Apparatus for manipulating bags which enclose containers

Abstract

In the case of an apparatus for manipulating bags (7) which each accommodate a container (6), it is proposed that the bags (7) should be transported on movable bag carriers (15), wherein the bags (7) are fastened by means of clamping bodies (21) and / or the bag carriers (15) can be displaced by means of a magnetically coupled-on drive unit (46) and / or orientation of the containers (6) in the hanging bag (7) can be checked by means of a testing device (31).

Description

[0001] Device for manipulating bags containing containers

[0002] The invention relates to a device for manipulating bags containing containers, with at least one bag carrier to which a bag can be suspended, wherein the bag carrier has at least one fastening point, in particular at least two fastening points spaced apart from one another.

[0003] Such devices are known in practice and are used, for example, to remove and prepare containers from a sterile packaged container arranged in a bin for transferring medication. For this purpose, the containers (tub) are taken from a bag and opened so that the containers (nest) with the containers (e.g. vial) can then be removed. Particularly in the area of ​​medication processing, but also in the processing of cosmetic products, the greatest possible process reliability is desirable, in particular protection of the processed products and / or the environment from contamination. It has been found that direct human involvement in these processes represents a major source of error and a major risk of contamination.

[0004] The invention is therefore based on the object of automating the process of unpacking containers containing bundles from bags as far as possible.

[0005] To achieve the stated object, the features of claim 1 are provided according to the invention. In particular, to achieve the stated object, in a device for manipulating bags containing containers of the type described at the outset, it is proposed according to the invention that the at least one fastening point has a clamping body. In this way, the bags can be securely held on the bag carrier. Additional actuation of a fastener on the bag carrier is unnecessary, so that the bag can be hung on with two hands. This enables one edge of the bag to be smoothed out, so that handling errors due to creased or kinked bags can be avoided during subsequent automated processing.

[0006] It is particularly advantageous if at least two fastening points are provided, each of which has a clamping element. This ensures that the flexible bag remains wrinkle- and / or crease-free and remains firmly positioned.

[0007] The clamping body can be arranged to move freely in a clamping body holder. Return elements that could jam or fatigue are unnecessary if the clamping body holder is designed so that the clamping body can be guided but fall freely.

[0008] The clamping body is preferably designed as a rolling element. This allows for low-friction movement in the clamping body receptacle. This can help prevent the clamping body from jamming.

[0009] It is particularly advantageous if the clamping element is spherical. This allows for point-like or locally limited contact with the bag, which further prevents the bag from jamming or creasing on the bag carrier during insertion.

[0010] In an advantageous embodiment, it can be provided that the at least one clamping body runs between two clamping surfaces. Thus, the clamping body can be easily guided in a clamping body receptacle, for example, by allowing the clamping body to be guided through the clamping surfaces on both sides.

[0011] In an advantageous embodiment it can be provided that the at least one clamping body is at least partially round and / or curved in at least one cross-section. This has proven to be advantageous for error-free insertion of the bag under the clamping body. It is particularly advantageous if the clamping body has at least one round cross-section. This enables it to roll on a clamping surface. A self-locking holder can therefore be easily formed. For example the clamping body can be cylindrical. Alternatively the clamping body can also be barrel-shaped. The clamping body can also have two mutually perpendicular round cross-sections, in particular two congruent ones, in order to form a sphere, for example.

[0012] In particular, it can be provided that the at least one clamping body defines a point-shaped support—for example, in the case of a spherical shape—or a linear support—for example, in the case of a cylindrical shape. Thus, the flexible bag can be inserted particularly easily for clamping.

[0013] In an advantageous embodiment, a first clamping surface of the two clamping surfaces of the at least one clamping body can be longer toward the free end than a second clamping surface of the two clamping surfaces. Thus, a support for the bags can be provided.

[0014] In particular, it can be provided that the first clamping surface projects beyond the second clamping surface, preferably downwards. Thus, it can be provided that the second clamping surface or its extension guides an insertion movement of the bag under the at least one clamping body.

[0015] In an advantageous embodiment, it can be provided that the clamping bodies of the fastening points are preferably coupled via a mechanical coupling, in particular a rod or a cable. Thus, the clamping connection to the bag can be easily released with one hand, for example, to correct an incorrect orientation of the bags or to remove (e.g., cut-off) bag remnants.

[0016] Alternatively or additionally, to achieve the stated object, the features of the first independent claim directed to a device for manipulating bags containing containers are provided according to the invention. In particular, to achieve the stated object, in a device for manipulating bags containing containers of the type described at the outset, it is proposed according to the invention that a testing device is designed with which a characteristic size of a container contained in a bag preferably hanging from the bag carrier can be tested. This makes it easy to automatically check whether a bag has been hung in the correct or incorrect orientation, which is advantageous for the subsequent automated process steps.

[0017] For example, the characteristic size can be a largest dimension in one dimension and / or a dimension at a predetermined position on the container. The invention takes advantage of the fact that a top side of the container is different in shape from a bottom side of the container, so that the top side and bottom side can be distinguished from one another through the bag.

[0018] Alternatively or additionally, the characteristic quantity can be a position of the bag in space.

[0019] In an advantageous embodiment, the testing device can be configured for contactless testing of the characteristic quantity. This has the advantage of preventing damage to the bag.

[0020] In particular, the testing device can be provided with a radiographic device. This allows for non-contact testing from a distance.

[0021] For example, the radiography device can be provided with a radar transmitter and / or a light source. Thus, directed radiography, in particular transillumination, can be carried out. This enables spatially resolved radiography of the bag and thus detection of the characteristic quantity.

[0022] The radiography device can, for example, be active, generating its own signals (light, electromagnetic waves, (ultra-)sound, etc.). The radiography device can also be passive, utilizing environmental influences. The radiography device can, for example, capture and focus ambient light.

[0023] Instead of or in addition to the radiography device, incident light on the bag can also be used as a signal from the environment.

[0024] If bags are used that are at least partially transparent, X-rays are not necessary.

[0025] In this case, or alternatively, the testing device may also be provided with a detection device for detecting signals from the radiography device or from signals from the surrounding area. Thus, any influence on the signals from the hanging bag and its container inside the bag can be detected through the closed bag. An example of signals from the surrounding area is reflected incident light.

[0026] For example, the detection device may have a camera (for detecting light) and / or a detector (for detecting (other) radiation). Thus, image processing methods can be used to detect incorrect orientation.

[0027] In an advantageous embodiment, a unit trained with machine learning can be configured to detect correctly oriented and / or incorrectly oriented bags. This makes it easy to implement a criterion that automatically detects whether the bag is correctly oriented.

[0028] In an advantageous embodiment, it can be provided that a feature recognition device is set up to recognize correctly oriented and / or incorrectly oriented bags.

[0029] It is particularly advantageous if the feature recognition device has an edge detector. This allows edges to be identified in an image of the x-rayed bag that indicate the orientation of the container within the bag.

[0030] For example, it can be provided that spatial distances between features, especially edges, are comparable to a specified value. Thus, the dimensions of the container can be captured and used to evaluate the orientation of the container in the bag.

[0031] In particular, it can be provided that a characteristic quantity is determined based on a distance measurement to the bag. Thus, a captured image of the bag and a shadow of the container in the bag can be scaled, for example, to measure a dimension of a contour of the container adjacent to the bag as a characteristic quantity.

[0032] In an advantageous embodiment, at least one scanner can be provided. This provides an alternative method. Thus, an alternative can be provided that does not require transillumination and / or illumination. This can be advantageous, for example, if the bag is opaque and / or difficult or impossible to transilluminate and / or if the bag contains light-sensitive substances. The scanner can, for example, be based on a capacitive operating principle.

[0033] In an advantageous embodiment, the testing device can be configured for a contact-based dimension test. Thus, the shape or dimension of the container can be felt through the bag without having to open the bag.

[0034] In particular, the testing device may comprise a pair of clamps with at least two jaws that can be moved relative to one another. Thus, a dimension of the container at a specific location on the bag can be directly measured as a characteristic value.

[0035] In an advantageous embodiment, the testing device can be provided with a measuring device for detecting the relative position of the jaws to one another. Thus, a dimension based on the jaws being moved together can be directly detected and evaluated. It is therefore easy to distinguish whether the jaws are gripping the container by a rim on the top or by a smaller base. This makes it possible to determine the orientation in which the bag with the container is hanging.

[0036] In an advantageous embodiment, the testing device can be provided with a bag holder, with which the bag, preferably hanging from the bag carrier, can be positioned. Thus, a measurement can be carried out at a defined position relative to a boundary of the container.

[0037] Alternatively or additionally, to achieve the stated object, the features of the second independent claim directed to a device for manipulating bags containing containers are provided according to the invention. In particular, to achieve the stated object, in a device for manipulating bags containing containers of the type described above, the invention proposes that the bag carriers be magnetically coupled to a drive unit. Thus, the drive can be encapsulated, and contamination of a space in which the bags are arranged by the drive of the bag carriers can be avoided.

[0038] Alternatively or additionally, the features of the third independent claim directed to a device for manipulating bags containing containers are provided according to the invention to achieve the stated object. In particular, to achieve the stated object, in a device for manipulating bags containing containers of the type described above, the invention proposes that the bag carriers be arranged so they can be moved independently of one another. This eliminates the need for synchronized bag transport. Bag carriers that are currently waiting can thus be parked closer together.

[0039] In an advantageous embodiment, the drive unit can be provided with at least one movable magnet. This allows for a magnetic coupling of the bag carriers.

[0040] It is advantageous if the bag carriers each have a magnet, in particular a permanent magnet, in order to establish the coupling.

[0041] The magnet can be designed as a permanent magnet, for example. This eliminates the need for an additional power supply. Coupling and uncoupling can be achieved, for example, by moving the permanent magnet toward or away from the bag carrier.

[0042] In an advantageous embodiment, it can be provided that the at least one permanent magnet of the drive unit can be transferred between a coupling position in which a magnetic coupling to a bag carrier is established and a change position in which the coupling is canceled.

[0043] The magnet can be designed as an electromagnet, for example. Thus, coupling can be easily achieved by applying current.

[0044] Alternatively or additionally, it can be provided that the magnet can be deactivated, for example in the case of an electromagnet by interrupting a current supply or in the case of a permanent magnet by connecting an additional electromagnetic field which compensates for a magnetic field of the permanent magnet at least at its effective point of coupling.

[0045] Alternatively or additionally, the features of the fourth subordinate claim directed to a device for unpacking containers from bags are provided according to the invention to achieve the stated object. In particular, to achieve the stated object, in a device for unpacking containers from bags of the type described above, the invention proposes that the bag carriers be movable along a branched guide system. Thus, a space-saving and flexible arrangement can be realized.

[0046] In an advantageous embodiment, the guide system can comprise at least one closed, circumferential path. This allows the bag carriers to be returned after use without collisions or obstructions.

[0047] Alternatively or additionally, to achieve the stated object, the features of the first independent claim directed to a device for unpacking containers from bags are provided according to the invention. In particular, to achieve the stated object, in the case of a device for unpacking containers from bags of the type described at the outset, it is proposed according to the invention that a guide system for the bag carriers, for example the one already described, has at least two sections arranged one above the other. This means that the required floor space for installation can be reduced. This is particularly advantageous when used in protected spaces, for example clean rooms. It can be provided that the guide system defines at least one path which lies in a vertical plane. This makes it possible to change between the sections for the bag carriers.

[0048] In an advantageous embodiment, at least one branch can be provided with a lift. This allows for easy access to several sections located one above the other. This also describes a simple way of overcoming a height difference between the sections.

[0049] In an advantageous embodiment, the drive unit can bridge a separation point between a stationary section of the guide system and a section of the guide system arranged on the lift. Thus, retraction and extension of the lift can be carried out with an encapsulated drive unit.

[0050] In an advantageous embodiment, the lift can be moved to a testing device, for example, the one already mentioned. Thus, a testing step, for example, to check the orientation of the bag's hanging position with the container, can be carried out.

[0051] Alternatively, the inspection device can be arranged at an access opening, for example, the one already mentioned. This allows for a check for incorrectly suspended bags directly in the access opening. This can help reduce cycle times.

[0052] In an advantageous embodiment, it can be provided that the bags can be fed to a bag-opening device. This allows the bags to be unpacked.

[0053] A preferred application of the invention provides that an apparatus according to the invention for manipulating bags containing containers, in particular as described above or according to one of the claims directed to an apparatus for unpacking containers from bags, is used in an unpacking system, wherein the apparatus for unpacking containers from bags is arranged within a protected space. A protected space can be characterized, for example, in that ambient conditions in the space can be predetermined and / or controlled. Alternatively or additionally, a protected space can also be characterized, for example, in that a material exchange, in particular of fluids such as gases or volatile substances, between the space and an environment can be controlled.

[0054] The invention will now be described in more detail with reference to exemplary embodiments, but is not limited to the exemplary embodiments. Further exemplary embodiments result from combining the features of individual or multiple claims with one another and / or with individual or multiple features of the exemplary embodiments.

[0055] It shows :

[0056] Fig. 1 shows an unpacking system in a three-dimensional oblique view,

[0057] Fig. 2 is a further three-dimensional oblique view of the unpacking system from Fig. 1 from a different angle,

[0058] Fig. 3 is a three-dimensional oblique view of components of a device according to the invention for manipulating bags containing containers of the unpacking system from Figs. 1 and 2, Fig. 4 is a bag carrier with a suspended bag of the device from Fig. 3,

[0059] Fig. 5 is a side view of the bag carrier from Fig. 4,

[0060] Fig. 6 is a sectional view along the plane AA of Fig. 5,

[0061] Fig. 7 is a three-dimensional oblique view of the mechanical coupling of the clamping bodies of the bag carrier from Fig. 4,

[0062] Fig. 8 Views from above (left), from the side (middle) and from below (right) of a container,

[0063] Fig. 9 shows the container from Fig. 8 in a bag on the bag carrier according to Fig. 4 in a partially cut-away side view,

[0064] Fig. 10 is a three-dimensional oblique view of components of another device for manipulating bags containing containers,

[0065] Fig. 11 a detail from Fig. 10 with a testing device,

[0066] Fig. 12 is a schematic representation in a partially cut-away side view to explain a contactless test,

[0067] Fig. 13 is a further schematic representation in a partially cut-away side view analogous to Fig. 12 to explain the contactless test,

[0068] Fig. 14 is a further schematic representation of a recording of Fig. 12 and 13 in a frontal view to explain the contactless test according to Fig. 12,

[0069] Fig. 15 is a schematic representation in a partially cut-away side view to explain another variant of a contactless test,

[0070] Fig. 16 a three-dimensional oblique view of a test clamp,

[0071] Fig. 17 is a schematic diagram with two partially sectioned side views to explain a variant of a contact test,

[0072] Fig. 18 is another three-dimensional oblique view of the components of Fig. 10 with the light curtain switched on,

[0073] Fig. 19 is a view of the rear side of the components of Fig. 18,

[0074] Fig. 20 shows a section of the components from Fig. 18,

[0075] Fig. 21 is a top view of the sectional view according to Fig. 20 and

[0076] Fig. 22 is a schematic representation of the guide system of the device for manipulating bags containing containers according to Fig. 10.

[0077] Fig. 1 and 2 show an unpacking system, designated as a whole by 1, from different angles.

[0078] The unpacking system 1 is part of a protected room 2, for example, a clean room and / or an installation room. Outside of a restricted-access room 58 (separated, for example, by a light grid 17 shown in Figs. 11 and 18), persons 3 may be present for operation; within the restricted-access room 58, the presence of persons during operation is not intended.

[0079] In further embodiments, the protected space 2 may be identical to the access-restricted space 58 or be contained therein.

[0080] The unpacking system 1 has a bag opening device 4, which is preceded by a device 5 for manipulating bags 7 containing containers 6.

[0081] Fig. 9 shows a partially cutaway schematic diagram of a bag 7 containing a container 6.

[0082] The container 6 is shown in Fig. 8 in different views. The container 6 can contain, in a manner known per se, a set of containers (not shown in detail) for filling, for example under a sterile cover 8.

[0083] The containers 6 (also referred to as tubs) each have a bottom 9 and a top 10. The cover 8 is arranged on the top 10 and can be removed to expose the container.

[0084] The upper side 10 has a rim 11 to which the cover 8 is attached and which projects laterally over the base 12 on the underside 9.

[0085] The container 6 is completely accommodated in an interior 13 of the bag 7. The bag 7 can consist of a material that is gas-permeable at least in some regions, for example to allow chemical sterilization of the container 6 in the interior 13 of the bag 7, but which is overall impermeable to microorganisms and germs in order to maintain the sterility in the interior 13 of the bag 7 after sterilization.

[0086] Since the outside of the bags 7 may be contaminated, care must be taken when unpacking the containers to avoid contaminating the containers.

[0087] The task of the bag-opening device 4 is to cut open the bags 7 mechanically without human intervention and to convey the containers 6 from the cut bags 7 and to supply them to an isolator 14 or a controlled space upstream of the isolator. In the isolator 14, the cover 8 is removed so that the containers can be removed. Decontamination can take place between the controlled space and the isolator 14.

[0088] The task of the device 5 is to receive the bags 7 from a person 3 and then to prepare and store them for the bag opening device 4.

[0089] For this purpose, the device 5 has a plurality of bag carriers 15, on each of which a bag 7 can be suspended. The bag carriers 15 are loaded through a secured access opening 16.

[0090] The access opening 16 separates the protected space 2 from the surroundings. It can be secured, for example, by a light grid 17 (see Figs. 11 and 18).

[0091] Each bag carrier 15 has a base 18 on which a support arm 19 is formed. Each support arm 19 provides two fastening points 20 at which a suspended bag 7 is held.

[0092] For this purpose, a clamping body 21 is formed at each fastening point 20, which clamps the bag 7 at its edge 22. The clamping bodies 21 are each movably arranged in a clamping body receptacle 23. In an upper position, a space is left between the clamping body receptacle 23, into which the edge 22 of the bag 7 can be inserted. In a lower position, this space is closed, and the bag 7 is clamped firmly.

[0093] The fastening points 20 are spaced apart from one another so that the bag 7 can be gripped with both hands and hooked into the fastening points 20 in such a way that the edge 22 is smooth and the bag 7 is held in a defined position in the bag carrier 15.

[0094] The clamping elements 21 are designed as rolling elements 24 with a round cross-section 25 and can roll on clamping surfaces 26. The clamping surfaces 26 grip the clamping elements 21 on both sides and narrow downwards to achieve the clamping effect. This creates a self-locking effect, preventing the bags 7 from slipping out.

[0095] In the example, the clamping bodies 21 are spherical and establish a point-like contact with the bag 7. In further examples, the clamping bodies 21 are cylindrical and establish a linear contact with the bag 7.

[0096] In Fig. 6, it can also be seen that one clamping surface 26 is extended towards its free end 27 in order to project downwards over the other clamping surface 26. This forms a support 28 against which the bags 7 can be placed with their edge 22 in order to slide them under the clamping bodies 21 in a guided pushing movement from bottom to top.

[0097] The clamping bodies 21 of a bag carrier 15 are connected to one another by a mechanical coupling 29, in this case a bent rod 30. This allows the clamping bodies 21 to be lifted simultaneously with one hand in order to remove the bag 7 or the edge 22.

[0098] Fig. 10 shows a further device 5 for manipulating bags 7 containing containers 6, such as can be part of the unpacking system 1. Components and functional units that are functionally and / or structurally similar or identical to Figs. 1 to 9 are designated by the same functional symbols and are not described separately again. The statements relating to Figs. 1 to 9 therefore apply accordingly to Fig. 10.

[0099] Fig. 10 shows a testing device 31 on the device 5, into which the bag carriers 15 with the bag 7 suspended can be immersed in order to check whether the bag 7 with the container 6 hangs in the desired orientation.

[0100] Fig. 11 shows a detailed view of the test device 31.

[0101] The testing device 31 is designed for contactless testing.

[0102] For this purpose, the testing device 31 has a radiography device 32 with a light source 33 and a detection device 34 in the form of a camera 35.

[0103] The light source 33 thus illuminates the bag 7, and the detection device 34 takes a spatially resolved image 36 of the bag 7, which is shown as an example in Fig. 14. Fig. 12 and Fig. 13 show the mode of operation in a schematic diagram.

[0104] The planar light source 33, whose lateral extension transverse to the radiation direction is larger than the container 6, irradiates the bag 7. The container 6 casts a shadow 37 (characterized by the dimensions A and B).

[0105] Depending on whether the upper side 10 is closer to the light source 33 (Fig. 13) or further away from it (Fig. 12), the shadow 37 is larger or smaller.

[0106] The detection device 34 receives a receptacle 36 from the bag 7, which is shown by way of example in Fig. 14.

[0107] The contour 38 of the top side 10 or the bottom side 9 is clearly visible on the bag 7 due to the shadow.

[0108] In an image processing device (not shown in detail), a unit trained with machine learning for detecting correctly oriented and / or misoriented bags can be implemented. Alternatively or additionally, a feature recognition device and / or an edge detector can be implemented in the image processing device to determine distances A, B between opposing edges 39 as a characteristic value.

[0109] With a distance measurement 40, an absolute value of the distances A (Fig. 12), B (Fig. 13) can be obtained, or a defined distance of the bag 7 to the detection device 34 is set - for example by placing a bag thereon.

[0110] If the distance A, B is below a threshold value, the situation according to Fig. 13 is detected, otherwise the situation according to Fig. 12. Thus, a correct orientation of the containers 6 on the bag carrier 15 can be distinguished from an incorrect orientation.

[0111] Fig. 15 shows another possibility of contactless testing.

[0112] The testing device 31 comprises an array of capacitive sensors 41. The sensors 41 detect spatial proximity to the container 6.

[0113] Depending on the orientation (right image, left image) of the container 6 in the bag 7, more or fewer scanners 41 detect the container 6, so that the two orientations can be distinguished.

[0114] Fig. 16 shows a test clamp 42 of a contacting test device 31, which can be used alternatively or in addition to the test devices 31 already described.

[0115] The testing clamp 42 has two jaws 43 which can be moved relative to one another and which can grip the container 6 in the bag 7.

[0116] Depending on the orientation of the container 6 in the bag 7, the jaws 43 grip the container 6 at its top 10 or bottom 9. A measuring device 44 detects the relative position of the jaws 43 to one another, so that the right and left situations can be distinguished in Fig. 17. To improve accuracy and reproducibility, the testing device 31 has a bag holder (not shown in detail) in order to be able to grip the container 6 at a defined position.

[0117] In Figs. 18 to 20, it can be seen that the bag carriers 15 run on horizontal rails 45. The bag carriers 15 can be moved independently of one another and are not coupled to one another.

[0118] An encapsulated drive unit 46 drives a movement of the bag carriers 15.

[0119] For this purpose, the drive unit 46 has a movable magnet 47 for each rail 45. The magnets 47 are each attached to a rotating belt 48, which can be driven by a motor 49 in order to move the magnet 47.

[0120] The magnets 47 can be magnetically coupled to magnets 50 in the feet 18 of the bag carriers 15 in order to selectively move the bag carriers 15.

[0121] The magnets 47 and 50 are designed as permanent magnets, and the magnets 47 can be folded back to release the bag carrier 15.

[0122] The rails 45 each form a horizontal section 51 of a guide system 52, see Fig. 22.

[0123] These horizontal sections 51 are arranged vertically one above the other in a vertical plane and are connected to one another by vertical sections 53. Thus, closed, circumferential paths 54 are formed along which the bag carriers 15 can rotate.

[0124] Thus, bags 7 can be suspended from bag carriers 15 at the access opening 16, which are then moved to the bag opening device 4. There, the bags 7 are cut open, leaving the edge 22 on the bag carrier 15. The bag carriers 15 with the cut-off edges 22 then move back to the access opening 16, where the cut-off edge 22 can be removed and a new bag 7 can be suspended.

[0125] Here, branches 55 are formed so that the bag carriers 15 with and without bags 7 can be parked or tested in the testing device 31 without disturbing the material flow.

[0126] Lifts 56 (cf. Figs. 11, 18, 19) provide the vertical sections 53. Thus, the height differences between the individual sections 51 can be overcome.

[0127] In this case, separating points 57 are formed between the lifts 56 and the rails 45, which are bridged by the drive unit 46 in order to push the bag carriers 15 onto the lifts 56 or to remove them from them.

[0128] The lifts 56 provide the branches 55 of the guide system 52 in that the bag carriers 15 can be moved away from the lifts 56 at the branches and onto them.

[0129] In a device for manipulating bags 7, each of which holds a container 6, it is thus provided according to the invention that the bags 7 are transported on movable bag carriers 15, wherein the bags 7 are fastened by means of clamping bodies 21 and / or the bag carriers 15 are movable by means of a magnetically coupled drive unit 46 and / or an orientation of the containers 6 in the hanging bag 7 can be checked with a checking device 31.

[0130] / List of reference symbols List of reference symbols Unpacking system protected space person bag opening device device container bag cover bottom top side rim base inside of 7 insulator bag carrier access opening light grid base support arm fastening point clamping body edge of the bag clamping body holder rolling element cross section clamping surfaces free end support mechanical coupling rod testing device x-ray device light source 34 detection device

[0131] 35 Camera

[0132] 36 recording

[0133] 37 shadows

[0134] 38 Contour

[0135] 39 edge

[0136] 40 Distance measurement to the bag

[0137] 41 scanners

[0138] 42 Test pliers

[0139] 43 cheeks

[0140] 44 measuring instruments

[0141] 45 rail

[0142] 46 Drive unit

[0143] 47 Magnet

[0144] 48 volumes

[0145] 49 Engine

[0146] 50 magnets

[0147] 51 (horizontal) section

[0148] 52 guidance system

[0149] 53 (vertical) section

[0150] 54 Way

[0151] 55 Branching

[0152] 56 Li ft

[0153] 57 Separation point

[0154] 58 restricted access room

[0155] A Dimension

[0156] B Dimension

[0157] / Claims

Claims

Claims: Device (5) for manipulating bags (7) containing containers (6), comprising at least one bag support (15) to which a bag (7) can be suspended, wherein the bag support (15) has at least one attachment point (20), in particular two attachment points (20) spaced apart from one another, characterized in that the at least one attachment point (20), in particular each attachment point (20), has a clamping element (21), preferably designed as a rolling element (24), in particular spherical. Device (5) according to one of the preceding claims, characterized in that the at least one clamping element (21) runs between two clamping surfaces (26) and / or that the at least one clamping element (21) is at least partially round and / or curved in at least one cross-section (25).Device (5) according to one of the preceding claims, characterized in that the at least one clamping element (21) is self-locking and / or that the at least one clamping element (21) defines a point or line-shaped contact surface. Device (5) according to one of the preceding claims, characterized in that a first clamping surface (26) of the two clamping surfaces (26) of the at least one clamping element (21) is longer towards the free end (27) than a second clamping surface (26) of the two clamping surfaces (26), in particular projecting downwards beyond the second clamping surface (26). Device (5) according to one of the preceding claims. characterized in that the clamping elements (21) of the fastening points (20) are preferably coupled via a mechanical coupling (29), in particular a rod (30) or a cable. Device (5) according to the preamble of claim 1 or according to one of the preceding claims, characterized in that a test device (31) is designed with which a characteristic quantity, in particular a dimension (A, B) that is largest in one dimension and / or a dimension (A, B) at a predetermined position on the container, is measured. (6) and / or a position of the bag, a container (6) contained in a bag (7) preferably suspended from the bag carrier (15). Device (5) according to one of the preceding claims, characterized in that the test device (31) is configured for non-contact testing of the characteristic quantity, in particular wherein the test device (31) comprises a transmission device (32), in particular with a radar sensor and / or a light source (33), and / or wherein the test device (31) comprises a detection device (33), preferably a camera (34) and / or a detector, for detecting signals from the transmission device (32) and / or signals from the environment.Device (5) according to claim 6 or 7, characterized in that a unit preferably trained with machine learning is provided for the detection of correctly oriented and / or misoriented bags (7) and / or that a feature recognition device, in particular an edge detector, is provided for the detection of correctly oriented and / or misoriented bags (7), in particular wherein spatial distances. between features, especially edges (39) , with a The device (5) according to one of claims 6 to 8, characterized in that at least one preferably capacitive sensor (41) is provided. The device (5) according to one of the preceding claims, characterized in that the test device (31) is configured for contact testing of the dimension (A, B), in particular wherein the test device (31) has a test clamp (42) with at least two jaws (43) movable relative to each other. The device (5) according to claim 9, characterized in that the test device (31) has a measuring means (44) for detecting a relative position of the jaws (43) to each other. The device (5) according to one of the preceding claims, characterized in that the test device (31) has a bag support with which the bag (7), preferably suspended from the bag carrier (15), can be positioned.Device (5) according to the preamble of claim 1 or according to one of the preceding claims, characterized in that the bag carriers (15) are magnetically coupled to a preferably encapsulated drive unit (46). Device according to the preamble of claim 1 or according to one of the preceding claims, characterized in that the bag carriers (15) are arranged to be movable independently of one another. Device (5) according to any one of the preceding claims, characterized in that the drive unit (46) has at least one movable magnet (47), in particular a permanent magnet and / or electromagnet. Device (5) according to any one of the preceding claims, characterized in that the at least one magnet (47) of the drive unit (46) can be moved between a coupled position in which a magnetic coupling to a bag carrier (15) is established and an alternating position in which the coupling is released, and / or that the at least one magnet (47) can be deactivated. Device (5) according to the preamble of claim 1 or according to any one of the preceding claims, characterized in that the bag carriers (15) are movable on a branched guide system (52). Device according to any one of the preceding claims, characterized in that the guide system (52) comprises at least one closed circumferential path (54).Device (5) according to the preamble of claim 1 or according to any of the preceding claims, characterized in that the guide system (52) of the bag carrier (15) has at least two superimposed sections (51), in particular wherein the guide system (52) defines at least one path (54) which lies in a vertical plane. Device (5) according to any of the preceding claims, characterized in that at least one branch (55) comprises a lift (56). Device (5) according to one of the preceding claims, characterized in that the drive unit (46) bridges a separation point (57) between a stationary section (51) of the guide system (52) and a section (53) of the guide system (52) arranged on the lift (56). Device (5) according to one of the preceding claims, characterized in that the lift (56) is movable to the test device (31) and / or that the test device (31) is arranged at the access opening (16). Device (5) according to one of the preceding claims, characterized in that the bags (7) are feedable to a bag opening device (4). Unpacking system (1) with a device (5) according to one of claims 1 to 23 within a protected space (2). / Summary

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