CONTAINER HANDLING SYSTEM AND HANDLING PROCEDURES

Description

technical field

[0001] The present invention relates to a system for handling containers suitable for containing a medicinal substance and a method for handling containers. Prior art

[0002] Containers designed to hold medicinal substances (such as vaccines) or other biological substances (such as cells) are handled during the introduction of the substance into the container. These operations must be carried out on the containers with great care.

[0003] There is therefore a need for a container handling system that allows for the careful handling of containers. DE 10 2018 126864 A1 discloses a system that includes the features of the preamble of claim 1. Description of the invention

[0004] To this end, the invention proposes a container handling system suitable for containing a medicinal substance, as described in the attached claim 1, comprising a wheel movable in rotation around an axis, container handling clamps, the clamps being articulated to the wheel and being movable between a closed configuration for grasping a container and an open configuration for releasing a container, each pair of clamps comprising ramps suitable for lifting or placing a container when the clamps pass from one configuration to another.

[0005] According to one variant, the ramps are capable of lifting a container between the open and closed configuration of the clamps and are capable of depositing a container between the closed and open configuration of the clamps.

[0006] According to one variant, the clamps in closed configuration immobilize a container in a vertical direction.

[0007] According to one variant, the clamps in closed configuration are able to immobilize the container with a space between the clamps and the container, around the outer lateral surface of the container.

[0008] According to one variant, the ramps of a pair of clamps have a slope facing each other.

[0009] According to the invention, the system further comprises stations, the clamps being capable of placing a container on the stations and lifting a container from the stations.

[0010] According to the invention, the stations comprise a groove in which the ramps of a clamp are able to move between open and closed configurations.

[0011] According to one variant, between the open and closed configuration of the clamps, the ramps are able to penetrate the groove to lift a container from a station.

[0012] According to one variant, between the closed and open configuration of the clamps, the ramps are able to move apart from each other in the groove to deposit a container on a station.

[0013] According to one variant, the wheel is mobile in rotation by increment between different stations.

[0014] According to one variant, the system further includes at each station organs including organs for introducing a container between the clamps, organs for introducing a medicinal substance into the containers, organs for weighing the empty containers and those containing the medicinal substance, organs for closing the containers, organs for affixing a capsule to the containers.

[0015] According to one variant, the clamps are able to move apart from each other between the closed configuration and the open configuration by a dimension greater than the outside diameter of a container.

[0016] According to one variant, the clamps are able to move apart from each other between the closed configuration and the open configuration by a dimension smaller than the outside diameter of a container.

[0017] According to one variant, the clamps have an arm articulated to the wheel on one side, and supporting a jaw and a ramp on the other.

[0018] According to one variant, the ramps are capable of presenting a container gripping area to the jaws in the closed configuration of the clamps.

[0019] According to one variant, the clamps are electrically connected to the system ground.

[0020] According to one variant, the clips are made of a synthetic material capable of conducting electrostatic charges.

[0021] The invention also relates to a method of handling containers suitable for containing a medicinal substance, as described in the attached claim, the method comprising the provision of the system as described above and the provision of containers, the handling of the containers by the system.

[0022] It is also conceivable that the handling of containers by the system includes lifting containers from stations of the system or depositing containers on stations by passing the clamps between closed or open configurations.

[0023] It is also conceivable that, between the open and closed configuration of the clamps, the ramps penetrate a groove in the stations to lift a container from the station.

[0024] It is also conceivable that, between the closed and open configuration of the clamps, the ramps move apart from each other in a groove of the stations to deposit a container on the station.

[0025] The use of the verb "comprendre" (to understand), its variants, and its conjugations in this document does not in any way preclude the presence of elements other than those mentioned. The use of the indefinite article "un" (a / an) or the definite article "le" (the / it) to introduce an element does not preclude the presence of multiple such elements.

[0026] The terms "first", "second", "third", etc., are used in this document exclusively to differentiate different elements, without implying any order between these elements.

[0027] All the preferred embodiments and advantages of the handling system according to the invention are applicable mutatis mutandis to the present method of handling containers, and vice versa. The different embodiments may be considered individually or in combination. Brief description of the figures

[0028] Other features and advantages of the present invention will become apparent upon reading the detailed description that follows, for understanding of which reference should be made to the accompanying figures which show: there figure 1 a schematic view of an example embodiment of a system according to the invention; the figure 2 , a schematic view of a detail of the system according to the figure 1 ; there figure 3 , a schematic view of a detail of the system according to the figure 1 ; there figure 4 , a schematic view of a detail of the system according to the figure 1 .

[0029] The drawings in the figures are not to scale. Similar features are generally denoted by similar reference numerals in the figures. Within the scope of this document, identical or analogous features may bear the same reference numerals. Furthermore, the presence of reference numerals or letters in the drawings shall not be considered limiting, even when such numerals or letters are specified in the claims. Detailed description of embodiments of the invention

[0030] The invention relates to a container handling system for medicinal substances. The system comprises a wheel that rotates around an axis and container handling grippers, the grippers being articulated to the wheel. The grippers move between a closed configuration for gripping a container and an open configuration for releasing a container. Each pair of grippers includes ramps for lifting or lowering a container as the grippers move from one configuration to the other. This allows for gentle gripping or releasing of a container along the ramps, thus enabling careful handling of the containers.

[0031] There figure 1This shows a schematic view of an example embodiment of a system 10 according to the invention. The system 10 allows the manipulation of containers 12 suitable for holding a medicinal substance. A container 12 is suitable for receiving a substance, which may be a medicinal or pharmaceutical substance. The use in this document of the expression "medicinal substance," "pharmaceutical substance," or "substance" covers both any type of drug, whether chemical or biological, or any ingredient intended to be incorporated into the formulation of a drug, as well as any other biological substances requiring low-temperature storage, such as cells, for example. The substance is preferably fluid or liquid. The substance may be intended to be injected into the body of a human or animal patient, for example, with a syringe. The substance may be injected into the patient all at once or continuously.The container is designed to hold a predetermined quantity of medicinal substance. For example, the container may hold a single dose of the substance. The quantity of substance then corresponds to what is intended to be administered to the patient at one time.

[0032] The quantity of substance to be introduced into the containers 12 is defined very precisely. Thus, the system comprising the containers 12 allows them to be handled with precision and therefore care during the processing steps of the containers 12, in particular the steps of introducing the substance into the containers 12 and verifying the quantity introduced. For this purpose, the system 10 includes a wheel 14 that rotates about an axis 16. The wheel 14 rotates within a plane. The wheel 14 drives a plurality of containers 12 through the different steps for introducing the substance. The wheel 14 successively drives the containers to a plurality of stations for processing the containers 12. The wheel can rotate incrementally between different stations, which allows for precise positioning of the containers 12 at each station. As an example, seven stations are shown on the diagram. figure 1A first station can be envisioned where a container 12 is delivered to system 10. A robot, not visible in the figures, can, for example, load a container 12 to be processed into system 10. Then, the container 12 loaded onto system 10 can be conveyed to a second station where it is weighed empty. At a third station, the substance is introduced into container 12 using a filling needle before the container is conveyed to a fourth station where it is closed after the filling needle is removed. Conveyed to a fifth station, container 12 can be weighed with the substance. Then, at a sixth station, a cap can be affixed to container 12 to protect its outer surface from the container's closure.At the end of its rotation, wheel 14 drives container 12 to a seventh station where container 12 can be removed from system 10, for example by a robot. At each increment of the wheel, a plurality of containers 12 (in this case seven containers 12 according to the . figure 1 ) are processed simultaneously at different stations. At each station, various components are provided, including components for inserting a container between the grippers, components for introducing the medicinal substance into the containers, components for weighing the empty containers and those containing the medicinal substance, components for closing the containers, and components for applying a capsule to the containers. Such a system 10 allows for the precise processing of containers 12 while maintaining industrial production rates.

[0033] The system 10 includes grippers 18 for handling containers 12. The grippers 18 are articulated to the wheel 14, allowing them to be actuated according to the angular position of the wheel 14. The grippers 18 are movable between a closed configuration for gripping a container 12 and an open configuration for releasing the container 12. Thus, depending on the angular position of the wheel 14, the containers 12 are either gripped by the grippers 18 or released from the grippers 18. Depending on the station to which either container 12 is driven, and depending on the processing step that the containers 12 undergo at each station, the grippers are in an open or closed configuration. For example, the grippers are in an open configuration at a weighing station and in a closed configuration at a substance introduction or capsule application station. On the figure 1The grippers are shown in a closed configuration in which the 12 containers are grasped by the 18 grippers – for example, to move them between stations. It is possible that some of the grippers are in a closed configuration to grasp the 12 containers and some of the grippers are in an open configuration to release the 12 containers. The grasping or releasing action by the 18 grippers depends on the processing stage of the 12 containers.

[0034] The grippers 18 operate in pairs to grasp the containers 12. Each pair of grippers 18 has ramps 20 adapted to lift or lower a container 12 when the grippers 18 move from one position to another. The ramps 20 allow for smooth movement of the containers 12 between the closed and open positions of the grippers 18.

[0035] THE figures 2 And 3 illustrate schematic views of a detail of system 10 according to the figure 1More specifically, the figures 2 And 3 show a detailed view of the clamps 18 including the ramps 20.

[0036] According to the figure 2The grippers 18 are in a closed configuration for gripping the container 12. The pair of grippers 18 clamp the container 12 in order to grasp it. The grippers 18 immobilize the container 12 so that it can be moved to a subsequent container processing station. The grippers 18 in the closed configuration also allow a container 12 to be immobilized vertically – upwards and / or downwards. This allows the container to be operated without slipping from the grippers 18. For example, in the case of filling previously sealed sterile containers, the container 12 is immobilized vertically to resist the insertion force (from top to bottom) of the filling needle through the container's stopper 22 and the withdrawal force (from bottom to top) of the needle after the substance has been introduced into the container 12 through the needle.Container 12 is also immobilized vertically to resist a downward force applied to the cap 22 to close container 12 after filling, for example, by using a laser in the case of filling previously sealed sterile containers. Container 12 is also immobilized vertically to resist a downward force applied to the cap to affix a capsule 24 to the cap 22. According to the... figure 3 The grippers 18 are in an open configuration for releasing container 12. The grippers 18 are moved away from container 12 to release it. The grippers 18 allow container 12 to be placed on a station 26. For example, this could be a weighing station; releasing the container allows it to be weighed without the weighing being distorted by friction or the electrostatic influence of the grippers 18 – thus making the weighing accurate.

[0037] Between the figure 3 and the figure 2The ramps 20 are capable of lifting container 12 between the open and closed positions of the clamps 18. Container 12 is lifted from station 26 by the ramps 20 during the closing movement of the clamps 18. Container 12 is moved along the ramps, allowing for a smooth movement. Between the figure 2 and the figure 3 The ramps 20 are designed to place container 12 between the closed and open positions of the grippers 18. Container 12 is placed onto station 26 by the ramps 20 during the opening movement of the grippers 18. Container 12 is moved along the ramps, allowing for a smooth movement without bouncing upon contact with station 26 – preventing container 12 from tipping over and inaccurate placement on station 26. The part of container 12 in contact with the ramps 20 is the bottom 123 of container 12.

[0038] The system 10 enables precise localization of the containers 12 at each station 26. When the grippers 18 are in the closed configuration, the position of the containers 12 lifted by the ramps 20 is precisely known in both the horizontal and vertical planes. This allows for precise actions to be performed on the containers grasped by the grippers. For example, when filling previously sealed sterile containers, the insertion of a needle is at a precise location on the stopper 22, which then allows for precise sealing of this location; the application of a cap 24 is also carried out precisely. When the grippers 18 are in the open configuration, the position of the containers 12 deposited by the ramps 20 on a station is precisely known at station 26. In particular, bouncing of the containers 12 upon contact with the stations 26 is prevented, which reduces the stabilization time of the container 12 on the station 26.This allows for precise and rapid actions on the containers released and positioned at the stations. For example, it enables the container to be weighed quickly and accurately before and after the introduction of the medicinal substance, to determine its precise quantity. The containers are then precisely gripped again by the grippers 18 because the containers 12 are in a known location on the station plan 26 – unlike prior art systems where the containers 12 are pushed from one station to another, the momentum imparted to the containers making it impossible to know their precise position. Thus, the system allows for rapid and precise handling of the containers, meeting industrial production rates while delivering accurate results.

[0039] The ramps 20 of a pair of grippers 18 have a slope opposite each other. Thus, when the grippers 18 of a pair close, the ramps move closer together to lift the container 12 from the station 26, and when the grippers 18 of the pair open, the ramps move apart to lower the container 12 onto the station 26. The ramps easily adapt to the height difference between the grippers 18 and the station 26. The ramps 20 allow the container to slide towards the grippers 18 for gripping or release, enabling the containers 12 to be lowered or lifted smoothly – contributing to the advantages mentioned in this description.

[0040] There figure 4 illustrates another detail of system 10 of the figure 1 . There figure 4 is a cross-sectional view perpendicular to the views of the figures 2 And 3 Following the example of the figure 4The stations 26 of the system 10 have a groove 28 in which the ramps 20 of a clamp 18 are able to move between open and closed configurations. The clamps 18 of the figure 4are in a closed configuration, in which container 12 has been lifted from station 26. To ensure the deposit or lifting of a container 12 from station 26, the grippers 18 of a pair are actuated with the ramps 20 moving towards or away from each other in the groove 28. This allows the ramps 20 to be actuated below a surface 30 of the stations 26 onto which the containers 12 are intended to be deposited. The ramps grip the containers 12 by their bottoms as they move along the groove 28. The lowest end of the ramps is in the groove 28, and thus lower than the container depositing surface 30. The highest end of the ramps 20 is above (or in other words, outside) the groove 28, and thus higher than the container depositing surface 30. When passing through the closed configuration of the figure 2 to the open configuration of the figure 3The ramps 20 move apart in the groove 28 to deposit the container onto the surface 30 of a station 26. The container slides down the ramps 20 until it makes contact with the surface 30 and is deposited there, immobilized, without bouncing. Conversely, during the transition from the open configuration of the figure 3 to the closed configuration of the figure 2 The ramps 20 penetrate each other into the groove 28 to lift the container from the surface 30 of a station 26. The container slides up the ramps 20 until it is immobilized between the clamps 18.

[0041] The grippers 18 may include an arm 181 which is articulated on one side to the wheel 14 and on the other side supports a jaw 182 and the ramp 20. The arms 181 are articulated to the wheel 14 by joints 32 visible on the figure 1The arms 181 can be actuated by a cam mechanism (not visible in the figures), allowing the grippers 18 to open or close depending on the angular position of the wheel 14 – and therefore the position of the grippers relative to the stations 26. The jaws 182 of a pair of grippers 18 are designed to come into contact with the containers 12 and thus immobilize them. A pair of jaws 182 grips a container so as to immobilize it in a vertical direction, upwards and downwards. The jaws 182 have a shape that conforms to the outer surface of the containers 12. The jaws have an arched shape that follows the outer diameter of the containers 12. The jaws 182 prevent the containers 12 from tipping over when they are gripped by the grippers. The 182 jaw pairs can grip containers over more than 50% of the container's circumference - in order to ensure stability.Furthermore, the grippers are capable of moving apart from each other between the closed and open positions by a dimension greater than the outer diameter of a container. In other words, the grippers move apart over a distance greater than the diameter of the containers. In the open position, a container 12 can pass between the jaws 182 of the grippers 18. Thus, at stations 26 where containers 12 are loaded onto the system 10, or at stations 26 where containers 12 are removed from the system 10, the containers 12 are moved horizontally between the jaws 182—possibly by a robot. This allows for high productivity rates.

[0042] In another arrangement, the grippers 18 are able to move apart from each other between the closed and open configurations by a distance smaller than the outer diameter of a container. In other words, the grippers move apart over a distance less than the diameter of the containers. In the open position, a container 12 cannot pass between the jaws 182 of the grippers 18, thus preventing the risk of the container 12 tipping over during placement on a station 26 (for all types of containers, but especially for small, unstable ones). Therefore, at stations 26 where containers 12 are loaded onto the system 10, or at stations 26 where containers 12 are removed from the system 10, the containers 12 are moved vertically between the jaws 182 – possibly by a robot.

[0043] Not only does the system 10 allow for the careful handling of containers, particularly when depositing them at a station, lifting them from a station, or during the transition between two stations, but it also ensures that the containers 12 are gripped without causing harmful damage. When the grippers 18 move from the open to the closed position, the containers 12 slide along the ramps 20. Thus, the ramps 20 are designed to present a gripping zone 34 of a container 12 to the jaws 182 in the closed position of the grippers 18, allowing the containers to be gripped by this zone 34. In this way, the jaws 182 grip the containers 12 in a localized manner. This reduces the risk of damage to the rest of the container 12's surface.The gripping zone 34 can be a reinforced area of ​​the containers 12 such that, on the one hand, this zone is kept away from the substance and, on the other hand, its reinforced nature reduces the risk of damage to the container by the action of the grippers. The reinforced nature of zone 34 also allows it to absorb the vertical forces exerted by the grippers 18 on the container 12 at certain points 26, as indicated above, without damaging the outer lateral surface 121 of the container body 12 (between the neck 122 and the bottom 123 of the container). The gripping zone 34 is, for example, a raised edge located at the neck 122 of the container 12. The grippers 18 – via the jaws 182 – do not touch the containers 12 along the remaining length of their height, according to the outer lateral surface 121 of the container body 12.The presence of zone 34 under the neck of container 12 also reduces the risk of container 12 tipping over during handling operations by system 10. In order to grasp zone 34 in the form of a ridge, the clamps 18, and in particular jaws 182, can be provided with a groove 36 of a shape suitable for grasping the ridge.

[0044] Furthermore, each of the grippers 18 comprises a half-shell 183 partially surrounding the container 12 in the closed configuration of the grippers 18, but without touching the container 12, so as not to risk damaging the outer surface 121 of the container body 12. The half-shells 183 extend between the ramps 20 and the jaws 182. In the closed configuration of the grippers, a space (visible on the figure 2The clamps are positioned between the half-shells 183 and the outer lateral surface 121 of the container body 12 to prevent damage. In their closed configuration, the clamps are designed to immobilize the container with a gap between the clamps and the container, around the outer lateral surface 121 (between the neck 122 and the bottom 123 of the container) of the container body. In their closed configuration, the clamps 18 immobilize a container without contacting the outer lateral surface of the container body. Thus, the clamps 18 are in contact with the container 12 at most at the level of the ridge 34 in the neck 122 of the container and the bottom 123 of the container.

[0045] Preferably, the grippers 18 are electrically connected to the ground of the system 10. This ensures electrical continuity between the grippers 18 in contact with the containers and the ground of the system 10. This eliminates electrostatic charges that could appear between the grippers 18 and the containers 12. This prevents any distortion in the weighing operation of the containers 12 (before or after the substance is introduced). Indeed, to ensure accurate weighing, the container 12 is preferably completely free and without electrostatic interaction with the environment—for example, the grippers 18. This also prevents the containers 12 from remaining stuck to one of the grippers when the grippers open to release the containers onto a station (which could cause the containers to tip over or move on a station).Also, to reduce the risk of electrostatic interference between the grippers and the containers when switching to an open configuration, the grippers of the same pair are spaced sufficiently apart. System 10 reduces the risk of electrostatic charge buildup, unlike prior art systems in which containers are pushed from one station to another, with friction between the containers and the support creating electrostatic charges.

[0046] Also, in order to reduce the risk of electrostatic interference, weighing stations can usefully be subjected to the action of a deionizer in order to neutralize electrostatic charges that may have accumulated on the container.

[0047] The grippers 18, and in particular the jaws 182 and the ramps 20, are made of a synthetic material capable of conducting electrostatic charges. This prevents the accumulation of these electrostatic charges between the grippers 18 and the container 12. Furthermore, the material of the grippers 18, and in particular the jaws 182 and the ramps 20, is also chosen to prevent damage to the containers 12 during handling. In particular, the material prevents scratching the container. The material of the grippers 18, and in particular the jaws 182, is, for example, Polyetheretherketone (PEEK) or Polyoxymethylene (POM).

[0048] The invention also relates to a method for handling containers 12 suitable for containing the medicinal substance. The method comprises providing the system 10 and the containers 12. The method then comprises the handling of the containers 12 by the system 10. The handling of the containers includes lifting the containers 12 from the stations 26 of the system or depositing the containers 12 onto the stations 26 by means of the grippers 18 moving between closed and open configurations. This allows for precise handling of the containers 12, avoiding the occurrence of harmful electrostatic forces during the handling of the containers at the various stations 26 and preventing momentum in the movement of the containers, which exists in systems where the containers are pushed from one station to another.During container handling in the handling process, between the open and closed configurations of the grippers 18, the ramps enter the groove 28 of the stations 26 to lift a container from station 26. This allows for the careful handling of the containers, their precise positioning, and their holding at a specific height between the grippers, while counteracting the upward and downward vertical forces generated by the processes implemented at the various stations. Also, during container handling in the handling process, between the closed and open configurations of the grippers 18, the ramps move apart within the groove 28 of the stations 26 to deposit a container onto station 26. This again allows for the careful handling of the containers and their precise positioning on the stations.In general, the process also avoids damaging the outer surface of the bottle bodies.

Claims

1. A system (10) for handling containers (12) suitable for containing a medicinal substance, comprising - a wheel (14) movable in rotation about an axis, - container handling clamps (18), the clamps (18) being hinged to the wheel and being movable between a closed configuration for gripping a container and an open configuration for releasing a container, each pair of clamps (18) comprising ramps (20) suitable for lifting or depositing a container as the clamps move from one configuration to another, - stations (26), the clamps (18) being suitable for depositing a container on the stations and for lifting a container from the stations; characterised in that the stations comprise a groove (28) in which the ramps of a clamp (18) are suitable for moving between the open and closed configurations.

2. The system (10) according to the preceding claim, wherein the ramps (10) are suitable for lifting a container (12) between the open configuration and the closed configuration of the clamps (18) and are suitable for depositing a container between the closed configuration and the open configuration of the clamps (18).

3. The system (10) according to one of the preceding claims, wherein the clamps (18) in the closed configuration immobilise a container in a vertical direction.

4. The system (10) according to any of the preceding claims, wherein the clamps (18) in the closed configuration are suitable for immobilising the container with a space between the clamps and the container, around the outer lateral surface of the container.

5. The system (10) according to one of the preceding claims, wherein the ramps (20) of a pair of clamps (18) have a slope facing each other.

6. The system (10) according to one of the preceding claims, wherein between the open configuration and the closed configuration of the clamps (18), the ramps are suitable for penetrating the groove to lift a container from a station (26).

7. The system (10) according to one of the three preceding claims, wherein, between the closed configuration and the open configuration of the clamps (18), the ramps are suitable for moving away from each other in the groove to deposit a container on a station (26).

8. The system (10) according to one of the preceding claims, wherein the wheel (14) is movable in rotation incrementally between different stations (26).

9. The system (10) according to one of the preceding claims, further comprising, at each station (26), members amongst members for introducing a container between the clamps, members for introducing a medicinal substance into the containers, members for weighing the empty containers and containing the medicinal substance, members for closing the containers, and members for affixing a capsule to the containers.

10. The system (10) according to one of the preceding claims, wherein the clamps (18) are suitable for moving away from each other between the closed configuration and the open configuration by a dimension greater than the outer diameter of a container or by a dimension less than the outer diameter of a container.

11. The system (10) according to one of the preceding claims, wherein the clamps (18) comprise an arm (181) hinged to the wheel (14) on the one hand, and supporting a jaw (182) and a ramp (20) on the other hand.

12. The system (10) according to the preceding claim, wherein the ramps are suitable for presenting a gripping area (34) of a container to the jaws (182) in the closed configuration of the clamps.

13. The system (10) according to one of the preceding claims, wherein the clamps (18) are electrically connected to the earth of the system.

14. The system (10) according to one of the preceding claims, wherein the clamps (18) are made of a synthetic material suitable for conducting the electrostatic charges.

15. A method for handling containers suitable for containing a medicinal substance, the method comprising - providing the system (10) according to one of the preceding claims and providing containers (12), - handling of the containers (12) by the system (10).