Isolator system and method

Abstract

The invention relates to a barrier system, wherein the barrier system comprises an area with limited access, in particular an isolator (12), a supply device (24) for supplying closure elements (22) into the isolator (12), a closing station (34) for closing containers using the closure elements (22) and a handling device (46) for transferring the closure elements (22), wherein the closing station (34) and the handling device are arranged within the area with limited access, wherein the handling device (46) is designed to transfer a supplied closure element (22) from the supply device (24) to an inspection position (58) within the area with limited access, wherein the barrier system also has an inspection device (66) which is designed to inspect the closure element (22) in the inspection position (58) and to determine whether the closure element (22) has a fault, and wherein the handling device (46) is designed to transfer the closure element (22) from the inspection position (58) to the closing station (34) if the closure element (22) has no faults. The invention also relates to a method (100) for processing closure elements (22) in an area with limited access, in particular in an isolator (12).

Description

Isolator system and process

[0001] The present invention relates to a barrier system, in particular an isolator system, comprising a restricted-access environment, a feed device for feeding closure elements into the restricted-access environment, a closing station for closing containers using the supplied closure elements, and a handling device for transferring the supplied closure elements. The closing station and the handling device are arranged within the restricted-access environment. Furthermore, the present invention relates to a method for processing closure elements in the restricted-access environment.

[0002] A barrier system is a system that provides a physical and aerodynamic barrier, e.g., by means of positive air pressure, between an external environment, such as an external cleanroom environment, and a work process. In particular, a barrier system provides an environment with restricted access in which the work process can be carried out. Various barrier systems are known in technology. A barrier system can, for example, include an isolator or a barrier with restricted access, a so-called RABS (Restricted Area Barrier System). The RABS can be an open RABS or a closed RABS.

[0003] The present invention primarily concerns aseptic isolators as barrier systems. However, the present invention can also be applied to other barrier systems, such as an open or closed RABS.

[0004] The term "isolator" generally refers to a container that is hermetically and gas-tightly sealed from the surrounding workspace. Within an isolator, a defined atmosphere can be created for processing sensitive or hazardous products.

[0005] In this context, isolators are typically used in biopharmaceutical process engineering, for example as part of a filling system with multiple process and processing stations, to create a highly clean or sterile, i.e. germ-free, environment.

[0006] In such filling systems, containers, e.g. vials, cartridges, bottles, syringes and / or the like, can be filled with a product, e.g. a pharmaceutical or cosmetic product, in particular a liquid or a powder, and then closed with a closure element, e.g. a stopper or a crimp cap.

[0007] For handling the containers and / or the closure elements, one or more handling devices, e.g. handling robots, can be arranged in the isolator. For filling the containers, a filling station can be provided in the isolator. For closing the containers, one or more closing stations, e.g. a plugging station and / or a flanging station, can be arranged in the isolator. In a closing station, each container is fitted with a closure element after filling. closed. In particular, a plug can be placed on the container in a plug-placing station. In the crimping station, a crimp cap can be applied to the container, in particular crimped.

[0008] Feeding devices inside the isolator can be used to introduce or feed closure elements into the isolator. For example, the closure elements can be provided in a transfer lock or a provision container, e.g. a beta container filled with closure elements, outside the isolator. This provision container can then be coupled from the outside to a port, e.g. an alpha-beta port, of the isolator. The feeding device can have a chute or a pipe, which can be coupled from the inside to the port. The closure elements can then be guided via the chute or pipe, for example, from the transfer lock into a collection container inside the isolator. The closure elements can then be brought from the collection container to the closing station, in particular individually.

[0009] Such feeding devices are known in the prior art.

[0010] For example, the document DE 10 2021 101 384 B3 shows a system for transporting sterile pourable closure elements from an environment of an isolator into an interior of the isolator, comprising a container for storing a supply quantity of closure elements in the environment of the isolator, an isolator opening and a collecting device for collecting the closure elements and for providing the closure elements in the interior of the isolator, with a dosing device for controlling a desired quantity of closure elements to be transported from the container through the isolator opening and into the collecting device.

[0011] Furthermore, the document EP 3 581 339 B1 shows a transfer system for a sealed housing, wherein the sealed housing defines a first closed volume and has at least one sealed connection device intended to connect the first closed volume to a second closed volume, wherein the transfer system is intended to be arranged in the housing, wherein the transfer system comprises at least one arm designed to be rotatably mounted on a wall of the sealed housing via a first pivot having a first axis of rotation, the transfer system comprising a chute, the chute having a docking edge and a pouring edge, the docking edge being designed to cooperate with the sealed connection device, the transfer system comprising a second pivot between the arm and the chute, the second pivot having a second axis of rotation.

[0012] Furthermore, the document WO 2021 / 214809 A1 discloses a device for filling containers with a powdered material, comprising a feeding station arranged to feed a plurality of the containers; a filling station arranged downstream of the loading station and comprising a measuring arrangement configured to fill each container with a measured amount of a powdered material; a closing station arranged downstream of the filling station; and at least one handling arrangement movable to transport at least one container from one station to a subsequent station.

[0013] Furthermore, document EP 2 801 828 A1 discloses a method for closing vessels containing biological samples. The method comprises providing a cap supply comprising a plurality of caps for the vessels within compartments in a predefined geometric arrangement. The cap supply is introduced into a pre-analytical system comprising a housing via an interface. For this purpose, it is reversibly docked to a feeding device for inserting and removing the cap supply from the pre-analytical system. A cap is then removed from the supply by a robotic manipulator and transported to a workstation holding the vessels. A vessel is then closed using the manipulator. The steps from inserting the cap supply into the pre-analytical system to closing a vessel are then repeated a certain number of times or until all caps in the supply have been removed.Finally, the cap supply is retrieved from the pre-analytical system.

[0014] Furthermore, feeding devices in filling plants are also known in which the closure elements are checked and defective or incorrect closure elements are removed. Such feeding devices have a conveyor line or feed rail along which the closure elements are conveyed or guided individually. If defective closure elements are detected, they are removed or ejected from the conveyor line or feed rail.

[0015] For example, the document DE 10 2008 047 286 A1 discloses a device for producing containers, comprising a transport device that transports the containers along a predetermined transport path, at least one treatment device that treats the containers in a predetermined manner, a closing device that is arranged downstream of the treatment device in a transport direction of the containers and that provides the containers with closures, and a feed device that feeds the closures to the closing device. An inspection device is provided upstream of the feed device in a transport direction of the closures. This inspection device inspects the closures and outputs at least one signal that is characteristic of a physical condition of the closures.

[0016] Furthermore, the document EP 2 733 111 A2 shows a device for feeding container closures to a closure device in a beverage filling plant, comprising a sorting unit, a height conveyor and an inspection device, wherein the inspection device is arranged in front of the height conveyor.

[0017] Furthermore, the document DE 10 2012 216 163 A1 shows a device for feeding closure elements, comprising a feed rail on which the closure elements can be fed in a successive row, an optical control device for checking the closure elements, wherein the optical control device is arranged on the feed rail, and an ejection device for ejecting closure elements recognized as unsuitable.

[0018] However, the known isolator systems and methods for processing closure elements in isolators still leave room for improvement, particularly with regard to the control and processing of the closure elements.

[0019] Against this background, it is an object of the present invention to provide an improved barrier system, in particular isolator system, as well as an improved method for processing closure elements in an environment with restricted access, in particular in which the processing of the closure elements is improved.

[0020] According to a first aspect of the present invention, a barrier system is provided, the barrier system comprising a restricted access environment, a supply device for supplying closure elements into the restricted access environment, a closing station for closing containers by means of the closure elements, and a handling device for transferring the closure elements, the closing station and the handling device being arranged within the isolator, characterized in that the handling device is configured to transfer a supplied closure element from the supply device to a control position within the restricted access environment, the barrier system further comprising a control device, the control device being configured to control the closure element at the control position and to determinewhether the closure element has a defect, and wherein the handling device is configured to transfer the closure element from the inspection position to the closing station if the closure element has no defect. The barrier system can in particular be an isolator system, wherein the restricted-access environment is an isolator. Alternatively, the barrier system can also be an open or closed RABS.

[0021] According to a second aspect of the present invention, there is provided a method for processing closure elements in a restricted access environment, in particular in an isolator, the method comprising the following steps: Feeding the closure elements into the restricted access environment by means of a feeding device; First transferring a supplied closure element from the supply device to a control position within the restricted access environment by means of a handling device; Checking the closure element at the inspection position by means of a control device, wherein the control device determines whether the closure element has a defect; Second, transferring the closure element from the inspection position to a closing station within the restricted access environment by means of the handling device if the closure element is not defective; and Closing a container in the closing station by means of the closure element transferred to the closing station.

[0022] The method according to the second aspect can in particular be carried out in the barrier system according to the first aspect.

[0023] The barrier system is, in particular, an isolator system. The isolator system can preferably be part of a filling system with multiple processing and finishing stations. The filling system can, for example, be a system for filling and closing containers with a pharmaceutical or cosmetic substance. The system can, in particular, have a filling station and at least one closing station in the isolator. In the system, the containers are filled in the filling station and closed in the at least one closing station.

[0024] The isolator may have an interior space. The isolator is preferably an aseptic isolator. An aseptic isolator has a highly clean or sterile, i.e., germ-free, environment within the interior space. The feeding device, the closing device, and the handling device are arranged in the isolator, particularly in the interior space of the isolator.

[0025] The isolator system can, in particular, have a transfer system via which the closure elements can be introduced into the isolator. The transfer system can, for example, have an isolator opening. The isolator opening can be closed by means of a door. A transfer lock can be coupled to the isolator opening from the outside. The closure elements can be arranged in the transfer lock. Preferably, the transfer lock is coupled to the isolator opening when the door is closed, and the door is only opened when the door is coupled. For example, the transfer system can be designed as a port system, in particular as an alpha-beta port system. The port system can have a port, also called an alpha port, which is integrated into the isolator. The alpha port can have the isolator opening and the door.The transfer port can be designed as a beta port or beta container, which can be coupled to the alpha port. The beta port or beta container can be, for example, a sterile bag or a rigid transport container, such as a stainless steel container, a plastic container, or an aluminum container.

[0026] The feed device serves to feed closure elements into the isolator. The closure elements can be, for example, plugs or closure caps, in particular crimp caps. In other words, the feed device introduces the closure elements into the isolator and prepares the closure elements in the isolator for the subsequent process steps. The feed device can be coupled to the port, in particular to the isolator opening, in order to introduce the closure elements from the transfer lock into the interior of the isolator and prepare them in the interior. For this purpose, the feed device can, for example, have a feed device and a collection device, for example a container, a plate, or a vibrating plate. The feed device can preferably have a pipe or a chute.The feed device can, for example, be coupled to the port, in particular to the isolator opening, from the inside in order to introduce the closure elements from the transfer lock into the isolator and feed them to the collection device. The closure elements are then provided on or in the collection device.

[0027] The handling device serves to transfer the supplied closure elements. For this purpose, the handling device can pick up the supplied closure elements, in particular those provided by the feeding device, and Move the isolator. The handling device can be designed as a handling robot. The handling device can, for example, have a multi-axis arm and an end effector. The end effector is arranged at one end of the arm. The end effector is movable by means of the arm. A drive device can, for example, be provided to move the arm. The end effector can have a gripping tool, in particular one or more, in particular two, grippers. By means of the gripping tool, at least one closure element, one closure element per gripper, can be picked up or gripped and moved, in particular transferred, in the isolator. In particular, the handling device can handle, in particular transfer, closure elements individually or in pairs. The handling device can, in particular, transfer a supplied closure element from the feed device to the closing station.

[0028] The closing station can be a plug-inserting station or a flanging station. In the closing station, filled containers can be closed with the supplied closure elements. For this purpose, the closing station can, for example, have a closing device, in particular a plug-inserting device or a flanging device, by means of which the containers are closed with the closure elements. The supplied closure elements thus serve to close the containers.

[0029] The closing station may also comprise additional components. For example, the closing station may comprise a storage device or transfer station, in particular an intermediate storage unit or a feed rail, which serves for intermediate storage, buffering, or transferring the closure elements. Furthermore, the closing station may also comprise another handling device, which, for example, picks up the closure elements from the intermediate storage unit or transfer station and then places them on the filled containers.

[0030] Furthermore, a filling station can be arranged in the isolator, where the containers can be filled before sealing. In particular, the containers can be filled with the pharmaceutical or cosmetic substance in the filling station. For handling the containers and / or the closure elements, one or more further handling devices can also be arranged in the isolator. For example, a handling device can be configured to transfer filled containers to the closing station.

[0031] It is fundamentally possible that closure elements fed into the isolator may contain a defect. Such a defect can arise during the manufacture of the closure elements, their transport, or their handling during feeding. A defect can, for example, be damage to or deformation of the closure element, in particular a crack, dent, bulge, or deviation from a predetermined shape. Such defects can lead to the containers being incorrectly sealed with the closure elements in the closing station, or even not being processed at all. In other words, defective closure elements may either not be processed at all or be processed incorrectly in the closing station.

[0032] According to the invention, the closure elements are then inspected on the transfer path from the feed device to the closing station by means of the inspection device. For this purpose, the handling device first transfers a supplied closure element from the feed device to an inspection position within the interior of the isolator. In particular, the handling device can transfer the closure elements individually or in pairs to the inspection position. Preferably, the handling device can arrange each closure element transferred to the inspection position in a defined alignment or orientation at the inspection position. Alternatively, the closure element can also be arranged successively in different positions and / or orientations at the inspection position. At the inspection position, each closure element transferred to the inspection position is then inspected by means of the inspection device.In particular, the inspection device determines whether the respective closure element located at the inspection position has a defect. If the inspection reveals that the closure element is free of defects, the handling device transfers the inspected closure element to the closing station.

[0033] This ensures that only closure elements that are free from defects are transferred to the closing station. This ensures that the Containers are not sealed incorrectly or not at all due to defective closure elements. This increases process reliability. In particular, it eliminates the need to later reject defective closure elements. Furthermore, inspection is relatively easy to perform during the transfer path from the feed device to the closing station. Furthermore, inspection takes place after the closure elements have been fed into the isolator, in particular just before the closing station. This also allows defects that only arise during the feeding process or during handling, in particular gripping, of the closure elements using the handling device to be detected. This improves the processing of the closure elements.

[0034] The task posed at the beginning is thus completely solved.

[0035] In a first embodiment of the aspects, the feeding device can be configured to provide the closure elements on a surface, in particular in a defined position and / or in a defined number, wherein the handling device is configured to transfer the closure element from the surface to the control position.

[0036] In particular, the handling device can be configured to transfer the closure elements individually or in pairs from the surface to the inspection position. To do so, the handling device can, for example, grip one of the closure elements provided on the surface and transfer it to the inspection position. In particular, a defined number of closure elements can be provided on the surface. This can in particular be at least one. Preferably, the defined number is two or more than two. In particular, the closure elements can also be provided on the surface in a defined position. The defined position can be a defined position or an area, and / or a defined orientation in space. This simplifies the handling of the closure elements by the handling device.

[0037] In particular, the feed device can comprise a vibrating plate, wherein the vibrating plate comprises the surface. By vibrating the vibrating plate, the closure elements can then be provided in the defined position on the surface. Furthermore, the feed device can be configured to feed the defined number of closure elements onto the vibrating plate in order to provide the defined number of closure elements on the surface. The feeding in a defined number can be carried out, for example, by means of a controlled conveyor, e.g., by means of another, upstream vibrating plate, or a dosing device.

[0038] In a further embodiment of the aspects, the barrier system may further comprise a disposal device for disposing of defective closure elements, wherein the handling device is configured to transfer the closure element from the control position to the disposal device when the closure element has a defect.

[0039] In particular, the handling device can be configured to transfer the inspected closure element from the inspection position to the disposal device if the inspection reveals that the closure element is defective. The disposal device serves to dispose of defective closure elements. The disposal device can be arranged within the isolator. The disposal device can comprise a collection container within the isolator. The collection container serves to collect the closure elements within the interior of the isolator. To dispose of the closure elements, the closure elements can, for example, be collected in the collection container.

[0040] In particular, the handling device can hold defective closure elements above the collection container and release them in order to feed them to the collection container, i.e., transfer them to it. The inspection position can be arranged vertically directly above the collection container. In this case, the handling device can simply release the closure element at the inspection position if the inspection reveals that the closure element is defective.

[0041] In a further embodiment of the aspects, the barrier system may comprise a control device for controlling the handling device.

[0042] In particular, the control device controls the handling device according to the result of the inspection of the inspection device. If the inspection reveals that the closure element is free of defects, the control device controls the handling device such that the inspected closure element is transferred to the closing station. If the inspection reveals that the closure element is defective, the control device controls the handling device such that the inspected closure element is transferred to the disposal device.

[0043] In a further embodiment of the aspects, the control device may comprise the control device, wherein the control device is further configured to determine whether the closure element has a defect.

[0044] In this embodiment, in addition to controlling the handling device, the control device also checks the closure element for defects. The control device is thus part of the inspection device and determines whether the closure element is defective.

[0045] In an alternative embodiment of the aspects, the control device can have a further control device, wherein the further control device is configured to determine whether the closure element has a defect.

[0046] In this embodiment, the inspection device has a separate, in particular additional, control device. This separate, in particular additional, control device checks the closure element for defects. In particular, this separate control device determines whether the closure element arranged at the inspection position has a defect. The result of the determination is then forwarded to the control device of the isolator system so that it can then control the handling device accordingly.

[0047] In a further embodiment of the aspects, the control device can have a camera system, wherein the camera system is configured to capture at least one image of the closure element at the control position, wherein the control device, in particular the control device or the further control device, is configured to determine, on the basis of the at least one captured image, whether the closure element has a defect.

[0048] The camera system can have one or more cameras for this purpose. Each camera can be configured to capture an image of the closure element at the inspection position. In particular, the control device or the further control device can control the image capture of the camera system. The captured image can then be evaluated by the control device or the further control device to determine whether the closure element has a defect. Based on the result of this determination, the control device can then control the handling device accordingly.

[0049] In particular, the handling device can arrange each closure element at the inspection position in a defined orientation or sequentially in several defined orientations. This simplifies image analysis because the closure elements are always arranged in the same orientation.

[0050] In a further embodiment of the aspects, the closure elements can be formed with a substantially circular cross-section, wherein the control device is configured to control the closure element for its roundness at the control position.

[0051] The closure elements can be designed or manufactured in substantially the same shape and size. In particular, the closure elements can have a substantially circular cross-section perpendicular to an axial direction. In other words, the closure elements can have a round outer contour perpendicular to the axial axis. In particular, they can be rotationally symmetrical to an axis be designed or manufactured parallel to the axial direction. The closure elements can, for example, be designed or manufactured substantially cylindrically or conically. The defect to be inspected in this case can be a lack of roundness. A lack of roundness can occur, for example, if the closure element is bent or deformed, for example, has an elliptical instead of circular outer contour, or has deformations on the outer contour such as dents or bumps. The captured image can be used to determine whether the outer contour is round or deviates from a round outer contour. If the outer contour is not round, in particular is largely round, the inspected closure element has a lack of roundness and is therefore defective.

[0052] In particular, the handling device can arrange the closure element at the inspection position such that an image plane of the captured image runs perpendicular to the axial direction of the closure element. As a result, the image of the closure element in the captured image is a projection perpendicular to the axial direction. If the closure element has a round outer contour in cross-section, the image of the closure element in the captured image is also round or circular. Deviations from the round outer contour in the image result in the image of the closure element in the captured image also deviating from the circular shape, e.g., due to bumps, dents, or other deformations.

[0053] In a further embodiment of the aspects, the control device, in particular the control device or the further control device, can be configured to determine a parameter that indicates a measure of the roundness of the closure element on the basis of the at least one captured image, and to determine whether the closure element has a defect on the basis of a comparison of the determined parameter with a threshold value.

[0054] In this way, it can be determined whether the closure element has a lack of roundness as a defect. To determine the roundness of the closure element depicted in the captured image at the control position, for example, an edge or an outer contour of the closure element can be observed in the captured image. In particular, the outer contour, in particular pixels of the outer contour, can be Image can be determined. For example, a circle can be adjusted, or fitted, to the outer contour. The quality of the adjustment, or fit, can then be observed. The quality is maximum when the outer contour is circular. The more the outer contour deviates from the circular shape, the lower the quality. Alternatively, a curve can also be adjusted, or fitted, to the outer contour. For a curve, for example, the variation, or variance, of the curvature along the curve can be observed. For a circular shape, the curvature is constant and the variation is therefore minimal, in particular zero. The more the outer contour deviates from the circular shape, the greater the variation. Alternatively, a comparison image showing a round closure element can be used to determine the roundness.The deviation of the image of the closure element in the captured image compared to the image of the round closure element in the comparison image is then greater the more the closure element deviates from the circular shape. The quality of a fitted circle, the variation in the curvature of a fitted curve or the deviation of the image of the closure element in the captured image compared to the image of a round closure element in a comparison image can be used as parameters for the degree of roundness. The threshold value is determined in advance. The threshold value specifies a limit as to how far the closure element may deviate from the circular shape. A defect exists if the parameter is smaller, for example in the case of the quality of a fitted circle, or larger, in the case of a variation in the curvature or deviation from the comparison image, than the threshold value.

[0055] In a further embodiment of the aspects, the control device, in particular the control device, can be configured to determine whether an outer edge of the closure element lies within a tolerance range in the captured image.

[0056] In particular, to check the roundness, it can be determined whether an outer contour or an outer edge of the closure element in the captured image lies within a tolerance range between a first circle and a second circle. The first circle and the second circle are arranged concentrically around a common center point. The first circle is larger than the second circle. The area between the first circle and the second circle can be referred to as the tolerance range or tolerance band. If the outer edge of the closure element to be checked lies completely within the tolerance range, the closure element is sufficiently round and is therefore not defective. If the outer edge of the closure element to be inspected lies partially or completely outside the tolerance range, the closure element is not sufficiently round and is therefore defective. The desired roundness requirement can be specified using the size of the tolerance range. The smaller or narrower the tolerance range, the higher the roundness requirement of the closure elements. To determine whether the outer edge lies within the tolerance range, the area of ​​the image can be divided into segments around the center point. For each segment, it can then be determined whether a pixel of the outer edge in the segment lies within the tolerance range. If a pixel of the outer edge in all segments lies within the tolerance range, the closure element is not defective.However, if at least one segment fails to contain a single pixel within the tolerance range, the shutter element is defective. The accuracy of the roundness determination can be adjusted by changing the number of segments. The more segments used, the more accurate the roundness determination becomes. For example, the area around the center point can be divided into 10 or more segments, 100 or more segments, or 1,000 or more segments.

[0057] In a further embodiment of the aspects, the closing station can be a flanging station, wherein the closure elements are flanging caps.

[0058] Crimp caps can have a substantially circular cross-section perpendicular to an axial direction. Crimp caps are typically designed or manufactured to be essentially cylindrical. Checking the roundness is particularly advantageous in the case of crimp caps. Non-circular or bent crimp caps may be processed incorrectly or not at all in the crimping station and can, in particular, lead to faulty crimping.

[0059] In a further embodiment of the aspects, in the feeding step, the feeding device can provide the closure elements on a surface, in particular in a defined position and / or in a defined number, wherein the handling device transfers the closure element from the surface to the control position in the first transferring step.

[0060] In particular, the handling device can be configured to transfer the closure elements individually or in pairs from the surface to the inspection position. To do so, the handling device can, for example, grip one of the closure elements provided on the surface and transfer it to the inspection position. In particular, a defined number of closure elements can be provided on the surface. This can in particular be at least one. Preferably, the defined number is two or more than two. In particular, the closure elements can also be provided on the surface in a defined position. The defined position can be a defined position or an area, and / or a defined orientation in space. This simplifies the handling of the closure elements by the handling device.

[0061] In a further embodiment of the aspects, the method may further comprise the following steps Third, transferring the closure element from the control position to a disposal facility within the restricted access environment by means of the handling device if the closure element has a defect; and Disposing of the closure element transferred to the disposal facility using the disposal facility.

[0062] In particular, the handling device can be configured to transfer the inspected closure element from the inspection position to the disposal device if the inspection reveals that the closure element is defective. The disposal device serves to dispose of defective closure elements. The disposal device can be arranged within the isolator. The disposal device can comprise a collection container within the isolator. The collection container serves to collect the closure elements within the interior of the isolator. To dispose of the closure elements, the closure elements can, for example, be collected in the collection container.

[0063] In a further embodiment of the aspects, in the step of checking, a camera system of the checking device can capture at least one image of the closure element at the check position and the checking device can determine, on the basis of the at least one captured image, whether the closure element has a defect.

[0064] The camera system can have one or more cameras for this purpose. Each camera can be configured to capture an image of the closure element at the inspection position. In particular, the control device or the further control device can control the image capture of the camera system. The captured image can then be evaluated by the control device or the further control device to determine whether the closure element has a defect. Based on the result of this determination, the control device can then control the handling device accordingly.

[0065] In a further embodiment of the aspects, the closure elements can be formed with a substantially circular cross-section, wherein in the step of checking, the checking device checks the closure element at the check position for its roundness.

[0066] The closure elements can be designed or manufactured in substantially the same shape and size. In particular, the closure elements can have a substantially circular cross-section perpendicular to an axial direction. In other words, the closure elements can have a round outer contour perpendicular to the axial axis. In particular, they can be designed or manufactured rotationally symmetrical to an axis parallel to the axial direction. The closure elements can, for example, be designed or manufactured substantially cylindrically or conically. In this case, the defect to be inspected can be a lack of roundness. A lack of roundness can occur, for example, if the closure element is bent or deformed, for example, has an elliptical instead of circular outer contour, or has deformations such as dents or bumps on the outer contour.The captured image can be used to determine whether the outer contour is round or deviates from a round outer contour. If the outer contour is not, especially to a very large extent, If the closure element being checked is round, it lacks roundness and is therefore defective.

[0067] In a further embodiment of the aspects, the control device can determine a parameter that indicates a measure of the roundness of the closure element on the basis of the at least one captured image and can determine whether the closure element has a defect on the basis of a comparison of the determined parameter with a threshold value.

[0068] In this way, it can be determined whether the closure element has a defect such as a lack of roundness. To determine the roundness of the closure element depicted in the acquired image at the control position, for example, an edge or an outer contour of the closure element can be observed in the acquired image. In particular, the outer contour, in particular pixels of the outer contour, can be determined in the acquired image. For example, a circle can be adapted, i.e. fitted, to the outer contour. The quality of the adaptation, i.e. the fit, can then be observed. The quality is maximum when the outer contour has a circular shape. The more the outer contour deviates from the circular shape, the lower the quality becomes. Alternatively, a curve can also be adapted, i.e. fitted, to the outer contour. In the case of a curve, for example, the variation, i.e. the variance, of the curvature along the curve can then be observed.For a circular shape, the curvature is constant and the variation is therefore minimal, in particular zero. The more the outer contour deviates from the circular shape, the greater the variation. Alternatively, a comparison image containing a round closure element can be used to determine the roundness. The more the closure element deviates from the circular shape, the greater the deviation between the image of the closure element in the captured image and the image of the round closure element in the comparison image. The quality of a fitted circle, the variation in the curvature of a fitted curve, or the deviation between the image of the closure element in the captured image and the image of a round closure element in a comparison image can be used as parameters for the degree of roundness. The threshold value is determined in advance.The threshold value specifies the extent to which the closure element may deviate from a circular shape. A defect exists if the parameter... ter smaller, for example in the case of the quality of a fitted circle, or larger, in the case of variation in the curvature or deviation from the comparison image, than the threshold value.

[0069] In a further embodiment of the aspects, the control device can determine whether an outer edge of the closure element lies within a tolerance range in the captured image.

[0070] In particular, as already described above, in order to check the roundness, it can be determined whether an outer contour or an outer edge of the closure element in the captured image lies in a tolerance range between a first circle and a second circle.

[0071] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0072] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. They show: Fig. 1 is a schematic view of a first embodiment of an isolator system; Fig. 2 is an isometric view of a second embodiment of an isolator system; Fig. 3 is a side view of the isolator system of Fig. 2 in a control position; Fig. 4A is a schematic view of a closure element with a circular outer contour; Fig. 4B is a schematic view of a closure element with an elliptical outer contour; Fig. 4C is a schematic view of a closure element with a dented outer contour; Fig. 4D is a schematic view of a closure element with a crack; Fig. 5A is a schematic view of a round closure element; Fig. 5B is a schematic view of a dented closure element; and Fig. 6 is a schematic view of an embodiment of a method for processing closure elements in an insulator.

[0073] Fig. 1 shows a first embodiment of an isolator system as a barrier system, designated in its entirety by the reference numeral 10.

[0074] The isolator system 10 has an isolator 12. The isolator is a restricted-access environment. The isolator 12 has an interior space 14. The isolator 12 further has a transfer system 16. The transfer system 16 can be configured as an alpha-beta port system. The transfer system 16 has a port 18. The port 18 can be an alpha port. The port 18 is arranged on a wall of the isolator 12 that separates the interior space 14 from an external environment. The port 18 can have an isolator opening and an isolator door. The isolator door can be arranged at the isolator opening. The isolator opening can be opened or closed using the isolator door. From the outside, a transfer lock 20 can be coupled to the port 18. The transfer lock 20 can be configured as a beta container or a beta port. Closure elements 22 can be arranged or provided in the transfer lock 20.

[0075] The isolator system 10 has a feeding device 24, a closing station 34, a disposal device 42 and a handling device 46 in the interior 14 of the isolator 12. The feeding device 24 serves to feed the closure elements 22 into the isolator 12. The handling device 46 serves to transfer the closure elements 22 within the isolator 12. The closing station 34 serves to Closing containers with, in particular non-defective, closure elements 22. The disposal device 42 serves to dispose of, in particular defective, closure elements 22.

[0076] The isolator system 10 can further comprise a filling station (not shown) in the interior space 14. In this filling station, the containers can be filled, for example, with a pharmaceutical or cosmetic substance, before being sealed in the closing station 34. The isolator system 10 can further comprise further handling devices (not shown) in the interior space 14 for handling the closure elements and / or the containers. These devices can be used to transfer the containers, for example, from the filling station to the closing station 34.

[0077] The closure elements 22 can be fed into the interior 14 of the isolator 12 by means of the feed device 24. The closure elements 22 can be provided outside the isolator in the transfer lock 20 and then introduced into the isolator 12 via the port 18 and the feed device 24. The feed device 24 has a surface 26. The feed device 24 can, for example, have a feed device 28, a first vibrating plate 30, and a second vibrating plate 32.

[0078] The feed device 28 can be used to feed the closure elements 22 from the port 18 to the first vibrating plate 30. The feed device 28 can, for example, be coupled to the port 18 from the inside. In particular, by means of the feed device 28, closure elements can be introduced from a transfer lock 20 via the port 18 and the feed device 28 into the isolator 12 and fed to the first vibrating plate 30.

[0079] The first vibrating plate 30 can be used to convey the closure elements 22 onto the second vibrating plate 32. The first vibrating plate 30 can have a first drive device and a first plate for this purpose. The first plate serves as a support for the closure elements 22. In particular, the closure elements 22 can be fed onto the first plate and conveyed thereon. The first drive device is designed to move the first plate. In particular, the first drive device is designed to The aim is to tilt and vibrate the first plate. The closure elements can be conveyed by vibrating the first plate.

[0080] The second vibrating plate 32 can be used to arrange, in particular to orient, the closure elements 22 on the second vibrating plate 32 in a defined position. The second vibrating plate 32 can for this purpose have a second drive device and a second plate. The second plate serves as a support for the closure elements 22. In particular, the closure elements 22 can be fed onto the second plate and moved thereon. The second drive device is designed to move the second plate. In particular, the second drive device is designed to vibrate the second plate. The arrangement or orientation of the closure elements in the defined position can be achieved by vibrating the plate. As a result, the closure elements are provided on the second vibrating plate 32 in the defined position.Closure elements 22 provided in this defined position can then be picked up by the handling device 46 and transferred to the closing station 34. The surface 26 can thus be a surface of the second plate of the second vibrating plate 32.

[0081] In the closing station 34, containers filled with a product are closed with the supplied closure elements 22. To close the containers, the closing station 34 has a closing device 36. The closing device 36 can be a crimping device with which crimp caps can be applied to the containers as closure elements. Alternatively, the closing device 36 can also be a plugging device with which plugs can be placed on the containers as closure elements. The closing station 34 can additionally have a storage device 38 in which the closure elements can be temporarily stored or held before closing. The closing station 34 can additionally have a separate handling device 40 by means of which the closure elements 22 can be picked up from the storage device 38 and placed on the containers.

[0082] Defective closure elements 22 can be disposed of using the disposal device 42. The disposal device 42 can have a collection container 44 for this purpose. Defective closure elements 22 can be collected in the collection container 42.

[0083] The handling device 46 serves to handle the closure elements 22 within the interior 14 of the insulator 12. In particular, the handling device 46 can pick up the supplied closure elements 22 individually or in pairs from the feed device 24, in particular from the surface 26, and transfer them to the closing station 34 or to the disposal device 42. The handling device 46 is preferably designed as a handling robot. The handling device 46 can have a multi-axis arm 48 and an end effector 50. The end effector 50 is arranged at one end of the arm 48. The arm 48 can be moved by means of a drive device. The end effector can have a gripping tool, for example one or more grippers, by means of which one or more closure elements 22 can be gripped, in particular picked up and held, for transfer, preferably one per gripper.

[0084] The isolator system 10 can further comprise a camera system 52. The camera system 52 is preferably arranged on a ceiling of the isolator 12. For example, the camera system 50 can be attached to the ceiling of the isolator 12. Images can be captured by means of the camera system 52. To capture the images, the camera system 52 can comprise one or more cameras 54. The camera system 50 can also comprise lighting, by means of which at least the area to be captured during the image capture is illuminated. The camera system 52 can, in particular, be arranged such that the feed device 24, the closing station 34, the disposal device 42, and a working area of ​​the handling device 46 are located in the recording area of ​​the camera system 52. For example, the camera system 52 can be configured to capture an image of the closure elements on the first and / or second vibrating plate 30, 32.Furthermore, the camera system 52 can be configured to capture an image of the closure elements 22 during the transfer of the closure elements, i.e. in the working area of ​​the handling device 46.

[0085] The isolator system 10 may further comprise a control device 56. The control device 56 serves to control the handling device 46. In particular, the control device 56 controls the transfer of the closure elements 22 from the feed device 24 to the closing station 34 or to the disposal device 42. The control device 56 may further be configured to control the first and / or second vibrating plate 30, 32 to provide the closure elements 22 on the surface 26, i.e. on the second vibrating plate 32, in a defined number and / or in a defined position, in particular orientation.

[0086] The control device 56 can be configured to control the camera system 52. In particular, the control device 56 can control the image recording of the camera system 52 for capturing images. The control device 56 controls the handling device 46 and optionally also the vibrating plates 30, 32 based on the captured images, i.e., based on the image data of the camera system 52. In particular, the control device 56 can be configured to evaluate the captured images. For example, the control device 56 can determine, based on the captured images, whether a closure element 22 on the second vibrating plate is arranged in the defined position.

[0087] For this purpose, the control device 56 can, for example, have various subunits, each of which controls a component and / or processes data. For example, the control device can have a control unit that controls the handling device 46, the camera system 52, or optionally also the vibrating plates 30, 32. The control unit can, for example, send control commands to these components to control the respective components. Furthermore, the control device can have a data processing unit that is configured to evaluate images captured by the camera system. The data processing unit can, for example, determine the position of closure elements on the second vibrating plate 32 based on the captured images.

[0088] The control device 56 may be connected to or include a non-volatile data memory in which a computer program is stored. In some embodiments, the control device 56 is a general-purpose computer, such as a commercially available personal computer running Windows®, Linux, or MacOS, and the computer program from the memory includes program code designed and configured to implement control and determination steps. In an alternative embodiment, the control device 56 is a logic circuit, such as a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC). Specific Integrated Circuit, a microcontroller, or any other suitable programmable electrical circuit. Control and determination steps can be implemented therein using the logic circuit. Any suitable programming language or hardware description language, such as C, VHDL, and the like, can be used to implement the control and determination steps in the logic circuit.

[0089] The isolator system 10 further comprises a control device 66. The control device 66 serves to control a closure element 22 at a control position 58 within the isolator 12 and to determine whether the closure element 22 has a defect. The control position 58 is arranged in a working area of ​​the handling device 46. The control device 66 preferably comprises the control device 56 of the isolator system 10. In particular, the control device 56 can be configured to determine whether a closure element 22 arranged in the control position has a defect.

[0090] The handling device 46 is configured to transfer the closure elements individually or in pairs from the feed device 24 to the inspection position 58. The transfer to the inspection position 58 is illustrated in Fig. 1 by means of the arrow with the reference number 60. At the inspection position, the inspection device 66 then determines whether the closure element 22 transferred to the inspection position 58 has a defect. If the inspection shows that the closure element 22 has no defect, the closure element 22 is transferred further to the closing station 34. The transfer to the closing station 34 is illustrated in Fig. 1 by means of the arrow with the reference number 62. If the inspection shows that the closure element 22 has a defect, the closure element 22 is transferred further to the disposal device 42. The transfer to the disposal device 42 is shown in Fig.1 by means of the arrow with the reference number 64.

[0091] The camera system 52 can be part of the control device 66. In particular, the camera system 52 can be configured to capture at least one image of a closure element 22 at the control position 58. In particular, the control position 58 can be arranged below the camera system 52 in the recording area of ​​the camera system 52. net. The inspection device 66 can then determine, based on the at least one captured image, whether a closure element 22 arranged at the inspection position 58 has a defect. In particular, the control device 56 can be configured to determine, based on the at least one captured image of the camera system, whether the closure element 22 has a defect. Based on the result of this determination, the control device 56 can then control the handling device 46 accordingly.

[0092] Fig. 2 shows a second embodiment of the isolator system 10 as a barrier system. The isolator system of the second embodiment essentially corresponds to the isolator system 10 of the first embodiment shown in Fig. 1. Identical elements are identified by identical reference numerals and will not be explained in further detail.

[0093] In the isolator system 10 of the second embodiment, the closing station 34 is designed as a crimping station, and the closing device 36 is designed as a crimping device. Accordingly, the closure caps 22 are designed as crimp caps. Furthermore, the camera system 52 is arranged on the ceiling of the isolator 12. In particular, the collection container 44 is arranged adjacent to the feed device. In particular, the camera system 52 is arranged above the collection container 44 and the feed device 24.

[0094] Fig. 3 shows an example of the location of the control position 58 in the isolator system 10 from Fig. 2. In particular, the camera system 52 is arranged in a vertical direction 68 above the collection container 44. The control position 58 is arranged between the camera system 52 and the collection container 44 in the vertical direction 68. The control position 58 is arranged, in particular, in the vertical direction above the collection container 44.

[0095] As previously explained in connection with the isolator system 10 of the first embodiment, each closure element 22 is first transferred to the inspection position 58 by means of the handling device 46 in order to be inspected there by means of the inspection device 68. For this purpose, the camera system 52 can take an image of the respective closure element 22 at the The control device 56 can then capture an image of the closure element 22 arranged in the inspection position 58 from above. The control device 56 can then determine, based on the captured image, whether the closure element 22 has a defect. If the inspection reveals that the closure element 22 has no defect, the handling device 46 transfers the closure element 22 further to the closing station 34. If the inspection reveals that the closure element 22 has a defect, the handling device 46 transfers the closure element 22 further to the disposal device 42. To do so, the handling device 46 can simply release the defective closure element 22 and let it fall into the collection container 44 arranged below the inspection position 58.

[0096] Fig. 4A shows an exemplary top view in the axial direction of a closure element 70 with a circular cross-sectional geometry perpendicular to the axial direction. The outer contour in this case is round or circular.

[0097] Fig. 4B shows an exemplary top view in the axial direction of a deformed closure element 72 with an elliptical cross-sectional geometry perpendicular to the axial direction. In this case, the outer contour is not round, but elliptical with an eccentricity greater than zero. Such an outer contour can result when a round closure element is gripped, for example, with a gripper and slightly compressed.

[0098] Fig. 4C shows, by way of example, a top view in the axial direction of a deformed closure element 74 having a substantially circular cross-sectional geometry, wherein the closure element 74 has a dent 76 on its outer side. In the area of ​​the dent 76, the cross-sectional geometry deviates from the circular shape.

[0099] Fig. 4D shows an exemplary top view in the axial direction of a closure element 78 with a circular cross-sectional geometry perpendicular to the axial direction. The closure element 78 has a crack 80 on its upper side.

[0100] The control device 66 of the first and second embodiments of the isolator system 10 can control the closure elements 22 for one or more defects. One or more defects are preferably a lack of roundness of the closure element and / or a crack in the closure element.

[0101] The closure elements 22, in particular crimp caps, are formed perpendicular to the axial direction with a substantially circular cross-section, i.e., with a round outer contour. The inspection device 66 can then be configured to inspect each closure element 22 for its roundness at the inspection position 58. The camera system then captures at least one image of the closure element 22 at the inspection position 58. The control device 56 then determines, based on the at least one captured image, a parameter that indicates a measure of the roundness of the closure element. The control device 56 then determines, based on a comparison of the determined parameter with a threshold value, whether the closure element has a defect.

[0102] Preferably, the handling device 46 arranges each closure element 22 to be inspected at the inspection position 58 in a defined orientation, in particular such that an image plane of the captured image runs perpendicular to the axial direction of the closure element.

[0103] To check the roundness, the control device 56 can, in particular, first determine an outer contour of the closure element 22 in the captured image and fit a circle to the outer contour. The control device 56 can then determine the quality of the circle fit, with the quality indicating a measure of the roundness of the closure element. If the quality is less than the threshold value, the closure element has a defect, i.e., a lack of roundness.

[0104] Alternatively, the control device 56 can determine an outer contour of the closure element 22 in the captured image to control the roundness and adapt a closed curve to the outer contour. The control device 56 can then determine the variation, variance, of the curvature along the closed curve, wherein the variation indicates a measure of the roundness of the closure element. If the variation is greater than the threshold value, the closure element has a defect, i.e. a lack of roundness.

[0105] Alternatively, a comparison image depicting a round closure element can also be used to check roundness, see, for example, Fig. 4A. The deviation of the outer contour of the image of the closure element 22 in the captured image compared to the outer contour of the image of the round closure element in the comparison image can then be used as a measure of the roundness of the closure element. The control device 56 can then determine this deviation by comparing the images. If the deviation is greater than the threshold value, the closure element 22 has a defect, i.e., a lack of roundness.

[0106] To check the closure element 22 for a crack, a comparison image of a closure element without a crack can also be used, for example. The control device 56 can then also determine whether the closure element 22 has a crack by comparing the captured image with the comparison image.

[0107] Alternatively, to check the roundness, it can also be determined whether an outer contour or an edge of the closure element 22 in the captured image lies within a tolerance range between a first circle 82 and a second circle 84. This is illustrated by way of example in Figures 5A and 5B.

[0108] The first circle 82 and the second circle 84 are arranged concentrically around a common center point. The first circle 82 is larger than the second circle 84. The area between the first circle 82 and the second circle 84 can be referred to as the tolerance range or tolerance band. If the outer edge of the closure element 22 to be inspected lies entirely within the tolerance range, the closure element is sufficiently round and is therefore not defective. If the outer edge of the closure element 22 to be inspected lies partially or entirely outside the tolerance range, the closure element is not sufficiently round and is therefore defective.

[0109] Fig. 5A shows a closure element whose outer edge 86 lies completely within the tolerance range. This closure element is therefore not defective. Fig. 5B shows a closure element whose outer edge 90 lies partially outside the tolerance range. This closure element is therefore defective.

[0110] To determine whether the outer edge lies within the tolerance range, the area of ​​the image around the center point can be divided into segments 88. In Figures 5A and 5B, the area is divided into sixteen segments 88-1, 88-2, ..., 88-16. The individual segments are shown as dashed lines. For each segment 88, it is determined whether a pixel of the outer edge in the segment lies within the tolerance range. If a pixel of the outer edge lies within the tolerance range in all segments 88, the closure element is not defective. However, if no pixel lies within the tolerance range in at least one segment 88, the closure element is defective.

[0111] In Fig. 5A, in each segment 88, one pixel of the outer edge 86 lies within the tolerance range. In Fig. 5B, in segments 88-1 and 88-2, no pixel of the outer edge 86 lies within the tolerance range.

[0112] Fig. 6 shows an embodiment of a method for processing closure elements 22 in a restricted-access environment, in particular in an isolator 12, designated in its entirety by reference numeral 100. The method 100 can be carried out using the isolator system 10 according to the first or second embodiment.

[0113] In a first step 102 of the method 100, the closure elements 22 are fed into the isolator 12 by means of the feeding device 24.

[0114] In a further step 104 of the method 100, a supplied closure element 22 is transferred from the feeding device 24 to the inspection position 58 by means of a handling device 46.

[0115] In a further step 106 of the method 100, the closure element 22 transferred to the control position 58 is checked at the control position 58 by means of the control device 66, wherein the control device 66 determines whether the closure element 22 has a defect

[0116] In a further step 108 of the method 100, the inspected closure element 22 is transferred from the inspection position 58 to the closing station 34 by means of the handling device 46 if the closure element 22 has no defect.

[0117] In a further step 110 of the method 100, a container is closed in the closing station 34 by means of the closure element 22 transferred to the closing station 34.

[0118] In a further step 112 of the method 100, the inspected closure element 22 is transferred from the inspection position 58 to the disposal device 42 by means of the handling device 46 if the closure element 22 has a defect.

[0119] In a further step 114 of the method 100, the closure element 22 transferred to the disposal device 42 is disposed of by means of the disposal device 42.

Claims

Patent claims Barrier system, in particular isolator system (10), wherein the barrier system comprises a restricted access environment, in particular an isolator (12), a feed device (24) for feeding closure elements (22) into the restricted access environment, a closing station (34) for closing containers by means of the closure elements (22) and a handling device (46) for transferring the closure elements (22), wherein the closing station (34) and the handling device (46) are arranged within the restricted access environment, characterized in that the handling device (46) is designed to transfer a fed closure element (22) from the feed device (24) to a control position (58) within the restricted access environment, wherein the barrier system further comprises a control device (66), wherein the control device (66) is designed toto inspect the closure element (22) at the inspection position (58) and to determine whether the closure element (22) has a defect, and wherein the handling device (46) is configured to transfer the closure element (22) from the inspection position (58) to the closing station (34) if the closure element (22) has no defect. Barrier system according to claim 1, wherein the feed device (24) is configured to provide the closure elements (22) on a surface (26), in particular in a defined position and / or in a defined number, wherein the handling device (46) is configured to transfer the closure element (22) from the surface (26) to the inspection position (58). Barrier system according to claim 1 or 2, wherein the barrier system further comprises a disposal device (42) for disposing of defective closure elements (22), wherein the handling device (46) is configured toto transfer the closure element (22) from the control position (58) to the disposal device (42) if the closure element (22) has a defect., Barrier system according to one of claims 1 to 3, wherein the barrier system comprises a control device (56) for controlling the handling device (46), in particular wherein the control device (66) comprises the control device (56), and the control device (56) is further configured to determine whether the closure element (22) has a defect. Barrier system according to one of claims 1 to 5, wherein the control device (66) comprises a camera system (52), wherein the camera system (52) is configured to capture at least one image of the closure element (22) at the control position (58), wherein the control device (66), in particular the control device (56), is configured to determine, based on the at least one captured image, whether the closure element (22) has a defect.Barrier system according to one of claims 1 to 5, wherein the closure elements (22) are formed with a substantially circular cross-section, wherein the inspection device (66) is configured to inspect the closure element (22) for its roundness at the inspection position (58). Barrier system according to claim 6, wherein the inspection device (66), in particular the control device (56), is configured to determine, based on the at least one captured image, a parameter that indicates a measure of the roundness of the closure element (22), and, based on a comparison of the determined parameter with a threshold value, to determine whether the closure element (22) has a defect. Barrier system according to claim 6, wherein the inspection device (66), in particular the control device (56), is configured to determine whether an outer edge of the closure element (22) lies within a tolerance range in the captured image.Barrier system according to one of claims 1 to 8, wherein the closing station (34) is a crimping station, wherein the closure elements (22) are crimp caps. Method (100) for processing closure elements (22) in a restricted access environment, in particular in an isolator (12), comprising the following steps: Feeding (102) the closure elements (22) into the restricted access environment by means of a feeding device (24); First transferring (104) a supplied closure element (22) from the supply device (24) to a control position (58) within the restricted access environment by means of a handling device (46); Checking (106) the closure element (22) at the check position (58) by means of a check device (66), wherein the check device (66) determines whether the closure element (22) has a defect; Second transferring (108) the closure element (22) from the inspection position (58) to a closing station (34) within the restricted access environment by means of the handling device (46) if the closure element (22) has no defect; and Closing (110) a container in the closing station (34) by means of the closure element (22) transferred to the closing station (34). The method (100) according to claim 10, wherein, in the feeding step (102), the feeding device (24) provides the closure elements (22) on a surface (26), in particular in a defined position and / or in a defined number, wherein, in the first transfer step (104), the handling device (46) transfers the closure element (22) from the surface (26) to the control position (58). Method (100) according to claim 10 or 11, wherein the method (100) further comprises the following steps: Third transferring (112) the closure element (22) from the control position (58) to a disposal facility (42) within the restricted access environment by means of the handling device (46) if the closure element (22) has a defect; and Disposing (114) of the closure element (22) transferred to the disposal device (42) by means of the disposal device (42). The method (100) according to claim 12, wherein in the checking step (106), a camera system (52) of the checking device (66) captures at least one image of the closure element (22) at the check position (58), and the checking device (66) determines, based on the at least one captured image, whether the closure element (22) has a defect. The method (100) according to any one of claims 10 to 13, wherein the closure elements (22) are formed with a substantially circular cross-section, wherein in the checking step (106), the checking device (66) checks the closure element (22) at the check position (58) for its roundness.The method (100) according to claim 14, wherein the control device (66) determines a parameter indicating a measure of the roundness of the closure element (22) based on the at least one captured image and determines whether the closure element (22) has a defect based on a comparison of the determined parameter with a threshold value. The method (100) according to claim 14, wherein the control device (66) determines whether an outer edge of the closure element (22) lies within a tolerance range in the captured image. Method (100) according to one of claims 10 to 16, wherein the closing station (34) is a crimping station, and wherein the closure elements (22) are crimp caps.

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