Apparatus and method for removing containers from a nest

Abstract

The invention relates to a device (1) for removing containers (2) from a nest (20) or tray (22), wherein the containers (2) are arranged in the nest (20) or tray (22) in a plurality of container rows (201, 202, ..., 212). The device comprises a handling device (4) with a first gripping unit (31) and a second gripping unit (32), wherein the handling device (4) is configured to position the first gripping unit (31) on a first container row of the number of container rows (201, 202, ..., 212) of a nest (20) or tray (22) arranged in a transfer position (60), to grip at least one container (2) from the first container row using the first gripping unit (31), and to move the at least one container (2) gripped using the first gripping unit (31) into a first depositing position (51), and to position the second gripping unit (32) on a second container row of the number of container rows (201, 202, ..., 212) of the nest (21) or tray (22) arranged in the transfer position (60), in order to grip at least one container (2) from the second container row using the second gripping unit (32), and to move the at least one container (2) gripped using the second gripping unit into the first depositing position (51) and / or a second depositing position (52). The invention further relates to a method for removing containers from a nest or tray.

Description

[0001] Device and method for removing containers from a nest

[0002] FIELD OF APPLICATION AND STATE OF THE ART

[0003] The invention relates to a device and a method for removing containers from a nest or a tray. The invention particularly relates to a device and a method for removing pharmaceutical containers, such as vials, syringes, cartridges, or ampoules, from a nest or a tray.

[0004] It is known to provide containers for the pharmaceutical industry, also referred to as bundles, objects or packaging, ready to use (Engi) for filling. The containers are placed by a manufacturer in nests or trays. Nests are plate-shaped receiving devices that contain receptacles in which the containers can be inserted in an orderly manner in several parallel rows of containers. The nests are held in tubs and then enclosed in at least one bag as a sterile barrier. It is also known to arrange cover films, in particular so-called TyvekO films, on the nests held in the tubs. A tray or outer packaging is a packaging material that is open at the top and has a rim, in which the containers are usually, but not exclusively, held upside down.The containers arranged in the nests or trays are sterilized using suitable methods and can then be used for filling without further sterilization processes.

[0005] For example, it is known from DE102005006733A1 to remove all containers from the nest and transfer them individually or in rows to a processing machine for the filling process. For a filling process with a defined filling weight and a directly subsequent closing process, it is intended that an empty weight (tare) of the containers be determined before filling and a filling weight (gross) after filling. The difference between the gross and tare weights allows for the exact determination of a filling weight for each container.

[0006] For transfer to the processing machine, EP2441711 discloses removing nests from the trays so that the container rows can be lifted individually or as a whole in the nest. The containers of an exposed container row are then removed from the nest by a handling device with a gripping unit and transferred to a subsequent station. TASK AND SOLUTION

[0007] The objects of the invention are to provide a device and a method which allow a faster removal of containers from a nest or a tray and transfer of the containers to a subsequent station by means of a handling device.

[0008] This object is achieved by the objects having the features of claims 1 and 8. Advantageous embodiments emerge from the subclaims.

[0009] According to a first aspect, a device for removing containers from a nest or a tray, in particular for removing pharmaceutical containers, such as vials, syringes, carpules, or ampoules, from a nest or a tray, wherein the containers are arranged in the nest or tray in several container rows, is provided, comprising a handling device with a first gripping unit and a second gripping unit, wherein the handling device is configured to position the first gripping unit on a first container row of the number of container rows of a nest arranged in a transfer position or of a tray arranged in a transfer position, to grip at least one container from the first container row by means of the first gripping unit, and to move the at least one container gripped by the first gripping unit into a first depositing position, wherein the handling device is further configuredto position the second gripping unit on a second container row of the number of container rows of the nest arranged in the transfer position or of the tray arranged in the transfer position, wherein the first container row and the second container row are arranged offset parallel to one another, wherein the handling device is configured to grip at least one container from the second container row by means of the second gripping unit and to move the at least one container gripped by means of the second gripping unit into the first depositing position and / or into a second depositing position.

[0010] According to a second aspect, a method is provided for removing containers from a nest or a tray, in particular for removing pharmaceutical containers, such as vials, syringes, carpules, or ampoules, from a nest or a tray, by means of a handling device comprising a first gripping unit and a second gripping unit, wherein the containers are arranged in the nest or tray in several container rows, wherein the first gripping unit is positioned by means of the handling device on a first container row of the number of container rows of a nest arranged in a transfer position or of a tray arranged in a transfer position, at least one container from the first container row is gripped by means of the first gripping unit, and the at least one container gripped by means of the first gripping unit is moved to a first depositing position,wherein the second gripping unit of the handling device is positioned on a second container row of the number of container rows of the nest arranged in the transfer position or of the tray arranged in the transfer position, wherein the first container row and the second container row are arranged offset parallel to one another, wherein at least one container from the second container row is gripped by means of the second gripping unit and the at least one container gripped by means of the second gripping unit is moved into the first depositing position or into a second depositing position.

[0011] The terms "first," "second," etc., in the context of this application, serve merely to distinguish between the two and do not indicate a sequence. In particular, the terms "first" and "second" in the context of this application do not serve to indicate the position of a container row in a nest or tray. Thus, any container row, arranged centrally or at an edge, can be selected as the first container row. Likewise, any container row, arranged centrally or at an edge, can be selected as the second container row.

[0012] The list of "first gripping unit" and "second gripping unit" is not exhaustive, and in certain embodiments, more than two gripping units may be provided. The terms "a," "an," "one," etc., are used in the context of this application only as indefinite articles and not as number pronouns.

[0013] The device and method allow containers to be removed from the nests or trays with a high machine performance and transferred to one or more subsequent stations.

[0014] In embodiments, it is provided that the first gripping unit and the second gripping unit can be operated—fixed or selectively—synchronously, alternately, or with a time delay for gripping and transporting the at least one container from the first container row of the number of container rows into the first set-down position or for gripping and transporting the at least one container from the second container row of the number of container rows into the first working position or the second set-down position. In particular, selective operation of the first gripping unit and the second gripping unit allows for a high degree of flexibility for removing containers from differently designed nests and / or trays.

[0015] In synchronous operation, it is intended that a transport of at least one

[0016] Container from a first container row of the number of container rows into a first working position and a transport of the at least one container from a second container row of the number of container rows into a different second working position takes place. In the case of time-staggered operation or alternating operation, it is also provided in embodiments that a transport of the at least one container from a first container row of the number of container rows into the first working position and a transport of the at least one container from a second container row of the number of container rows into the different second working position takes place. In other embodiments, it is provided that a transport of the at least one container from the first container row into the first working position and a transport of the at least one container from the second container row also takes place into the first working position.

[0017] After the first and second container rows have been removed, additional containers can be removed from the same container rows or from one or more additional parallel container rows. Once all container rows have been removed, some embodiments provide for a changing device to replace the empty nest or empty tray in the transfer position with a full nest or full tray.

[0018] In the context of the application, positioning of a gripping unit on a row of containers refers to a positioning relative to the row of containers by means of which gripping at least one container from the row of containers is possible. Depending on the design, the positioning takes place, for example, adjacent to or above the rows of containers. In the context of the application, a gripping unit refers to a device by means of which one or more containers can be gripped. In some designs, the gripping unit comprises gripping elements that can be moved relative to one another, between which a container can be clamped. Depending on the design, all gripping elements, individual gripping elements, or just one gripping element are moved. For example, in some designs the gripping unit comprises a stationary gripping element and a movable gripping element.In other embodiments, the gripping unit comprises suction openings in order to grip a container by means of an applied negative pressure or vacuum. In yet other embodiments, the gripping unit is alternatively or additionally designed with contours in order to grip the containers passively by means of a positive connection, for example underneath a projection. In particular for removal from a tray, the gripping units are designed in such a way that the containers can be gripped by means of an applied negative pressure or vacuum from a gripping unit arranged above the row of containers. For removal from a nest, the gripping units are designed in such a way that the containers can be gripped by means of an applied negative pressure or vacuum from a gripping unit arranged next to the row of containers.Depending on the design and requirements, the first gripping unit and / or the second gripping unit are used to remove individual containers, multiple containers from a container row with a defined pattern, half a container row, a full container row, a full container row in two or more gripping operations, or two or more container rows one after the other from the nest or tray. In embodiments, at least one of the gripping units is designed to selectively grip individual containers, multiple containers from a container row with a defined pattern, half a container row, or a full container row.

[0019] In the context of the application, a handling device refers to a kinematic system that allows fully or partially automated movement of the gripping units for removing the containers from the nest or tray and transferring the removed containers to the depositing positions. In one embodiment, the handling device comprises one or more manipulators with two or more axes. The manipulator or manipulators are designed, for example, as so-called SCARA robots with four axes and four degrees of freedom, or as 5-axis or 6-axis robots. However, handling devices with other kinematics are also conceivable. In some embodiments, the handling device is operated according to a programmed or learned command sequence. In other embodiments, remote-controlled operation and / or operation based on signals from a monitoring device is provided, at least temporarily.

[0020] The device and method are suitable for removing containers from nests or trays, wherein the containers are provided in a number of container rows in the nests or trays. For example, the containers in the nests or trays are arranged in a matrix with a linear arrangement or with a hexagonal offset. The container rows can have different lengths or gaps.

[0021] In some embodiments, the device can also be used to return the containers to the nest or tray. The steps of the method are performed in reverse order. In other embodiments, resetting is performed using a different method and / or a different device.

[0022] To ensure high machine performance and the removal of a constant number of containers, the first container row and the second container row, from which the containers can be removed by means of the first and second gripping units, are arranged offset in parallel. In one embodiment, the first container row and / or the second container row are arranged inside the nest or tray.

[0023] In one embodiment, it is provided that the first row of containers and the second row of containers are arranged on opposite exposed sides of the nest or the tray.

[0024] Container rows on exposed sides of the nest or tray are defined as container rows that are accessible from a periphery of the nest or tray and / or from above, without the handling device or parts thereof being arranged above a container row other than the container row on the exposed side of the nest or tray. In a fully occupied nest or tray, the outermost container rows are arranged on opposite exposed sides of the nest or tray. After their removal, adjacent container rows are arranged inwardly on the exposed sides.

[0025] The handling device can be arranged and moved in such a way that the handling device or parts thereof are prevented from being placed in a primary air supply to still-open containers and / or above still-open containers. In addition, in applications for the pharmaceutical industry within an isolator or clean room, embodiments provide for the movement of the handling device in such a way that disruptions to the primary air supply within the isolator or clean room, which could compromise the sterility of the containers, are avoided.

[0026] In one embodiment, the first set-down position and the second set-down position are provided at different downstream stations, with a first downstream station and a second downstream station being alternately loaded by the device. In other embodiments, the first set-down position and the second set-down position are arranged at exactly one downstream station. The device allows loading of a downstream station with high machine performance.In some embodiments, the downstream station is a processing machine for a filling process, wherein in some embodiments, the processing machine for a filling process with a defined filling weight is provided so that an empty weight (tare) of the containers is determined before filling and a filling weight (gross) is determined after filling, wherein a filling weight for each container can be precisely determined from the difference between gross and tare, and wherein the containers are closed following filling. However, the invention is not limited to transferring the containers to one or more processing machines for a filling process. Rather, in other embodiments, already filled containers are removed from a nest or a tray.

[0027] In embodiments in which the first set-down position and the second set-down position are arranged at exactly one downstream station, it is further provided in embodiments that the first set-down position and the second set-down position are selected such that the at least one container from the first container row and the at least one container from the second container row are arranged along a straight line. In some embodiments, the straight line corresponds to a transport direction at an inlet of the downstream station. Depending on the embodiment, the containers can be transferred directly to a transport path of the downstream station. In other embodiments, a transfer takes place by means of a transfer device, wherein the transfer device allows the containers arranged along the straight line to be moved along a suitable path to one or more downstream stations.In embodiments, it is provided that a pitch of the containers, ie a distance between two containers, can be changed by means of the transfer device.

[0028] In embodiments, the first gripping unit is configured to grip at least two containers from the first row of containers, wherein the handling device is configured to pivot the at least two containers by an angle, in particular by an angle of 90°, about a vertical axis during transport between the first row of containers and the first depositing position. Alternatively or additionally, the second gripping unit is configured to grip at least two containers from the second row of containers, wherein the handling device is configured to pivot the at least two containers by an angle, in particular by an angle of 90°, about a vertical axis during transport between the second row of containers and the second depositing position. The device thereby allows any orientation of a nest or a tray in a transfer position relative to the first and / or the second depositing position.In embodiments, the device is designed to remove containers from two opposite container rows by means of the first gripping unit or the second gripping unit, wherein the container rows are arranged transversely, in particular perpendicularly to an orientation of the at least two containers in the first and / or the second depositing position.

[0029] For high machine performance, in embodiments the first gripping unit is configured to grip all containers from the first row of containers and transport them to the first working position and the second gripping unit is configured to grip all containers from the second row of containers and transport them to the first working position or the second working position.

[0030] In some embodiments, the handling device comprises a first handling unit, on which the first gripping unit is arranged, and a second handling unit, on which the second gripping unit is arranged. The handling units are each designed as kinematics, which allows fully or partially automated movement of the gripping units for removing the containers from the nest or tray and transferring the removed containers to the depositing positions. The handling units are designed identically or differently depending on the application. In one embodiment, one or both of the handling units are designed as manipulators with two or more axes, for example as a SCARA robot or as a 6-axis robot. In some embodiments, the handling units are operated by means of a common control unit according to a programmed or learned command sequence.

[0031] In one embodiment, it is provided that the handling device is designed to pivot the first gripping unit by an angle, in particular by an angle of 180°, about a horizontal axis when transporting the at least one container from the first row of containers into the first depositing position, and / or to pivot the second gripping unit by an angle, in particular by an angle of 180°, about a horizontal axis when transporting the at least one container from the second row of containers into the second depositing position. In particular when the containers are provided in a tray, it is known to provide the containers upside down, i.e. with an opening facing downwards, in the tray. In some embodiments, the handling device is designed to change an orientation of the containers removed from the tray for subsequent filling from above.

[0032] As described above, in some embodiments, the first and / or second set-down positions are arranged on a receiving unit of a downstream station, which allows a position of the containers to be changed. Alternatively or additionally, in one embodiment, the handling device is configured to change a position between two containers picked up by the first gripping unit during transport to the first set-down position, and / or to change a position between two containers picked up by the second gripping unit during transport to the second set-down position.

[0033] For the removal of the containers from a nest, a

[0034] A transfer device is provided which is configured to arrange a nest for removal of the containers in the transfer position, wherein the transfer device is configured to lift at least one container of the first container row and at least one container of the second container row. Lifting the containers allows the containers to be gripped by means of gripping units which are fed from an outside of the nest. The transfer device is configured in particular to selectively lift containers from the container rows provided for removal. In other embodiments, all containers in a nest are lifted simultaneously by means of the transfer device and selectively gripped by means of the gripping units or by means of one of the gripping units.

[0035] BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Further advantages and aspects of the invention emerge from the claims and from the description of exemplary embodiments of the invention, which are explained below with reference to the figures. In the figures:

[0037] Fig. 1: a plan view of a first embodiment of a device for removing containers from a nest, comprising a handling device with two handling units and two gripping units for gripping containers which are arranged in two rows of containers;

[0038] Fig. 2: a plan view of the device according to Fig. 1 when moving the gripped containers away from the nest,

[0039] Fig. 3: a plan view of the device according to Fig. 1 during a transfer of the gripped containers to a schematically shown subsequent station,

[0040] Fig. 4: a plan view of a second embodiment of a device for removing containers from a tray, comprising a handling device with two handling units and two gripping units for gripping containers which are arranged in two rows of containers;

[0041] Fig. 5: a plan view of the device according to Fig. 5 when moving the gripped containers away from the tray, and

[0042] Fig. 6: A top view of the device according to Fig. 5 during transfer of the gripped containers to a schematically illustrated subsequent station. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Fig. 1 to 3 show schematically a plan view of an embodiment of a device 1 for removing containers 2 from a nest 20.

[0044] 1 to 3, the containers 2 in a nest 20 are arranged in a plurality of container rows with a hexagonal offset. More precisely, in the illustrated embodiment, the containers 2 in the nest 20 are arranged in ten container rows 201, 202, ..., 210, wherein each container row 201, 202, ..., 210 comprises twelve containers 2. However, this embodiment is merely exemplary, and the invention is not limited to use for removing containers 2 from such nests 20. In the illustrated embodiment, ten container rows 201, 202, ..., 210 are defined, each comprising twelve containers 2 lined up along a straight line - horizontal in the plane of the drawing - wherein removal takes place from two parallel, offset container rows 201, 202, ..., 210.In other embodiments, twelve container rows, each with ten containers 2, are defined, arranged along a jagged line perpendicular to the plane of the drawing, with removal taking place from two parallel, offset container rows. In yet other embodiments, twenty-four container rows, each with five containers 2, are defined, arranged along a jagged line perpendicular to the plane of the drawing, with removal taking place from two parallel, offset container rows.

[0045] The device 1 shown comprises a transfer device 6 designed as a turntable, on which two nests 20 can be received, wherein by means of the transfer device 6 one of the two nests 20 can be positioned for removal of the containers 2 in the transfer position 60 shown on the right in Figs. 1 to 3.

[0046] In the illustrated embodiment, the two nests 20 are positioned on the transfer device 6 such that a shorter side of the nests 20, i.e. in the illustrated embodiment the sides with five or ten containers 2 per container row, depending on the counting method, point in the direction of a schematically indicated center of rotation 61. The longer sides of the nests 20, i.e. in the illustrated embodiment the sides with twelve containers 2 per container row 201, ..., 210, are arranged on two opposite outer sides of the transfer device 6. In other embodiments, the nests 20 are arranged offset by 90° in the transfer device 6.

[0047] The device 1 comprises a schematically illustrated handling device 4. In the illustrated embodiment, the handling device 4 comprises a first handling unit 41 with a first gripping unit 31 and a second handling unit 42 with a second gripping unit 32. The handling units 41, 42 can be operated separately from one another in the illustrated embodiment. The handling units 41, 42 are operated, for example, by means of a schematically illustrated control unit 7.

[0048] In other embodiments not shown, the first gripping unit 31 and the second gripping unit 32 are arranged on a common kinematics.

[0049] The first handling unit 41 is designed to position the first gripping unit 31, as shown in Fig. 1, on a first container row 201 of the number of container rows 201, 202, ..., 210 of the nest 20 arranged in the transfer position 60, and to grip at least one container 2, in the illustrated embodiment all containers 2 from the first container row 201 by means of the first gripping unit 31. In the illustrated embodiment, the first container row 201 is the container row 201 arranged horizontally at the top in the plane of the drawing. In other embodiments, a different horizontal container row 202, ..., 210 or a vertical container row functions as the first container row.

[0050] As schematically shown in Figures 2 and 3, the first handling unit 41 is designed to move the containers 2 gripped by the first gripping unit 31 into a first depositing position 51.

[0051] Analogously, the second handling unit 42 is designed to position the second gripping unit 32, as shown in Fig. 1, on a second container row 210 of the number of container rows 201, 202, ..., 210 of the nest 20 arranged in the transfer position, and to grip at least one container 2, in the illustrated embodiment all containers 2 from the second container row 210 by means of the second gripping unit 32. In the illustrated embodiment, the second container row 210 is the horizontal container row 210 arranged at the bottom in the plane of the drawing. In other embodiments, a different horizontal container row 202, ..., 210 or a vertical container row functions as the second container row.

[0052] As schematically shown in Figures 2 and 3, the second handling unit 42 is designed to move the containers 2 gripped by the second gripping unit 32 into a second depositing position 52. In the illustrated embodiment, the first depositing position 51 and the second depositing position 52 are provided in a common downstream station 5. The depositing positions 51, 52 are selected such that the containers 2 arranged in the depositing positions 51, 52 are arranged in a row. In the illustrated embodiment, the depositing positions 51, 52 are selected such that the containers 2 arranged in the depositing positions 51, 52 are arranged in a row in alignment with two opposite transport directions 50 of the downstream station 5, each indicated by an arrow.In one embodiment, the containers 2 are transported away from the settling positions 51, 52 directly in the direction of the transport directions indicated by the arrows 50. In other embodiments, the containers 2 are first offset, for example, in a direction indicated by a dashed arrow 53, with the containers 2 then being transported away along the transport directions indicated by the arrows 50. In yet other embodiments, the containers 2 are transported away from the settling positions 51, 52 exclusively along the direction indicated by the dashed arrow 53 or along another path not shown.

[0053] In the embodiment shown in Figs. 1 to 3, the first container row 201 and the second container row 210 offset parallel thereto, which are removed from the nest 20 according to Figs. 1 to 3, are arranged on opposite exposed sides of the nest 20 located in the transfer position 60.

[0054] Container rows on exposed sides of the nest 20 are referred to as container rows which are accessible from a periphery or outside of the nest 20, without access to containers 2 of these container rows 201, 210 being blocked by containers 2 located in other container rows 202, ... , 209. In the initial state shown in Fig. 1, in which a fully occupied nest 20 is arranged in the transfer position 60, the two outermost container rows 201, 210 arranged above and below in the plane of the drawing are accessible via the exposed sides of the nest 20, without the handling device 4 or parts thereof being arranged in the primary air supply to or above containers 2 of these container rows 201, 210 or in the primary air supply to or above containers 2 of other container rows 202, ... , 209.After the removal of the outer container rows 201, 210, the adjacent inner container rows 202, 209 are accessible via the exposed sides.

[0055] In the embodiment illustrated in Figs. 1 to 3, the containers 2 are removed by means of the first and second gripping units 31, 32 from opposite, exposed sides of the nest 20, which are arranged transversely, in particular perpendicularly, to the arrangement of the containers 2 in the depositing positions 51, 62, in particular transversely to the transport direction of the subsequent station 5, indicated by arrows 50. For this purpose, the handling units 41, 42 are designed to pivot a gripped row of containers 2 by 90° between lifting or gripping at the nest and depositing the containers 2 at the depositing position 51, 52. The movement of the handling devices 41, 42 preferably takes place in such a way that during the movement neither the handling units 41, 42 nor the gripping units 31, 32 are in a primary air supply to the containers arranged in the nest 20.

[0056] After the first container row 201 has been set down, the first gripping unit 31 is operable to grip a container row 202, which is adjacent to the inside of the first container row 201, via the exposed side. Likewise, after the second container row 210 has been set down, the second gripping unit 32 is operable to grip a container row 209, which is adjacent to the inside of the second container row 210, via the exposed side.

[0057] In other embodiments not shown, the containers 2 are removed by means of the first and second gripping units 31, 32 from rows of containers arranged vertically in the plane of the drawing in the embodiment shown, wherein, depending on the application, twelve rows of containers each with ten containers 2 or twenty-four rows of containers each with five containers 2 are defined.

[0058] Figures 1 to 3 schematically illustrate a synchronous movement of the gripping units 31, 32 during gripping of the containers 2 from the container rows 201, 202, ..., 210 (see Fig. 1), transport of the containers 2 into the first or second set-down position 51, 52 (see Fig. 2), and set-down of the containers 2 in the first or second set-down position 51, 52 (see Fig. 3). In other embodiments, the containers 2 are removed alternately or at staggered times.

[0059] Figures 1 to 3 show the removal of containers 2 from a nest 20, wherein the removal takes place from two parallel, offset container rows, each containing twelve containers 2. As described above, in one embodiment the nest 20 is arranged offset by 90° in the transfer device 6. In one embodiment, separate container rows are defined for the container rows arranged with a hexagonal offset, i.e. twenty-four container rows in the illustrated embodiment, wherein in one embodiment the removal takes place from or from two of these container rows. The containers in the container rows are arranged with a larger pitch compared to the embodiment according to Figs. 1 to 3. In an alternative embodiment shown in Figs. 4 to 6, the containers 2 are provided in a tray 22 at a transfer position 60. The containers shown in Figs.The device 1 shown in Figures 4 to 6 is similar to the device 1 shown in Figures 1 to 3, and identical or similar elements are identified by identical reference numerals. For a description, see above.

[0060] In the exemplary embodiment illustrated in Fig. 4 to 6, the containers 2 are arranged in the tray 22 in a plurality of hexagonally offset rows. More precisely, in the exemplary embodiment illustrated, the containers 2 are arranged in the tray 22 in twelve container rows 201, 202, ..., 212, each row comprising nineteen containers 2. However, this embodiment is merely exemplary, and the invention is not limited to use for removing containers 2 from such trays 22. Likewise, vertical container rows can also be defined for the tray 22, deviating from the illustration with horizontal container rows 201, ..., 212.

[0061] The gripping units 31, 32 are designed for removal from the tray 22 such that individual or all containers 2 of a container row 201, ..., 212 can be gripped by a gripping unit 31, 32 arranged above this container row 201, ..., 212. Gripping occurs, for example, by means of negative pressure or by means of adhesion forces.

[0062] Removal takes place by means of the first gripping unit 31 from a first container row 201 of the number of container rows 201, ... , 212 and by means of the second gripping unit 32 from a second container row 207, offset parallel thereto, of the number of container rows 201, ... , 212. In contrast to the exemplary embodiment shown in Figs. 1 to 3, the containers 2 are not exclusively removed from container rows 201, 212 on exposed sides of the tray 22. Rather, removal is also possible, as shown in Fig. 4, from an inner container row 202, ... , 211, for example a container row 207. It is obvious that instead of removal from the container row 207 shown, removal from another container row 202, ..., 206 and 208, ... , 212 would also be possible. Likewise, the first gripping unit 31 can be operated to remove containers 2 from an inner container row 202, ..., 211 of a fully occupied tray 22.

[0063] The first or second container row for removal from the fully loaded tray 22 shown in Fig. 4 can be suitably selected depending on the application. Container rows for subsequent removals can also be suitably selected depending on the application. In the illustrated embodiment, the containers 2 are picked up from the tray 22 overhead and transferred overhead to the settling positions 51, 52, with the containers 2 being rotated for filling, for example, at or following the settling positions 51, 52.

[0064] In a modified embodiment not shown, it is provided that the containers 2 are provided overhead and are pivoted by 180° about a vertical axis between lifting or gripping the tray 22 and setting down the containers 2 at the setting down position 51, 52.

[0065] In the embodiments illustrated in Figures 1 to 6, a distance between the containers 2 in the container rows 201, ..., 212 in the nest 20 or in the tray 22 is equal to a distance between the containers 2 in the first or second set-down position 51, 52. In some embodiments, a pitch can be changed at or following the set-down positions 51, 52. In an alternative embodiment, a pitch can be changed during a transfer of the containers 2 from the nest 20 or the tray 22.

[0066] In some embodiments, the handling units 41, 42 can be used exclusively in the device 1 for removing the containers 2. In other embodiments, one or both handling units 41, 42 are configured and arranged to perform additional tasks, either individually or jointly, depending on which container is to be grasped and / or manipulated.

Claims

Patent claims 1. Device for removing containers (2) from a nest (20) or a tray (22), in particular for removing pharmaceutical containers, such as vials, syringes, carpules or ampoules, from a nest or a tray, wherein the containers (2) are arranged in the nest (20) or tray (22) in several container rows (201, 202, ..., 212), comprising a handling device (4) with a first gripping unit (31), wherein the handling device (4) is designed to attach the first gripping unit (31) to a first container row of the number of container rows (201, 202, ..., 212) of a nest (20) arranged in a transfer position (60) or of a tray (22) arranged in a transfer position, in order to grip at least one container (2) from the first container row by means of the first gripping unit (31), and in order to move the at least one container (2) gripped by the first gripping unit (31) into a first depositing position (51), characterized in that the handling device (4) comprises a second gripping unit (32), wherein the handling device (4) is designed to position the second gripping unit (32) on a second container row of the number of container rows (201, 202, ..., 212) of the nest (21) arranged in the transfer position (60) or of the tray (22) arranged in the transfer position (60), wherein the first row of containers and the second row of containers are arranged offset parallel to one another, wherein the handling device (4) is designed to grip at least one container (2) from the second row of containers by means of the second gripping unit (32) and to move the at least one container (2) gripped by means of the second gripping unit into the first setting-down position (51) and / or a second setting-down position (52).

2. Device according to claim 1, characterized in that the first row of containers and the second row of containers are arranged on opposite exposed sides of the nest (20) or the tray (22).

3. Device according to claim 1 or 2, characterized in that the first set-down position (51) and the second set-down position (52) are arranged at a subsequent station (5), wherein in particular the first set-down position (51) and the second set-down position (52) are selected such that the at least one container (2) from the first row of containers and the at least one container (2) from the second row of containers are arranged along a straight line.

4. Device according to claim 1, 2 or 3, characterized in that the first gripping unit (31) is designed to grip at least two containers (2) from the first row of containers, wherein the handling device (4) is designed to pivot the at least two containers (2) during transport between the first row of containers and the first depositing position (51) by an angle, in particular by an angle of 90°, about a vertical axis, and / or that the second gripping unit (32) is designed to grip at least two containers (2) from the second row of containers, wherein the handling device (4) is designed to pivot the at least two containers (2) during transport between the second row of containers and the second depositing position (52) by an angle, in particular by an angle of 90°, about a vertical axis.

5. Device according to one of claims 1 to 4, characterized in that the first gripping unit (31) is set up to grip all containers (2) from the first row of containers and to transport them into the first working position (51) and that the second gripping unit (32) is set up to grip all containers (2) from the second row of containers and to transport them into the first working position (51) or the second working position (52).

6. Device according to one of claims 1 to 5, characterized in that the handling device (4) comprises a first handling unit (41), on which the first gripping unit (31) is arranged, and a second handling unit (42), on which the second gripping unit (32) is arranged, wherein in particular the first handling unit (41) and / or the second handling unit (42) are designed as manipulators with two or more axes, in particular as 4-axis robots, 5-axis robots or 6-axis robots.

7. Device according to one of claims 1 to 6, characterized in that a transfer device (6) is provided which is designed to arrange a nest (20) or a tray (22) for removal of the containers (2) in the transfer position (60), wherein the transfer device (6) is in particular designed to lift at least one container (2) of the first row of containers and at least one container of the second row of containers (22) of the nest (20) arranged in the transfer position.

8. Method for removing containers (2) from a nest (20) or a tray (2), in particular for removing pharmaceutical containers, such as vials, syringes, cartridges or ampoules, from a nest or a tray, by means of a Handling device (4) comprising a first gripping unit (31), wherein the containers (2) in the nest (20) or tray (22) are arranged in a plurality of container rows (201, 202, ..., 212), wherein the first gripping unit (31) is positioned by means of the handling device on a first container row of the number of container rows (201, 202, ..., 212) of a nest (20) arranged in a transfer position (60) or of a tray (22) arranged in a transfer position (60), at least one container (2) is gripped from the first container row by means of the first gripping unit (31), and the at least one container (2) gripped by the first gripping unit (31) is moved into a first depositing position (51), characterized in that a second gripping unit (32) of the handling device (4) is positioned on a second container row of the number of container rows (201, 202, ..., 212) of the nest (20) arranged in the transfer position (60) or of the tray (22) arranged in the transfer position (60), wherein the first row of containers and the second row of containers are arranged offset parallel to one another, wherein at least one container (2) is gripped from the second row of containers by means of the second gripping unit (32) and the at least one container (2) gripped by means of the second gripping unit (32) is moved into the first setting down position (51) or a second setting down position (52).

9. The method according to claim 8, characterized in that the first container row and the second container row are arranged on opposite, exposed sides of the nest (20) or the tray (22).

0. The method according to claim 8 or 9, characterized in that the at least one container (2) from the first container row is moved into the first set-down position (51) at a subsequent station, and the at least one container (2) from the second container row is moved into the first set-down position (51) at the subsequent station or the second set-down position at the subsequent station, wherein in particular the at least one container (2) from the first container row and the at least one container (2) from the second container row are arranged along a straight line. 1.Method according to claim 8, 9 or 10, characterized in that at least two containers (2) are gripped from the first row of containers by means of the first gripping unit (31), wherein the at least two containers (2) are pivoted about a vertical axis by an angle, in particular by an angle of 90°, during transport between the first row of containers and the first depositing position (51), and / or that at least two containers (2) are gripped from the second row of containers by means of the second gripping unit (32), wherein the at least two containers (2) are pivoted about a vertical axis by an angle, in particular by an angle of 90°, during transport between the first row of containers and the first depositing position (51). Transport between the second row of containers and the second depositing position (52) can be pivoted by an angle, in particular by an angle of 90°, about a vertical axis.

12. Method according to one of claims 8 to 11, characterized in that all containers (2) from the first row of containers are gripped by means of the first gripping unit (31) and / or that all containers (2) from the second row of containers are gripped by means of the second gripping unit (32).

13. Method according to one of claims 8 to 12, characterized in that the first gripping unit (31) is moved by means of a first handling unit (41) of the handling device (4) when the at least one container (2) is transported from the first row of containers into the first depositing position (51) and the second gripping unit (32) is moved by means of a second handling unit (42) of the handling device (4) when the at least one container (2) is transported from the second row of containers into the first depositing position (51) or the second depositing position (52).

14. The method according to claim 13, characterized in that during the transport of the at least one container (2) from the first row of containers into the first depositing position (51) by means of the first handling unit (41) and during the transport of the at least one container (2) from the second row of containers into the first depositing position (51) or the second depositing position (52) by means of the second handling unit (42), it is prevented that the first handling unit (41), the first gripping unit (31), the second handling unit (42) and / or the second gripping unit (32) is / are arranged in a primary air supply to still open containers (2) and / or above still open containers (2).

15. Method according to one of claims 8 to 14, characterized in that a transfer device (6) is provided which is set up, a nest for removal of the containers (2) is arranged in the transfer position by means of a transfer device (6), wherein by means of the transfer device (6) at least one container (2) of the first row of containers is lifted for gripping by means of the first gripping unit (31) and at least one container (2) of the second row of containers is lifted for gripping by means of the second gripping unit (32).

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