2) to the manipulator (4) by magnetic force (7), and to move the transport item within the barrier system (3) using the manipulator (4). The item being transported includes a magnetic coupling element (12). The coupling element (12) and the magnetic actuator (5) each have at least one north pole magnetic element (13) and at least one south pole magnetic element (14). The magnetic actuator (5) can be selectively positioned relative to the coupling element (12) in a first orientation (15) or a second orientation (16). In the first orientation (15), the north pole magnetic element (13) and the south pole magnetic element (14) interact to create an attractive magnetic force (7) from the magnetic actuator (5) to the coupling element (12). In the second orientation (16), the north pole magnetic element (13) and the south pole magnetic element (14) interact to create a repulsive magnetic force (7) from the magnetic actuator (5) to the coupling element (12). In addition to the first position (15) and the second position (16), a third position (23) is provided. At the third position (23), the attractive magnetic force (7) and the repulsive magnetic force (7) interact so that the resultant force from the magnetic actuator (5) does not act on the coupling element (12).

2. The apparatus (1) according to claim 1, wherein, The magnetic actuator (5) includes at least one electromagnet.

3. The apparatus (1) according to claim 1 or 2, wherein, The manipulator (4) is adapted to move the transported item (2) in a direction of movement (8) having at least one directional component of the magnetic action direction (6) parallel to the magnetic force (7).

4. The apparatus (1) according to claim 3, wherein, The magnetic force (7) extends in the direction (6) of magnetic action and in the direction (8) of movement of the transported item (2).

5. The apparatus (1) according to any one of claims 1 to 2, 4, wherein, The items to be transported (2) include materials with magnetic properties.

6. The apparatus (1) according to claim 3, wherein, The items to be transported (2) include materials with magnetic properties.

7. The apparatus (1) according to any one of claims 1 to 2, 4, and 6, wherein, The item (2) is a transport container (9) used for transporting materials.

8. The apparatus (1) according to claim 3, wherein, The item (2) is a transport container (9) used for transporting materials.

9. The apparatus (1) according to claim 5, wherein, The item (2) is a transport container (9) used for transporting materials.

10. The apparatus (1) according to any one of claims 1 to 2, 4, 6, 8, and 9, wherein, A magnetic actuator (5) is arranged on a manipulator head (10), which is capable of rotating about a rotation axis (11) oriented parallel to the direction of magnetic action (6).

11. The apparatus (1) according to claim 3, wherein, A magnetic actuator (5) is arranged on a manipulator head (10), which is capable of rotating about a rotation axis (11) oriented parallel to the magnetic direction (6).

12. The apparatus (1) according to claim 5, wherein, A magnetic actuator (5) is arranged on a manipulator head (10), which is capable of rotating about a rotation axis (11) oriented parallel to the direction of magnetic action (6).

13. The apparatus (1) according to claim 7, wherein, A magnetic actuator (5) is arranged on a manipulator head (10), which is capable of rotating about a rotation axis (11) oriented parallel to the direction of magnetic action (6).

14. The apparatus (1) according to any one of claims 1 to 2, 4, 6, 8, 9, 11 to 13, wherein, The north pole magnetic element (13) and the south pole magnetic element (14) are arranged alternately on a circular track (17) around the rotation axis (11) of the magnetic actuator (5) so that the first or second orientation of the magnetic actuator (5) relative to the coupling element can be selectively generated by the rotation of the magnetic actuator (5) around the rotation axis.

15. The apparatus (1) according to claim 3, wherein, The north pole magnetic element (13) and the south pole magnetic element (14) are arranged alternately on a circular track (17) around the rotation axis (11) of the magnetic actuator (5) so that the first or second orientation of the magnetic actuator (5) relative to the coupling element can be selectively generated by the rotation of the magnetic actuator (5) around the rotation axis.

16. The apparatus (1) according to claim 5, wherein, The north pole magnetic element (13) and the south pole magnetic element (14) are arranged alternately on a circular track (17) around the rotation axis (11) of the magnetic actuator (5) so that the first or second orientation of the magnetic actuator (5) relative to the coupling element can be selectively generated by the rotation of the magnetic actuator (5) around the rotation axis.

17. The apparatus (1) according to claim 7, wherein, The north pole magnetic element (13) and the south pole magnetic element (14) are arranged alternately on a circular track (17) around the rotation axis (11) of the magnetic actuator (5) so that the first or second orientation of the magnetic actuator (5) relative to the coupling element can be selectively generated by the rotation of the magnetic actuator (5) around the rotation axis.

18. The apparatus (1) according to claim 10, wherein, The north pole magnetic element (13) and the south pole magnetic element (14) are arranged alternately on a circular track (17) around the rotation axis (11) of the magnetic actuator (5) so that the first or second orientation of the magnetic actuator (5) relative to the coupling element can be selectively generated by the rotation of the magnetic actuator (5) around the rotation axis.

19. The apparatus (1) according to any one of claims 1 to 2, 4, 6, 8, 9, 11 to 13, 15 to 18, wherein, The manipulator (4) is arranged opposite to the interface (18) in the barrier system (3), wherein the transfer device (19) for transporting the transfer item (2) to the barrier system (3) can be placed against the interface (18), and the interface (18) is adapted to form an outer sealed channel (20) from the transfer device (19) to the barrier system (3), while the transfer item (2) can be transported from the transfer device (19) to the interface (18) and the barrier system (3) through the channel (20) by the magnetic actuator (5).

20. The apparatus (1) according to any one of claims 1 to 2, 4, 6, 8, 9, 11 to 13, 15 to 18, wherein, The interface (18) includes a first door (21) that closes the interface (18), and the transfer device (19) includes a second door (22) that closes the transfer device (19). The interface (18) is adapted to interact with the transfer device (19) so that the first door (21) and the second door (22) are opened when an outer sealing passage (20) from the transfer device (19) to the interface (18) and the barrier system (3) is established.

21. A barrier system (3) comprising at least one means (1) according to any one of the preceding claims for manipulating and transporting an article (2) within the barrier system (3).

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