Methods for performing a work step in a cleanroom, mobile robot and cleanroom system

Abstract

The present invention relates to a method for carrying out a work step in a cleanroom (4) comprising the process steps of moving a mobile robot (32), which has a first mobile platform (36) and a work device (34) carried by the first mobile platform (36), by means of the first mobile platform (36) from a room (6) with lower cleanliness than the cleanroom (4) into an intermediate space (8) between the room (6) and the cleanroom (4), transferring the work device (34) from the first mobile platform (36) to a second mobile platform (38) of the mobile robot (32) provided in the intermediate space (8), and moving the mobile robot (32), which has the second mobile platform (38) and the work device (34) carried by the second mobile platform (38).by means of the second mobile platform (38) from the intermediate space (8) into the cleanroom (4), leaving the first mobile platform (36) behind, and carrying out the work step in the cleanroom (4) by means of the work device (34). Furthermore, the present invention relates to a mobile robot (32) and a cleanroom system (2) for carrying out the method.

Description

[0001] The present invention relates to a method for carrying out a work step in a cleanroom using a mobile robot, a mobile robot for carrying out the method and a cleanroom system with such a mobile robot.

[0002] From DE 10 2022 120 677 B3, a barrier system is known that has a closed or separated area in which a sterile environment is provided, thus forming a cleanroom. A stationary robot is provided within the cleanroom, essentially consisting of a robot arm with a gripper. The robot performs a work step within the cleanroom, namely, taking a contact plate sample. For this purpose, the gripper takes a contact plate sample from a sample holder provided in the cleanroom and performs the sample collection on a surface within the cleanroom. The sample is then sealed and returned to the sample holder.

[0003] Based on the understanding that a stationary robot is typically underutilized within a cleanroom, DE 10 2019 118 A1 proposes a system for performing at least one work step in a cleanroom using a mobile robot. The mobile robot consists of a mobile platform and a work device carried by the mobile platform. The work device for performing the work step essentially comprises a robot arm and a control unit for controlling the robot arm. The mobile robot is first transported by the mobile platform within a space that has a lower level of cleanliness than the cleanroom. The work device is then detached from the mobile platform and positioned in front of a wall of the cleanroom.While the mobile platform can now be used elsewhere, the work device remains in front of the cleanroom wall and uses the robot arm to reach through an opening or airlock in the cleanroom wall to perform a work step inside the cleanroom.

[0004] It is an object of the present invention to provide a method for carrying out a work step in a cleanroom that is effective, fast, and reproducible, while also reducing the risk of contamination of the cleanroom. Furthermore, the present invention aims to provide a mobile robot and a cleanroom system incorporating such a mobile robot for carrying out the method.

[0005] This problem is solved by the features specified in claims 1, 9 and 10. Advantageous embodiments of the invention are the subject of the dependent claims.

[0006] The method according to the invention serves to carry out a work step in a cleanroom. The method is carried out using a mobile robot that has a first mobile platform and a work device carried by the first mobile platform for carrying out the work step. The mobile robot is first moved or transported by means of the first mobile platform from a room with a lower level of cleanliness than the cleanroom to an intermediate space between the room and the cleanroom. Although a distinction is made here between a room or intermediate space and a cleanroom, both the room and the intermediate space can be designed as cleanrooms; however, as already mentioned, the room should have a lower level of cleanliness than the cleanroom.Purity, in this context, refers to the concentration of airborne particles within a given space. A space has a higher purity level the lower the concentration of airborne particles, such as airborne particles or airborne germs. It is particularly advantageous if the space and the cleanroom belong to different classes according to the GMP guidelines, ISO 14644-1, or US FED STD 209E. Based on the GMP (Good Manufacturing Practice) guidelines, the space and / or intermediate space could, for example, be a Class D space, while the cleanroom would be a Class C space. Within the intermediate space, the work device of the mobile robot is transferred from its first mobile platform to a second mobile platform of the mobile robot located within the intermediate space.Subsequently, the mobile robot, now equipped with the second mobile platform and the working direction supported by that platform, is moved from the intermediate space into the cleanroom using the second mobile platform, leaving the first mobile platform behind. The first mobile platform can remain in the intermediate space or be moved back into the cleanroom for use at another location. The mobile robot, or more precisely, the work device supported by the second mobile platform, then performs the work step within the cleanroom. It is preferred that the work device performs several similar and / or different work steps within the cleanroom.Furthermore, it is preferred if the mobile robot is moved between at least two work steps within the cleanroom using the second mobile platform, in order to perform the work steps at different locations within the cleanroom. This allows for a relatively large cleanroom while the work device can be relatively compact. The term "work step" is to be interpreted broadly here, encompassing, for example, a measurement, sampling, handling of a workpiece, or machining of a workpiece.

[0007] By transferring the work device to the second mobile platform and moving the mobile robot from the intermediate space into the cleanroom using this second mobile platform, while leaving the first mobile platform behind, it is ensured that particles or germs that have accumulated on the first mobile platform—for example, on the drive elements of the first mobile platform that come into contact with the floor—during the robot's movement within the space do not enter the cleanroom, but are instead left behind with the first mobile platform. Therefore, the risk of contamination of the cleanroom with these particles or germs is significantly reduced.Furthermore, moving the mobile robot, along with the second mobile platform and the work device carried by the second mobile platform, into the cleanroom offers the advantage that the mobile robot, and thus the work device, can continue to be moved within the cleanroom to perform work steps at different locations. Consequently, the work device itself can be relatively compact, while the second mobile platform ensures movement to the various locations within the cleanroom where a work step needs to be carried out. This makes it possible to perform work steps in very large cleanrooms with an equally compact work device, allowing the process to be carried out particularly efficiently.Furthermore, the use of a mobile robot ensures that the work steps are carried out quickly and reproducibly by the work device.

[0008] In a preferred embodiment of the method according to the invention, the mobile robot is moved back into the intermediate space after one or more work steps have been carried out in the cleanroom. More precisely, the mobile robot, which comprises the second mobile platform and the work device carried by the second mobile platform, is moved from the cleanroom into the intermediate space by means of the second mobile platform. Within the intermediate space, the work device is then transferred from the second mobile platform to the first mobile platform left behind in the intermediate space or to another first mobile platform provided in the intermediate space.After the transfer, the mobile robot, now comprising the first mobile platform and the work device carried by the first mobile platform, is moved from the intermediate space into the room using the first mobile platform, while the second mobile platform remains in the intermediate space. Since the second mobile platform remains within the intermediate space, while only the mobile robot, consisting of the first mobile platform and work device, is moved from the intermediate space into the room, there is no risk of the second mobile platform being contaminated by particles or germs in the room, as would be the case if the second mobile platform were moving within the room. Therefore, the risk of contamination of the cleanroom by particles or germs on the second mobile platform is low when the procedure is repeated. Furthermore, the transfer or...The movement of the mobile robot from the cleanroom, across the intermediate space, into the room enables the transport of materials, such as samples, equipment, or documentation, from the cleanroom and, if necessary, to a laboratory or other location for further processing. Additional devices for transferring and transporting the material are not required.

[0009] In a particularly preferred embodiment of the method according to the invention, the mobile robot is moved between the intermediate space and the cleanroom through a passage that is opened before movement and closed after movement, optionally with an airtight seal separating the intermediate space and the cleanroom. Alternatively or additionally, the mobile robot is moved between the space and the intermediate space through a passage that is opened before movement and closed after movement, optionally with an airtight seal separating the space and the intermediate space. In the first case, it is ensured that as few particles or germs as possible enter the cleanroom from the intermediate space, while in the second case, it is ensured that as few particles or germs as possible enter the cleanroom from the space via the intermediate space. Thus, contamination of the cleanroom can be prevented relatively reliably.If both passages, namely the passage between the intermediate space and the cleanroom and the passage between the room and the intermediate space, are opened and closed accordingly, the intermediate space effectively forms an airlock that can prevent the entry of particles and germs into the cleanroom particularly effectively.

[0010] In an advantageous embodiment of the method according to the invention, the opening and / or closing of the aforementioned passage is carried out by the working device itself. Thus, the working device not only serves to carry out the subsequent work step, but also has the function of opening and / or closing the respective passage, thereby making particularly efficient use of the existing working device. It is preferred if the opening and / or closing of the respective passage is effected by the working device itself by actuating a closing device associated with the respective passage.In the simplest case, the closing device could be a pivoting door leaf capable of opening or closing the respective passageway, with the working device being able to cause the door leaf to pivot by applying a corresponding force to it. Furthermore, it is preferred if the opening and / or closing of the respective passageway is effected by the working device operating a manually operated control element of the closing device. Referring to the aforementioned door leaf, the manually operated control element of the closing device in the form of a door leaf could, for example, be a door handle or a door lever. If the working device includes a robot arm or similar device, the door handle or door lever could be operated by the robot arm or similar device to open and / or close the respective passageway.If, however, the closing device has a motor-driven, movable partition, the manually operated control element of such a closing device could be a hand switch or button that is actuated by the working device. Regardless of the specific design variant chosen, this embodiment ensures that the method can be implemented particularly easily even in an existing cleanroom system where, previously, personnel had to be introduced into the cleanroom via the room and the intermediate space to perform the work step.

[0011] In a particularly advantageous embodiment of the method according to the invention, the mobile robot is supported in the space between the two cleanrooms by the respective mobile platform, i.e., the first mobile platform or the second mobile platform, against the floor of the space between the two cleanrooms. It is preferred that the mobile robot is supported directly against the floor of the space between the two cleanrooms by the respective platform. This embodiment has the advantage that, within the framework of the method, an existing floor that could be walked on by personnel is also used by the mobile robot, so that, in effect, a space is used that could also be used, or even has been used, for the entry of personnel. This ensures a particularly simple design of the cleanroom system and a simple implementation of the method in a cleanroom system originally designed for the entry of personnel.Against this background, it is also preferred in this embodiment if the gap has a minimum height of 2 m between the floor of the gap on the one hand and the ceiling of the gap on the other.

[0012] In a further advantageous embodiment of the method according to the invention, the floor of the intermediate space, on which the mobile robot is supported via the respective mobile platform, transitions seamlessly into a floor of the room and / or a floor of the cleanroom. In this way, rapid and unimpeded movement of the mobile robot, which comprises the first mobile platform and the work device supported by the first mobile platform, between the intermediate space and the room, and / or rapid movement of the mobile robot, which comprises the second mobile platform and the work device supported by the second mobile platform, between the intermediate space and the cleanroom is possible.Alternatively or additionally, in this embodiment, the floor of the intermediate space is arranged essentially in the same plane as a floor of the room and / or a floor of the cleanroom to ensure fast and safe movement of the mobile robot between the room and the intermediate space and / or the intermediate space and the cleanroom. Furthermore, it is preferred that the mobile robot in the room is supported by the first mobile platform on the floor of the room, while in the cleanroom, the mobile robot is supported by the second mobile platform on the floor of the cleanroom, with the support particularly preferably being provided directly on the respective floor.Furthermore, in this embodiment it is preferred if the height of the space between the floor of the room and the ceiling of the room and / or the height of the cleanroom between the floor of the cleanroom and the ceiling of the cleanroom is at least 2 m in order to enable equally safe working by both personnel and the mobile robot in the room and / or cleanroom.

[0013] In a further particularly advantageous embodiment of the method according to the invention, the mobile robot is supported in the space between the two platforms exclusively on a first floor section via the first mobile platform and exclusively on a second floor section of the space between the two platforms, which is separate from the first floor section. This ensures that the second mobile platform moves and is supported exclusively along a floor section of the space between the two platforms, while the first mobile platform is neither supported nor moved along this same floor section. Consequently, this prevents particles or germs introduced into the space between the two platforms by the first mobile platform from reaching the floor of the space between the two platforms, from where they could subsequently be picked up by the second mobile platform if it were to move along the same floor section.Consequently, further measures can be taken to prevent subsequent contamination of the cleanroom.

[0014] In a further preferred embodiment of the method according to the invention, the first and second mobile platforms for moving the mobile robot are controlled by a control unit of the work device, wherein the control unit is preferably configured to send corresponding control signals to components of the mobile robot. In principle, such a control unit could also be provided in each of the two mobile platforms; however, for the sake of a simplified design of the mobile robot or the cleanroom system, it is preferred if the control unit of the work device performs the control of the first and second mobile platforms for moving the mobile robot, especially since this means that only one control unit is required for both mobile platforms.Furthermore, it is preferred if the control device also takes over the control of the components of the work device itself, such as the control of a robot arm of the work device, in order to further simplify the construction of the cleanroom system underlying the process.

[0015] In a further advantageous embodiment of the method according to the invention, the transfer of the work device from the first to the second mobile platform or from the second to the first mobile platform is carried out by the mobile robot itself, thus eliminating the need for an additional transfer device arranged in the intermediate space and simplifying the process. In this embodiment, the mobile robot thus assumes an additional function. It is preferred that the transfer of the work device is carried out by the work device of the mobile robot itself. For example, a transfer device could be provided on the work device that enables the transfer of the work device from one mobile platform to the other.In the case of a work device with one or more robot arms, it is also advantageous if a robot arm is used to transfer the work device, for example by supporting itself within the space in order to then transfer the work device from one mobile platform to another by a corresponding movement of the robot arm.

[0016] As an alternative to the embodiment described above, in a further advantageous embodiment of the method according to the invention, the work device is transferred by a transfer device arranged in the intermediate space. Any handling devices that enable the work device to be transferred from one mobile platform to another are conceivable here. Such a transfer device, designed separately from the mobile robot and arranged in the intermediate space, may be justified if the work device of the mobile robot cannot effect the transfer of the work device from one mobile platform to the other, or if the work device lacks the necessary means for this purpose, so that the additional effort of a separate transfer device in the intermediate space may be justified.

[0017] In a further advantageous embodiment of the method according to the invention, an energy storage device of the second mobile platform is charged in the intermediate space to supply energy to a drive unit of the second mobile platform, and / or an energy storage device of the first mobile platform is charged to supply energy to a drive unit of the first mobile platform. The energy storage device is preferably an electrical energy storage device, for example, a battery. In this way, the energy storage device of the second mobile platform remaining in the intermediate space can be charged, so that the time when the second mobile platform is not in use can be used effectively to keep the second mobile platform ready for operation.Accordingly, the first mobile platform left in the space can remain there to charge its energy storage, while the second mobile platform, along with the work device, is located inside the cleanroom to ensure the operational readiness of the first mobile platform.

[0018] To ensure a safe and reproducible transfer of the work device between the two mobile platforms, in a further advantageous embodiment of the method according to the invention, the first mobile platform is arranged in a predetermined first position and the second mobile platform in a predetermined second position within the space between them before the work device is transferred between the two mobile platforms. It is preferred that the first mobile platform and the second mobile platform are fixed in their relative position to each other during the transfer to ensure a safe transfer of the work device between the mobile platforms.

[0019] In a further preferred embodiment of the method according to the invention, the energy storage of the first mobile platform is charged in the first position, while the energy storage of the second mobile platform is charged in the second position, in order to be able to charge the energy storage of the mobile platform that becomes free by the transfer before, during and after the transfer.

[0020] In a further particularly preferred embodiment of the method according to the invention, the first and second mobile platforms are fixed in their relative positions and / or the energy storage of each mobile platform is charged by means of a docking and / or charging station arranged in the space between them, in order to accelerate the process. For example, the respective mobile platform can be fixed in place by means of fixing elements on the docking station. Charging the energy storage of each mobile platform could, on the other hand, be carried out simply via contacts of the energy storage of the respective mobile platform, which come into contact with charging contacts of the docking and / or charging station in the first or second position of the respective mobile platform. Alternatively, however, charging the energy storage is also possible without contact, for example by induction.

[0021] In a further advantageous embodiment of the method according to the invention, the work step performed by the work device within the cleanroom includes counting airborne particles within the cleanroom. It is preferred that the airborne particles are counted using an air particle counter, which can, for example, be integrated into the work device or carried along by the work device. For instance, a carried air particle counter could be placed on the work device in the cleanroom to perform the air particle count and then picked up again.

[0022] According to a further advantageous embodiment of the method according to the invention, the step performed by the device within the cleanroom includes the collection of airborne microbes. This collection can be carried out in various ways. For example, it is preferred if the airborne microbes are collected using an air-intake air sampler integrated into the device. Alternatively or additionally, it is preferred if the collection of airborne microbes includes the device performing a contact plate sampling on a surface within the cleanroom, for example, using a robotic arm of the device. Alternatively or additionally, it is also preferred if the collection of airborne microbes includes the device laying out one or more sedimentation plates.

[0023] In a further advantageous embodiment of the method according to the invention, in which the work step includes the collection of airborne germs, the collected airborne germs are transported out of the cleanroom together with the work device by means of the mobile robot being moved from the cleanroom to the intermediate space by means of the second mobile platform and subsequently from the intermediate space into the room by means of the first mobile platform, thus eliminating the need to store and later separately remove the collected germs from the cleanroom. In this way, the mobile robot can transport, in particular, the airborne germs collected by the air sampler, the contact plate samples and / or the sedimentation plates from the cleanroom, via the intermediate space, into the room.

[0024] In a further particularly preferred embodiment of the method according to the invention, the movement of the mobile robot, the transfer of the work device, and the execution of the work step, preferably also the opening and / or closing of the passage, and particularly preferably also the fixing of the respective mobile platform and / or the charging of the energy storage of the respective mobile platform, are carried out fully automatically or autonomously in order to enable a particularly effective and easily reproducible method that relieves the workload of the operating personnel and reliably prevents contamination of the cleanroom. This makes the method particularly suitable for mandatory cleanroom monitoring.

[0025] The mobile robot according to the invention comprises a work device, a first mobile platform, and a second mobile platform designed separately from the first mobile platform, wherein the work device is configured to be selectively supported and moved by either the first or the second mobile platform. The mobile robot, preferably its control unit, is configured to perform the method of the type described above fully automatically or autonomously.

[0026] In a preferred embodiment of the mobile robot according to the invention, the work device includes a robot arm for performing the work step. The mobile robot or its control unit is preferably configured to perform a contact plate sampling and / or to lay out a sedimentation plate, with this being done by the robot arm.

[0027] In a particularly preferred embodiment of the mobile robot according to the invention, the mobile robot, its control unit or the robot arm is configured to transfer the work device between the first and second mobile platforms.

[0028] According to an advantageous embodiment of the mobile robot according to the invention, the robot arm is also designed to open and / or close the passage within a cleanroom system.

[0029] According to a further advantageous embodiment of the mobile robot according to the invention, the working device has an air particle counter for counting the air particles and / or an air intake air germ collector.

[0030] The cleanroom system according to the invention comprises a cleanroom, a room with lower cleanliness than the cleanroom, an intermediate space between the room and the cleanroom, and a mobile robot, wherein the mobile robot has a work device, a first mobile platform, and a second mobile platform separate from the first mobile platform. The work device is configured to be supported and moved by either the first or the second mobile platform. The cleanroom system is configured to carry out the method of the type according to the invention fully automatically or autonomously.

[0031] In a preferred embodiment of the cleanroom system according to the invention, a docking and / or charging station is arranged in the space between for fixing the first and second mobile platforms in their relative position to each other and / or for charging the energy storage devices of the first and second mobile platforms.

[0032] According to a further preferred embodiment of the cleanroom system according to the invention, a transfer device for transferring the working device from the first to the second mobile platform and vice versa is arranged in the intermediate space.

[0033] In a further particularly preferred embodiment of the cleanroom system according to the invention, a passage is provided between the intermediate space and the cleanroom or / and between the room and the intermediate space, and a closing device assigned to the respective passage for opening and, if necessary, airtight closing of the respective passage.

[0034] The invention is explained in more detail below with reference to an exemplary embodiment and the accompanying drawings. These show: Fig. 1 a perspective view of an embodiment of the cleanroom system according to the invention, Fig. 2 a schematic representation of the structure of the mobile robot made of Fig. 1, Fig. 3 a flowchart for visualizing an embodiment of the method according to the invention and Fig. 4, Fig. 5 to Fig. 6 the cleanroom system according to Fig. 1 at various stages of the process according to Fig. 3.

[0035] Fig. Figure 1 shows an embodiment of a cleanroom system 2. The cleanroom system 2 comprises a cleanroom 4. Furthermore, the cleanroom system 2 includes a room 6, which has a lower level of cleanliness than the cleanroom 4. This means, in particular, that the concentration of airborne particles and germs in the cleanroom 4 is lower than in the room 6. In principle, the room 6 can also be a cleanroom, as long as it has a lower level of cleanliness than the cleanroom 4. For example, the room 6 can be a Class D room according to the GMP guidelines, while the cleanroom 4 can be a Class C cleanroom according to the GMP guidelines. An intermediate space 8 is formed between the room 6 and the cleanroom 4. This intermediate space can, in principle, be an end section of the room 6 that is permanently connected to the room 4.In the present example, however, the space 8 can be closed off both from room 6 and from cleanroom 4.

[0036] For this purpose, a first closing device 10 is provided, which is essentially formed by a movable partition 12, for example a sliding or pivoting partition in the sense of a sliding door, a roller door or a door leaf. The movable partition 12 can thus be separated from the Fig. The first closing device 10 is moved from the closed position shown in Figure 1, in which a passage 14 between the chamber 6 and the intermediate space 8 is closed by the partition 12, optionally airtight, to an open position (not shown), in which the passage 14 between the chamber 6 and the intermediate space 8 is open. To operate the first closing device 10 accordingly, a manually operated control element 16 is provided in both the chamber 6 and the intermediate space 8, by actuating which the movable partition 12 can be moved into the open position and / or closed position.

[0037] Similarly, a second closing device 18 is provided between the intermediate space 8 and the cleanroom 4, which in turn has a movable partition 20. The movable partition 20 can be separated from the one in Fig. The closing device 18, shown in Figure 1, in which it hermetically seals a passage 22 between the intermediate space 8 and the cleanroom 4, is moved to an open position in which the passage 22 is open. In order to be able to actuate the second closing device 18 accordingly, a manually operated control element 24 is arranged in both the intermediate space 8 and the cleanroom 4.

[0038] A floor 26 of cleanroom 4, a floor 28 of room 6, and a floor 30 of intermediate space 8 merge seamlessly into one another, particularly in the area of ​​passageways 14 and 22, and are also essentially arranged on the same plane. Furthermore, cleanroom 4, room 6, and intermediate space 8 have a minimum height h of 2 m, so that cleanroom system 2 is also designed for access by personnel.

[0039] Furthermore, cleanroom system 2 features a mobile robot 32, which is located in Fig. The mobile robot 32 is located in its starting position within space 6. It essentially consists of a work device 34, a first mobile platform 36, and a second mobile platform 38, which is separate from the first mobile platform 36. The two mobile platforms 36 and 38 each serve to directly support the mobile robot 32 against the floors 26, 28, and 30, and to move the mobile robot 32 along these floors. The work device 34 and each of the two mobile platforms 36 and 38 are also configured such that the work device 34 can be supported and moved by either the first or the second mobile platform 36 or 38. The further construction of the work device 34 and the mobile platforms 36 and 38 will be discussed in more detail later.

[0040] In the space 8, a docking and charging station 40 is permanently arranged on the floor and wall side, at which both the first mobile platform 36 in a predetermined first position and the second mobile platform 38 in the Fig. The second position shown in 1 can be fixed. Furthermore, as described in more detail later, an energy storage device of the first mobile platform 36 can be charged in the first position and an energy storage device of the second mobile platform 38 can be charged in its second position. It is also already shown that Fig. As can be seen from Figure 1, the floor 30 of the intermediate space 8 has a first floor section 42, which follows the passage 14, and a second floor section 44, separate from the first floor section 42 and located between the first floor section 42 and the passage 22 to the cleanroom 4. As will be described in more detail later, the first mobile platform 36 moves within the intermediate space 8 exclusively along the first floor section 42, while the second mobile platform 38 moves exclusively along the second floor section 44 of the floor 30 of the intermediate space 8. If—as will be described in more detail later—both mobile platforms 36 and 38 are fixed by the docking and charging station 40, they are also fixed in their relative position to each other to enable the safe transfer of the work device 34 of the mobile robot 32.

[0041] To enable the subsequent transfer of the work device 34 from one mobile platform to the other mobile platform 36, 38, a stationary transfer device, for example a lifting and / or sliding device, can also be provided in the intermediate space 8 (not shown). In the simple embodiment according to Fig. However, in 1 such a transfer device is dispensed with; instead, only a stationary support device 46, here on the wall side, is arranged in the space 8, via which a transfer of the work device 34 between the mobile platforms 36, 38 can be carried out by the work device 34 itself.

[0042] Fig. Figure 2 shows the structure of the mobile robot 32. Fig. 1 again in a schematic manner. As already indicated, the work device 34, which serves for the subsequent execution of the work step within the cleanroom 4, can be transported either from the first mobile platform 36 or the second mobile platform 38. Thus, the work device 34 can be detached from the respective platform 36 or 38 and transferred to the other mobile platform 38 or 36. In order to ensure that the work device 34 is securely held on the respective mobile platform 36 or 38, the work device 34 has adjustable fastening means 48 for detachable attachment to the respective mobile platform 36 or 38, which are preferably controllable by the control device mentioned below.

[0043] Furthermore, the work device 34 includes a robot arm 50 with an end gripper 52. Although only one robot arm 50 is shown here, it can be advantageous for the work device 34 to have two or more robot arms. In addition, a control unit 54 is integrated into the work device 34, by means of which the robot arm 50, and optionally another robot arm, along with its gripper 52, can be controlled. In other words, the control unit 54 sends corresponding control signals to the robot arm 50, 52. The work device 34 also includes a storage device 56 in which data, in particular measured values, can be stored. Furthermore, the work device 34 includes a communication device 58, which, for example, enables a display for communication with the operator and / or data exchange with an external system.The data recorded in the storage device 56 can be transmitted via the communication device 58, for example, to a laboratory information management system or a manufacturing execution system. This is preferably done wirelessly or without physical contact. The communication device 58 can also be referred to as a transmitting and / or receiving unit. Furthermore, the work device 34 has a data acquisition device 60, by means of which data and / or information about the work step to be carried out can be acquired and stored in the storage device 56.

[0044] Since the mobile robot 32 is to perform a measurement or sampling for cleanroom monitoring as a key work step within the cleanroom 4, the work device 34 further comprises the following devices, which can be provided individually or in combination within the work device 34. For example, the work device 34 can include an air particle counter 62 for counting airborne particles within the air of the cleanroom 4, either as an integrated unit or as a portable unit. In the latter case, the portable air particle counter 62 can, for instance, be placed in the cleanroom 4 to perform the air particle count at a specific location, while the work device 34 simultaneously performs other work steps before retrieving the air particle counter 62. The corresponding result can be recorded by the acquisition device 60 and stored in the memory device 56.The result can be transmitted via the communication device 58 – optionally even without prior storage in the memory device 56. Furthermore, the work device 34 can include an air-intake air sampler 64 to enable the collection of airborne germs from the air of the cleanroom 4. The air sampler 64 can also be integrated into the work device or simply carried by it to allow for its placement and subsequent retrieval. Additionally, the work device 34 can include a magazine 66 for contact plate samples and / or sedimentation plates, so that contact plate samples can be taken from the magazine 66 by means of the robot arm 50 and sampled from a surface within the cleanroom 4 before the sample is returned to the magazine 66.Alternatively or additionally, sedimentation plates can be removed from the magazine 66 and placed within the cleanroom 4, preferably by the robot arm 50. After a certain time, the sedimentation plates can be picked up again by the robot arm 50 and returned to the magazine 66.

[0045] Furthermore, the work device 34 may include a receiving chamber 68 for receiving objects or materials that are to be transported between the chamber 6 and the cleanroom 4 and, if necessary, removed and / or handled by the robot arm 50. The work device 34 may also have a receptacle 70 for disinfectant 70, and is preferably configured to automatically disinfect the work device 34 within the intermediate chamber 8. This can preferably be achieved by the robot arm 50 removing the disinfectant from the receptacle 70 and performing the corresponding disinfection of the work device 34. Alternatively, the receptacle 70 for the disinfectant may also be assigned a disinfection device, separate from the robot arm 50, which is capable of disinfecting the work device 34.

[0046] The two mobile platforms 36, 38 each have movable drive elements 72 that act between the mobile platform 36, 38 on the one hand and the respective floor 26, 28, 30 on the other, to cause movement of the mobile platform 36, 38 along the floor 26, 28, 30. The drive elements 72 can be, for example, driven wheels; however, other drive elements 72, such as crawler or chain drives, are also possible. The drive elements 72 are driven by a drive unit 74, which is preferably an electric motor. The drive unit 74 is powered by an electrical energy storage device 76, for example, a battery. The energy storage device 76 is rechargeable, in particular by the aforementioned docking and charging station 40 within the space 8.Advantageously, a separate control unit within the two mobile platforms 36, 38 is dispensed with; rather, the control of the drive unit 74 and also the steering of the output elements 72 is carried out on the basis of the control signals transmitted by the control unit 54 of the working device 34, as shown in . Fig. 2 is indicated by the arrows 78. This advantageously simplifies the structure of the two mobile platforms 36, 38.

[0047] In principle, a single energy storage device could also be integrated into the work device 34 to supply energy to both the drive unit 74 of the first mobile platform 36 and the drive unit 74 of the second mobile platform 38 in order to simplify the setup; however, this would require the work device 34 to remain in the area of ​​the docking and charging station 40 if the individual energy storage device is to be charged.

[0048] Further features of the cleanroom system 2 and the mobile robot 32 are described below with reference to Fig. Figure 3 clearly shows a flowchart of an embodiment of the method for carrying out a work step in the cleanroom 4.

[0049] The initial situation is as follows: Fig. Figure 1 shows that in process step 80, the mobile robot 32 is initially moved within space 6. At this point, the mobile robot 32 has the first mobile platform 36 and the work device 34 carried by the first mobile platform 36. The second mobile platform 38, on the other hand, is arranged within the space 8 at the docking and charging station 40. If necessary, the mobile platform 38, which is fixed in the second position at the docking and charging station 40, is charged, more precisely its energy storage device 76.

[0050] When the mobile robot 32 reaches the passage 14 closed by the partition 12, the work device 34 actuates the closing device 10 assigned to the passage 14 by the robot arm 50 actuating the control element 16 in room 6, whereupon the movable partition 12 moves from its closed position into Fig. 1 is moved into the open position so that passage 14 is open. Subsequently, the mobile robot 32 is moved from space 6 to the intermediate space 8 by means of the first mobile platform 36, as indicated in process step 82. The passage 14 can then be closed again automatically or by the work device 34, via its robot arm 50, actuating the associated manually operated control element 16 in the intermediate space 8.

[0051] Subsequently, the mobile robot 32 moves to the docking and charging station 40 to fix the first mobile platform 36 in its first position at the docking and charging station 40 and to charge the energy storage device 76 of the first mobile platform 36 – if necessary – as shown in Fig. Figure 4 shows that the first mobile platform 36 is fixed in the predetermined first position and the second mobile platform 38 is fixed in the predetermined second position at the docking and charging station 40 within the space 8, so that they are also fixed in their relative position to each other.

[0052] In process step 84, the work device 34 is then transferred from the first mobile platform 36 to the second mobile platform 38 of the mobile robot 32, which is provided in the space 8. For this purpose, the fastening device 48 is first released to allow the work device 34 to be removed from the first mobile platform 36. The robot arm 50 then grasps the wall-side support device 46 in the space 8 with its gripper 52, in order to transfer the work device 34 from the first mobile platform 36 to the second mobile platform 38 by applying force to the support device 46. Once the work device 34 has been transferred to the second mobile platform 38, it is then attached to the second mobile platform 38 using the fastening devices 48 to ensure that the work device 34 is securely held in place.

[0053] The mobile robot 32, now equipped with the second mobile platform 38 and the work device 34 supported by the second mobile platform 38, can then be moved to the passage 22 using the second mobile platform 38, while the first mobile platform 36 is left behind. For this purpose, the second mobile platform 38 is released from its docking and charging station 40 before the second mobile platform 38, controlled by the control unit 54 of the work device 34, moves the mobile robot 32 towards the passage 22. The second mobile platform 38 rests exclusively on the aforementioned second floor section 44 of the floor 30 of the space 8, which is separated from the first floor section 42. The first mobile platform 36, on the other hand, rests exclusively on the first floor section 42 of the floor 30 of the space 8.Therefore, neither of the two mobile platforms 36, 38 crosses the boundary 86 indicated in the figures between the ground sections 42, 44.

[0054] Once the mobile robot 32, formed by the work device 34 and the second mobile platform 38, has reached passage 22, passage 22 to cleanroom 4 is opened. As previously explained, this can advantageously be achieved by the work device 34 actuating the closing device 18. The robot arm 50 can then actuate the manually operated control element 24 within the space 8 to move the movable partition 20 of the closing device 18 from the closed position to the open position, in which passage 22 is open. Subsequently, in process step 88, the mobile robot 32 is moved from the space 8 through passage 22 into cleanroom 4 by means of the second mobile platform 38, leaving the first mobile platform 36 behind.Once the mobile robot 32 has reached the cleanroom 4, the passage 22 is closed again using the closing device 18, which can be done automatically or by actuating the manually operated control element 24 inside the cleanroom 4 by the robot arm 50 of the work device 34.

[0055] Due to the procedure described above, the risk of contamination of cleanroom 4 is significantly reduced. This is because the first mobile platform 36 is left in the intermediate space 8, while the mobile robot 32 is moved into cleanroom 4 using the second mobile platform 38. In particular, this prevents germs or particles that may have accumulated on the first mobile platform 36 during the movement of the mobile robot 32 in space 6 from entering cleanroom 4.This is further supported by the fact that the mobile robot 32 with the first mobile platform 36 within the space 8 only supported itself on the first floor section 42 of the floor 30 of the space 8, while the second mobile platform 38 supported itself exclusively on the second floor section 44 of the floor 30 of the space 8, so that a transfer of the particles or germs carried by the first mobile platform 36 to the second mobile platform 38 is largely excluded.

[0056] Furthermore, to prevent the introduction of particles or germs into the cleanroom 4 by the work device 34 itself, the work device 34 preferably performs an automatic disinfection before the passage 22 is opened and the mobile robot 32 is moved into the cleanroom 4. For example, the robot arm 50 can take the disinfectant from the receptacle 70 and use it to disinfect the accessible surfaces of the work device 34.

[0057] In process step 90, the work device 34 can now perform any work step within the cleanroom 4. These work steps are preferably work steps for so-called cleanroom monitoring, as will be explained below.

[0058] For example, a work step within cleanroom 4 can involve counting airborne particles, as indicated in process step 92. In this case, the air particle counter 62 is controlled by the control unit 54 to count airborne particles within cleanroom 4. The corresponding result can be stored in the memory unit 56, preferably in conjunction with the location and time of the air particle count within cleanroom 4. This latter data is recorded by the acquisition unit 60. As previously explained, in this work step, a portable air particle counter 62 can also be placed at a location within cleanroom 4 before it—operated by the work device 34—performs the air particle count and is subsequently picked up again by the work device 34.

[0059] Alternatively or additionally, airborne germs are collected within the cleanroom 4. As indicated by process step 94, this can be done by controlling the air-intake air germ collector 64 by the control unit 54, whereby in this case too the time and place of the air germ collection are recorded by the detection device 60 and stored in the storage device 56.

[0060] Alternatively or additionally, the work step – as indicated in process step 96 – can include performing a contact plate sampling on a surface within the cleanroom 4 using the work device 34. A contact plate sample can be taken from the magazine 66 by the robot arm 50 before the sample – after being opened – is pressed against a surface of the cleanroom 4 by the robot arm 50. Once complete, the contact plate sample is resealed and returned to the magazine 66. The detection device 60 also records the location and time of the contact plate sampling in order to store the corresponding data in the storage device 56.

[0061] Alternatively or additionally, the work step can include the placement of one or more sedimentation plates by the work device 34, as indicated by process step 98. The robot arm 50 can then remove the sedimentation plates from the magazine 66 and place them within the cleanroom 4. After a predetermined time, the robot arm 50 retrieves the sedimentation plates and returns them to the magazine 66. Here, too, the detection device 60 records the location and time, and optionally the duration, of the placement of each sedimentation plate in order to store this relevant data in the storage device 56.

[0062] All of the aforementioned process steps 92 to 98 are preferably carried out at two or more locations within the cleanroom 4, wherein the movement of the mobile robot 32 within the cleanroom 4 is effected by the second mobile platform 38 in order to reach the respective measurement or sampling locations. This has the advantage that the work device 34 itself needs to be very compact and less space-intensive.

[0063] After completion of the work steps within cleanroom 4, the mobile robot 32 can be moved out of cleanroom 4. First, passage 22 is opened, which can be done by the work device 34 itself, as previously described, by actuating the closing device 18. Subsequently, as indicated by process step 100, the mobile robot 32 is moved through passage 22 from cleanroom 4 into intermediate space 8 using the second mobile platform 38. Passage 22 can be closed automatically or by actuating the work device 34. Within intermediate space 8, the mobile robot 32 is moved to the docking and charging station 40 in such a way that the second mobile platform 38 reaches the predetermined second position, locks into place, and can be charged there if necessary.Subsequently, the fastening device 48 is released due to the control by the control unit 54 in order to separate the working device 34 from the second mobile platform 38.

[0064] After the first and second mobile platforms 36, 38 are fixed in their relative positions to each other via the docking and charging station 40, the work device 34 is transferred from the second mobile platform 38 to the first mobile platform 36. This transfer occurs due to the interaction between the robot arm 50 and the support device 46 in the space 8 (process step 102). Once the work device 34 has reached its target position on the first mobile platform 36, the mobile robot 32, which now again has the first mobile platform 36 and the work device 34 supported by the first mobile platform 36, can be moved by means of the first mobile platform 36 through the passage 14 from the space 8 into the room 6, while the second mobile platform 38 remains in the predetermined second position at the docking and charging station 40 in the space 8 (process step 104).The opening and closing of passage 14 can be carried out analogously to the procedure described above. Furthermore, the work device 34 and the first mobile platform 36 are fastened together via the fastening means 48 before being moved into room 6.

[0065] The data and measurement results recorded by the mobile robot 32 and stored in the storage unit 56 can be transmitted via the communication unit 58 to the previously mentioned laboratory information management system or manufacturing execution system. However, the data and measurement results from the air particle counter 62 and / or the air germ sampler 64 can also be transmitted via the communication unit 58 and stored elsewhere without being stored in the storage unit 56. Furthermore, any contact plate samples and / or sedimentation plates that may be present can be transported by the mobile robot 32 to a laboratory for further investigation.

[0066] The method described above is designed such that the respective movement of the mobile robot 32, the transfer of the work device 34, and the execution of the work step, preferably also the opening and / or closing of the passage 14, 22, and particularly preferably also the fixing of the respective mobile platform 36, 38 and / or the charging of the energy storage device 76 of the respective mobile platform 36, 38 and / or the attachment of the work device 34 to the respective platform 36, 38, are carried out fully automatically or autonomously. For this purpose, the control unit 54 of the mobile robot 32 is specifically configured to carry out the method fully automatically or autonomously. Reference symbol list 2 cleanroom systems 4 cleanroom Room 6 8 spaces 10 first locking device 12 movable partition walls 14th round 16 Control element 18 second locking device 20 movable partition 22nd round 24 Control element 26 Floor (cleanroom) 28 Floor (room) 30 Floor (space) 32 mobile robots 34 Working device 36 first mobile platform 38 second mobile platform 40 docking and charging stations 42 first floor section 44 second floor section 46 Support device 48 Fasteners 50 robot arms 52 grippers 54 Control unit 56 Storage setup 58 Communication device 60 Recording device 62 air particle counters 64 air samplers 66 Magazine 68 Recording room 70 recordings 72 output elements 74 Drive unit 76 Energy storage 78 control signals 80th process step 82nd process step 84th process step 86 border 88th process step 90th process step 92nd process step 94th process step 96th process step 98th process step 100th process step 102 Procedure step 104 Procedure step h minimum height QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2022 120 677 B3

[0002] DE 10 2019 118 A1

[0003]

Claims

Method for performing a work step in a cleanroom (4) comprising the process steps: Moving a mobile robot (32), which has a first mobile platform (36) and a work device (34) carried by the first mobile platform (36), by means of the first mobile platform (36) from a room (6) with lower cleanliness than the cleanroom (4) into an intermediate space (8) between the room (6) and the cleanroom (4); Transferring the work device (34) from the first mobile platform (36) to a second mobile platform (38) of the mobile robot (32) provided in the intermediate space (8); Moving the mobile robot (32), which has the second mobile platform (38) and the work device (34) carried by the second mobile platform (38),by means of the second mobile platform (38) from the intermediate space (8) into the cleanroom (4) leaving behind the first mobile platform (36) and carrying out the work step in the cleanroom (4) by means of the work device (34). Method according to claim 1, comprising the further method steps of moving the mobile robot (32), which has the second mobile platform (38) and the work device (34) carried by the second mobile platform (38), by means of the second mobile platform (38) from the cleanroom (4) to the intermediate space (8), transferring the work device (34) from the second mobile platform (38) to the first mobile platform (36) left in the intermediate space (8) or another first mobile platform provided in the intermediate space (8), moving the mobile robot (32), which has the first mobile platform (36) and the work device (34) carried by the first mobile platform (36), by means of the first mobile platform (36) from the intermediate space (8) to the room (6) while leaving the second mobile platform (38) in the intermediate space (8). A method according to one of the preceding claims, wherein the movement of the mobile robot (32) between the intermediate space (8) and the cleanroom (4) or / and between the room (6) and the intermediate space (8) is carried out through a passage (22; 14) which is opened before movement and closed after movement under, optionally airtight, separation of intermediate space (8) and cleanroom (4) or / and of room (6) and intermediate space (8), wherein the opening and / or closing is preferably carried out by the working device (34), particularly preferably by actuating a closing device (18; 10) associated with the passage (22; 14), optionally a manually operated control element (24; 16) of the closing device (18; 10), by the working device (34). A method according to one of the preceding claims, wherein the mobile robot (32) is supported in the space (8) via the respective mobile platform (36; 38) on a floor (30) of the space (8), wherein the floor (30) of the space (8) preferably transitions continuously into a floor (28) of the room (6) and / or a floor (26) of the cleanroom (4) and / or is arranged substantially in the same plane with a floor (28) of the room (6) and / or a floor (26) of the cleanroom (4), and wherein the mobile robot (32) is supported in the space (8) particularly preferably via the first mobile platform (36) exclusively on a first floor section (42) and via the second mobile platform (38) exclusively on a second floor section (44) of the floor (30) of the space (8) separated from the first floor section (42). Method according to one of the preceding claims, wherein the control of the first and second mobile platform (36, 38) for moving the mobile robot (32) is carried out by a control device (54) of the work device (34), by means of which preferably also the work device (34) is controlled, and / or the transfer of the work device (34) is carried out by the mobile robot (32) itself, preferably by its work device (34), or by a transfer device arranged in the space (8). A method according to one of the preceding claims, wherein an energy storage device (76) of the second mobile platform (38) for supplying energy to a drive unit (74) of the second mobile platform (38) and / or an energy storage device (76) of the first mobile platform (36) for supplying energy to a drive unit (74) of the first mobile platform (36) is charged in the space (8) and / or the first mobile platform (36) is arranged in a predetermined first position and the second mobile platform (38) in a predetermined second position within the space (8) before the working device (34) is transferred, wherein the first and second mobile platforms (36,38) are preferably fixed in their relative position to each other during transfer, and the charging of the energy storage device (76) of the first mobile platform (36) is particularly preferably carried out in the first position and the charging of the energy storage device (76) of the second mobile platform (38) is particularly preferably carried out in the second position, wherein the fixing and / or charging is optionally carried out by means of a docking and / or charging station (40) arranged in the space (8). Method according to one of the preceding claims, wherein the work step in the cleanroom (4) includes counting air particles, preferably by means of an air particle counter (62) of the working device (34), and / or collecting airborne germs, wherein the collection of airborne germs preferably includes collecting by means of an air-aspirating airborne germ sampler (64) of the working device (34), performing a contact plate sampling on a surface within the cleanroom (4) by the working device (34), and / or laying out a sedimentation plate by the working device (34). Method according to one of the preceding claims, wherein the moving of the mobile robot (32), the transfer of the work device (34) and the execution of the work step, preferably also the opening and / or closing of the passage (22; 14), particularly preferably also the fixing of the respective mobile platform (36; 38) and / or the charging of the energy storage device (76) of the respective mobile platform (36; 38), is carried out fully automatically or autonomously. Mobile robot (32) with a work device (34), a first mobile platform (36) and a second mobile platform (38) designed separately from the first mobile platform (36), wherein the work device (34) is configured to be optionally carried and moved by the first or second mobile platform (36; 38), characterized in that the mobile robot (32) is configured to carry out the method according to one of the preceding claims fully automatically or autonomously, wherein the work device (34) preferably includes a robot arm (50) for carrying out the work step, optionally for carrying out a contact plate sampling and / or for laying out a sedimentation plate, and particularly preferably also for transferring the work device (34) between the first and second platform (36, 38) and / or for opening and / or closing the passage (22;14), comprising an air particle counter (62) for counting air particles and / or an air-intake air germ sampler (64).; Cleanroom system (2) comprising a cleanroom (4), a room (6) with lower cleanliness than the cleanroom (4), an intermediate space (8) between the room (6) and the cleanroom (4) and a mobile robot (32) comprising a working device (34), a first mobile platform (36) and a second mobile platform (38) designed separately from the first mobile platform (36), wherein the working device (34) is configured to be optionally operated from the first or second mobile platform (36;38) to be carried and moved, characterized in that the cleanroom system (2) is configured to carry out the method according to one of claims 1 to 9 fully automatically or autonomously, wherein a docking and / or charging station (40) for fixing the first and second mobile platforms (36, 38) in their relative position to each other and / or for charging the energy storage devices (76) of the first and second mobile platforms (36, 38) and / or a transfer device for transferring the working device (34) between the first and second mobile platforms (36, 38) is preferably arranged in the intermediate space (8) and the cleanroom (4) and / or between the room (6) and the intermediate space (8) and a closing device (18; 10) associated with the intermediate space (22; 14) for opening and, optionally, airtightly closing the intermediate space (22; 14) is provided.

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