Handling apparatus for pharmaceutical production material, handling system with a handling apparatus and plant for processing pharmaceutical containers

Abstract

The present invention relates to a handling apparatus (120) for pharmaceutical production material (116), comprising a supporting device (150) and a joint device (152), which comprises a first jointed arm portion (200) that is rotatable relative to the supporting device (150), a tool (164) for handling the production material (116), which is held directly or indirectly on the first jointed arm portion (200), and at least one drive device (156), wherein the handling apparatus (120) comprises a first drive element (204) which can be driven in rotation about the first axis of rotation (216) and is connected in a rotationally fixed manner to the first jointed arm portion (200), and a second drive element (230) which can be driven in rotation about an axis of rotation (252) and is coupled to a first output element (250) via a first transmission device (242), which first output element (250) is operatively connected directly or indirectly to the tool (164), for rotating the tool (164) about a second axis of rotation (252) relative to the first jointed arm portion (200), and wherein the first jointed arm portion (200) comprises or forms a first jointed arm portion housing (216) in which the first transmission device (242) is accommodated. The invention also relates to a handling system (118) and to a plant (100) for processing containers (102).

Description

[0001] HANDLING DEVICE FOR PHARMACEUTICAL PRODUCTION MATERIAL, HANDLING SYSTEM WITH A HANDLING DEVICE AND PLANT FOR PROCESSING PHARMACEUTICAL CONTAINERS

[0002] The present invention relates to a handling device for pharmaceutical production material, comprising a support device and an articulated device which comprises a first articulated arm section rotatable relative to the support device and a tool for handling the production material, which tool is held directly or indirectly on the first articulated arm section, and at least one drive device.

[0003] Furthermore, the present invention relates to a handling system for pharmaceutical production material, comprising a frame which can be set up on a support surface and which comprises a separating element which separates a first zone from a second zone, and a handling device of the type described above.

[0004] Furthermore, the present invention relates to a system for processing pharmaceutical containers.

[0005] In such a system, incoming containers are weighed, filled with a product, weighed again, sealed, and then removed for further processing. Accordingly, the system can have multiple processing stations, for example, at least one weighing station, one filling station, one sealing station, one inspection station, and / or one packaging station. The containers can include, for example, vials, syringes, cartridges, or ampoules. They can be stable containers that can stand independently on a support element. Non-stable objects, which are held, for example, by means of pincer-like gripping elements, are also conceivable.

[0006] Containers as primary packaging are considered pharmaceutical production material in the present case, although this is not limited to these containers. Secondary packaging, in particular trays or tubs in which a plurality of containers are accommodated, can also be considered pharmaceutical production material in the present case. Other production materials include, for example, closing elements for closing the containers. Such closing elements can include, for example, plugs, mushroom caps, or crimp caps. It is also conceivable that production material includes items used to process the containers in the system. Conceivable examples include filling needles, hoses, holding elements for containers, or other production material. In general, format parts of the system that have container-specific or container-processing-specific properties can be counted as production material.

[0007] The handling device of the type mentioned above is used for handling pharmaceutical production material, in particular within such a container processing system. The production material is held with the tool, which can have different designs, particularly depending on the production material. The tool can be moved by means of the articulated device, which can, for example, form an articulated arm and which comprises at least one first articulated arm section that can be moved relative to the support device. At least one drive device serves for driving. It is particularly conceivable that a control device is provided for controlling and / or regulating the operation of the handling device.

[0008] Mechanical handling devices for production materials are already known. For example, WO 2022 / 136537 A1 describes a handling device in the form of an articulated-arm robot (SCARA) in a container processing system. This handling device has proven itself in practice for the tasks assigned to it. Nevertheless, it would be desirable to provide a handling device that includes advantageous properties for processing the production material.

[0009] The object of the present invention is to provide a handling device of the generic type that comprises advantageous properties for processing the production material. Furthermore, it is an object to provide a handling system with such a handling device and a system for processing containers with such a handling system.

[0010] The above object is achieved according to the invention in a handling device of the type mentioned at the outset in that the handling device comprises a first drive element which can be driven to rotate about the first axis of rotation and which is connected in a rotationally fixed manner to the first articulated arm section, and a second drive element which can be driven to rotate about an axis of rotation and which is coupled to a first output element via a first gear device, which first output element is directly or indirectly operatively connected to the tool for rotating the tool about a second axis of rotation relative to the first articulated arm section, and in that the first articulated arm section comprises or forms a first articulated arm section housing in which the first gear device is accommodated.

[0011] The present invention incorporates the consideration that the tool for the production material can be moved in different ways on the articulated device, which in particular comprises or forms an articulated arm. While in WO 2022 / 136537 A1, known from the prior art, a drive motor is required at each joint of the articulated device, in the handling device according to the invention a drive force can be transmitted to the tool through the first articulated arm section. In addition, the first articulated arm section can in turn be rotated relative to the support device about the first axis of rotation. For the purposes mentioned above, the at least one drive device comprises, for example, a first drive motor which is indirectly or directly coupled to the first drive element in order to enable rotation of the first articulated arm section about the first axis of rotation.The drive device comprises, for example, a second drive motor that is indirectly or directly coupled to the second drive element to rotate it. The second drive element drives the first gear device and, via the first gear device, indirectly or directly drives the tool. The first gear device is arranged in the first articulated arm section housing, which in particular offers the possibility of encapsulating the gear device, preferably in a pharmaceutically sealed state.

[0012] The ability to transmit a drive force to the tool through the first articulated arm section offers the possibility of a compact design for the handling device in practice. Preferably, the at least one drive device can be arranged outside the articulated device and the support device. This allows the articulated device to be constructed not only more compactly but also lighter. As a result, the articulated device has lower inertia and is suitable for handling production material with shorter cycle times than a conventional handling device. As a result, the handling device according to the invention is preferably suitable for faster handling steps and for use within an area of ​​the system where, for example, there are restrictions on the available installation space.

[0013] In a preferred embodiment of the invention, it may be particularly advantageous if the handling device is free of a drive motor for an articulated arm section at the joint device and / or at the support device. A drive motor of the drive device is, in particular, not positioned at the support device and / or the joint device. For example, as will be discussed below, a drive motor is accommodated in a zone separated by a separating element of the handling system from another zone in which the support device and / or the joint device are positioned, the latter zone having a higher degree of cleanliness than the former zone.By eliminating the drive motor on the articulated device and / or support device, space and weight can be saved in practice, thus achieving a more compact design and lower inertia for shorter cycle times with the handling device.

[0014] It can be advantageous if the handling device on the articulated device and / or on the support device is free of a connecting cable for a drive motor on the articulated device and on the support device. In particular, it is advantageous if no such connecting cable (e.g. electrical and / or pneumatic) is routed through the support device and the articulated device. Eliminating the need for connecting cables simplifies the structural design of the handling device. Furthermore, there are no connecting cables that are subject to loads resulting from the rotary movement of the articulated arm section and the tool, with such loads occurring particularly at articulated connections. Eliminating the need for connecting cables thus increases the reliability of the handling device.

[0015] Because a lower weight and a more compact design can be achieved compared to a conventional handling device, the use of a pharmaceutical-grade material in the handling device according to the invention poses no difficulties. In particular, stainless steel grade 316L can be used as a material, which meets the requirements for cleanability of the handling device.

[0016] Alternatively or additionally, a pharmaceutical-grade plastic material can be used, for example, which can keep the weight low, which can prove even more advantageous for short cycle times.

[0017] In order to reduce the mass and / or the mass inertia at the articulated arm sections, components, for example covers of drive elements (e.g. housing parts of the support device and / or the gear device(s)), can be made of the plastic material, in particular for use in a higher performance class.

[0018] With regard to advantageous cleanability, it is also advantageous if moving components are encapsulated or enclosed, if possible, and if, in the area of ​​joints, there is a seal between parts of the handling device that move relative to one another. For this reason, it is advantageous if the first gear mechanism is positioned in the first articulated arm section housing, as mentioned above.

[0019] For example, the first articulated arm section housing can comprise a first housing part and a second housing part, thereby achieving a structurally simple design. The first articulated arm section housing comprises, for example, a sealing device arranged between the two housing parts, wherein the housing parts are preferably sealed relative to one another in a pharmaceutically acceptable manner. The pharmaceutically acceptable seal is particularly designed to carry out cleaning with a cleaning liquid, for example water, by rinsing or spraying. Preferably, the seal allows the handling device to be subjected to a VHP cycle in which the handling device is exposed to a decontamination atmosphere (for example H2O2). This preferably allows the handling device to comply with the requirements for Good Manufacturing Practice (GMP), Annex 1.

[0020] The first housing part is designed, for example, in a plate shape, and the second housing part is designed, for example, in a hood shape. An edge of the second housing part is attached to the first housing part, for example, with the sealing device interposed.

[0021] It is advantageous if the support device comprises or forms a support device housing in which the first drive element and the second drive element are partially arranged, wherein the drive elements are guided through at least one through-opening of the support device housing. Preferably, the support device housing provides the possibility of encapsulating the drive elements arranged at least partially therein.

[0022] It is advantageous if the first drive element and / or the second drive element is / are rotationally sealed relative to the support device housing by means of a sealing device. For example, the corresponding drive element is sealed relative to an edge of the at least one through-opening via a rotary sealing element, for example, a double wiper.

[0023] The support device housing can, for example, comprise a first housing part and a second housing part. The first housing part is, for example, plate-shaped, and the second housing part is hood-shaped. It is conceivable for the support device housing to comprise walls positioned between the two housing parts. For example, opposing end walls are provided, with at least one through-opening formed in one end wall. An intermediate wall can be provided in the support device housing, which serves for bearing purposes for a drive element.

[0024] The support device housing preferably comprises a sealing device which is arranged, for example, between the two housing parts or between the end walls and / or the intermediate wall and one of the housing parts.

[0025] The support device housing is preferably sealed in a pharmaceutically acceptable manner via the sealing device in order to improve the cleaning properties, whereby VHP suitability is advantageously ensured.

[0026] With regard to a compact design and structural simplicity, it may be advantageous if the first drive element and the second drive element are aligned coaxially with each other. Accordingly, the second drive element can be rotatable about the first axis of rotation.

[0027] Advantageously, the first drive element and the second drive element are rotatable independently of each other about the first axis of rotation.

[0028] It may prove advantageous, for example, if the first drive element forms a sleeve or a hollow shaft through which the second drive element is guided, or vice versa. In practice, a design in which the first drive element is the sleeve or the hollow shaft proves to be advantageous.

[0029] The support device preferably comprises at least one bearing device, wherein the first drive element is rotatably mounted on the support device via the at least one bearing device and / or the second drive element is rotatably mounted on the support device. Two bearing devices are advantageously provided, wherein a bearing device is each assigned to the first drive element and the second drive element. It can prove advantageous, for example, if the first drive element is mounted on one of the end walls and the second drive element is mounted on an intermediate wall of the support device housing. Accordingly, walls of the support device housing can form bearing supports on which the corresponding bearing devices are arranged.

[0030] Furthermore, it may be advantageous if the handling device comprises a bearing device via which the first drive element and the second drive element are rotatably mounted relative to one another. This is particularly advantageous when the drive elements are coaxially aligned, with the bearing device being positioned, for example, between the drive elements.

[0031] The at least one bearing device of the support device and / or the latter bearing device can be of different types. Roller bearings or plain bearings are particularly conceivable, with the expert selecting the appropriate bearing depending on the requirements. For rotatable components of the handling device, a radial bearing is provided, in particular. Alternatively or additionally, an axial bearing is conceivable. The bearing device can be single-segment or multi-segment. A multi-segment bearing device comprises, for example, two or more bearing elements arranged at a distance from one another, such as bearing rings. Corresponding embodiments can apply to all bearing devices mentioned and described in the present patent application.

[0032] As mentioned, the support device is advantageously free of a drive motor. Coupling elements, for example, can be provided to transmit a drive force to the first and / or second drive element.

[0033] In a preferred embodiment of the invention, for example, a first coupling element associated with the first drive element and a second coupling element associated with the second drive element are provided. The coupling elements, which can preferably be driven independently of one another by the at least one drive device, engage in the support device housing and are coupled therein to the respective drive element. The coupling elements can preferably be driven independently of one another by means of different drive motors of the drive device. Due to the coupling elements, the drive motors can in particular be arranged outside the support device housing.The coupling elements transmit, for example, a drive force from drive motors arranged in a substructure of the handling system within a zone that is separated from the zone in which the support device is arranged by a separating element. In the latter zone, for example, a higher cleanliness class exists than in the former. Arranging the drive motors outside the latter zone (for example, in a machine substructure) allows, for example, the drive motors to be larger and thus more resilient, which is not possible due to space and weight constraints when positioning the drive motors in the support device and in the articulated device, as in a conventional handling device. This increases the reliability of the handling device.

[0034] The coupling elements are preferably drivable in rotation, wherein in particular a respective bearing device is provided for the rotational movement.

[0035] The coupling elements can be connected to the drive elements, for example, via a toothed system. For a compact design, meshing bevel gears, for example, prove advantageous.

[0036] The coupling elements are preferably aligned coaxially to each other.

[0037] The first coupling element may be or form a hollow shaft through which the second coupling element is guided, or vice versa. A bearing device may be provided by which the coupling elements are rotatably mounted relative to one another.

[0038] In practice, it may prove advantageous if the first transmission device is or comprises a gear train, with two or more gears being provided. The gear train may, in particular, be a gear train.

[0039] Alternatively, the first transmission device can be designed differently, for example as a belt transmission.

[0040] With regard to reliable function of the handling device, it is advantageous if the first articulated arm section comprises a bearing device via which the first output element is rotatably mounted relative to the first articulated arm section. The first output element can be driven by the gear device. A drive force can be used to move the tool. In a preferred embodiment of the invention, the versatility of the handling device can be increased by the articulated device comprising a second articulated arm section.

[0041] The second articulated arm section is preferably rotatable relative to the first articulated arm section about the second axis of rotation, wherein the first output element is connected to the second articulated arm section in a rotationally fixed manner. The tool can be connected to the second articulated arm section for rotation about a third axis of rotation. The handling device can comprise a third drive element which is operatively connected to the tool for rotation about the third axis of rotation. The second articulated arm section and the additional third axis of rotation facilitate the handling device by providing an additional movement option. The tool can be rotated via the third drive element, wherein the drive force can be transmitted to the tool in particular through the first articulated arm section and the second articulated arm section.

[0042] The first articulated arm section and the second articulated arm section can, for example, be of substantially the same length. Alternatively, the articulated arm sections can have different lengths, with the first articulated arm section being shorter than the second articulated arm section, or vice versa.

[0043] Advantageously, the third drive element is mounted on the support device and can be driven to rotate about an axis. This axis can, in particular, be the first axis of rotation.

[0044] The third drive element can, for example, be arranged at least partially on the support device housing.

[0045] Preferably, the third drive element is aligned coaxially with the first drive element and / or the second drive element and is rotatable about the first axis of rotation, in particular independently of the first drive element and / or the second drive element.

[0046] In a structurally simple and compact design, the third drive element is configured, for example, as a drive shaft that extends through the second drive element configured as a hollow shaft or sleeve and / or the first drive element. For example, the third drive element extends within the second drive element, which in turn extends through the first drive element. The support device preferably comprises a bearing device via which the third drive element is mounted for rotation about the first axis of rotation.

[0047] Alternatively or additionally, the handling device comprises a bearing device via which the third drive element is rotatably mounted on the second drive element and / or on the first drive element.

[0048] The possibility of driving the drive elements via coupling elements has already been discussed above. Correspondingly, it may be advantageous if the handling device comprises a third coupling element associated with the third drive element, which engages in the support device housing and is coupled therein to the third drive element. The third coupling element can preferably be driven independently of the first coupling element and the second coupling element by means of a drive motor of the drive device. The third coupling element is guided, for example, through the separating element into a substructure of the handling system, in which a drive motor for the third drive element is arranged.

[0049] The third coupling element can be driven in rotation, for example. A bearing device for supporting the third coupling element can be provided.

[0050] The third coupling element is advantageously coupled to the third drive element via a toothing, in particular via meshing bevel gears.

[0051] In an advantageous embodiment of the invention, the third coupling element is aligned parallel to the first coupling element and / or to the second coupling element.

[0052] It can be provided that the third coupling element is aligned coaxially with the first coupling element and / or the second coupling element. In this case, it can be provided that the first coupling element and / or the second coupling element is a hollow shaft or forms one through which the third coupling element is guided, or vice versa.

[0053] It may prove particularly advantageous if the handling device comprises a second gear mechanism coupled to the third drive element, and a second output element, via which the second gear mechanism is coupled to a third gear mechanism arranged on the second articulated arm section, which is operatively connected to the tool via a force transmission element. The drive force of the third drive element can be transmitted indirectly to the tool via the second gear mechanism and the third gear mechanism, through the articulated mechanism. A drive motor for the tool on the support device and on the articulated mechanism can thus be eliminated.

[0054] Conveniently, the second gear mechanism is arranged in the first articulated arm section housing. For example, the second gear mechanism is positioned adjacent to the first gear mechanism, and the first articulated arm section housing is sealed as explained above.

[0055] The second transmission device can, for example, be or comprise a wheel transmission, in particular a gear transmission.

[0056] Alternatively, the second transmission device can be designed differently, for example as a belt transmission.

[0057] It may prove advantageous if the first transmission device and the second transmission device have identical or functionally equivalent designs.

[0058] For example, the first output element is aligned coaxially with the second output element so that both output elements can be rotated about the second axis of rotation.

[0059] The first output element can form a sleeve or hollow shaft through which the second output element is guided. This allows the joint device to have a compact design.

[0060] The handling device advantageously comprises a bearing device via which the second output element and the first output element are mounted on one another.

[0061] The second articulated arm section preferably comprises or forms a second articulated arm section housing in which the third transmission device is accommodated. In this case, it is particularly possible to encapsulate the third transmission device, as already explained in connection with the first transmission device on the first articulated arm section. Reference is made to the advantages mentioned above. For example, the second articulated arm section housing comprises a first housing part and a second housing part, which can be configured, for example, in a plate-shaped or hood-shaped manner.

[0062] Between the housing parts, the articulated arm section housing preferably comprises a sealing device, wherein the housing parts are preferably sealed relative to one another in a pharmaceutically acceptable manner. For example, an edge of the second housing part is attached to the first housing part with the sealing device interposed. The sealing device is preferably designed such that spray cleaning, rinsing cleaning, and decontamination via a VHP cycle can be conveniently carried out on the second articulated arm section housing, as explained in connection with the first articulated arm section housing.

[0063] The second articulated arm section housing is advantageously rotationally sealed relative to the first articulated arm section housing by means of a sealing device. For this purpose, a rotary sealing element, such as a double wiper, is provided between the two housings.

[0064] Advantageously, the joint device is free from axial movements of the drive elements relative to the first joint arm section and / or the output elements relative to the first joint arm section and / or relative to the second joint arm section.

[0065] When implementing the handling device in practice, it proves advantageous if the third transmission device is or comprises a belt transmission comprising a drive wheel connected in a rotationally fixed manner to the second output element, a driven wheel connected in a rotationally fixed manner to the power transmission element, and a belt element running over these two wheels. The belt element is preferably a toothed belt. The belt transmission allows for a compact design while simultaneously reducing the mass of the second articulated arm section.

[0066] Conveniently, a tensioning wheel is provided for adjusting the belt tension.

[0067] Alternatively, the third transmission device can be designed differently, for example as a wheel transmission, in particular as a gear transmission. The first rotational axis, the second rotational axis, and the third rotational axis can, for example, be aligned parallel to each other in pairs.

[0068] The tool is advantageously designed with multiple positions for the simultaneous processing of a plurality of preferably identical specimens of the production material. Positions on the tool, such as holders for the production material, are advantageously arranged equidistant from one another.

[0069] Various production materials have already been discussed. In a preferred embodiment, the production material is closure elements for pharmaceutical containers. However, the present invention is not limited to this. Accordingly, it may be advantageous if the handling device is a feed device for closure elements for pharmaceutical containers, wherein the tool comprises a receiving body for the closure elements.

[0070] It is understood that the present invention is not limited to the use of the handling device for the application described here with closing elements.

[0071] Possible applications of the handling device according to the invention and of the handling system according to the invention exist, for example, for any one or more of the following tasks in a plant for processing containers: container feeding (e.g. inserting / removing syringes or vials into a transport system), transferring packaging materials (e.g. repositioning syringes or vials), use in a closing gassing station, filling needle movement, IPC processes (transferring containers onto scales), transferring movement from the production position of the filling needles to a CIP / SIP position (clean-in-place, sterilization-in-place) and back again, transferring movement from a setup position of the filling needles to a production position and back again, random removal of containers from a transport system, handling of culture medium carriers such as Petri dishes (biomonitoring), handling of sterile tools, moving container closures (crimp caps, needle guards...).

[0072] It can be provided that the first articulated arm section can be rotated relative to the support device over an angle of rotation of at least 180°. The same can apply to a rotation angle of the second articulated arm section relative to the first articulated arm section. The same can apply to a rotation angle of the tool relative to the first articulated arm section or to the second articulated arm section. Depending on the nature of the handling device, in particular the gear devices and / or drive motors, it can be provided that the axes of rotation of the first and / or second articulated arm section and / or of the tool can be controlled and operated independently of one another. In practice, however, it can also be possible that, due to the nature of the gear devices and / or the drive motors, starting elements and / or internal friction, the rotational movements about two or more of the axes of rotation are dependent.For this reason, in practice, it may be necessary or necessary, for example, for two or more drive motors to be active in order to perform a pivoting movement about only one axis of rotation in order to compensate for the aforementioned dependence of the rotational movements.

[0073] The object mentioned at the outset is further achieved by a handling system according to the invention for pharmaceutical production material, comprising a frame which can be set up on a setting-up surface and which comprises a separating element, in particular a plate-shaped separating element, which separates a first zone from a second zone, wherein the first zone has a higher purity class than the second zone, a handling device of the type described above, wherein the support device and the joint device are arranged in the first zone, wherein the at least one drive device is arranged in the second zone, wherein at least one coupling element of the handling device is guided through a through-opening of the separating element.

[0074] The advantages already mentioned in connection with the handling device according to the invention can also be achieved with the handling system. Reference is made to the above explanations.

[0075] Advantageous embodiments of the handling system according to the invention result from advantageous embodiments of the handling device according to the invention. Reference is also made to the above explanations in this regard.

[0076] In the handling system according to the invention, it is advantageous that the drive device, in particular a drive motor, is arranged in the second zone. The drive force is transmitted via the coupling element through the separating element into the region of the first zone in order to drive the corresponding drive element there. Advantageously, the support device and / or the joint device are free of a drive motor and / or connecting lines therefor, as explained above. The first zone can be a clean room, for example, class A, B, C, or D. The separating element can be covered by a machine guard with appropriate walls and / or by an isolator device.

[0077] The dividing element can, for example, be a table top of the frame.

[0078] The handling system can, for example, comprise a support device, particularly a columnar one, in which the at least one coupling element is arranged and which extends through the through-opening or engages it, or rests against the edge of the through-opening in the first zone. The handling system preferably comprises a sealing device for sealing the through-opening between the first zone and the second zone.

[0079] The support device forms, for example, a housing or enclosure for the at least one coupling element, preferably the three coupling elements mentioned above.

[0080] The at least one coupling element or the support device is preferably free from linear movement, in particular a lifting movement, through the passage opening. This prevents the transfer of germs from the second zone to the first zone and thus increases the hygienic standard of the handling system.

[0081] The handling device and handling system preferably utilize only rotary movements and corresponding rotary seals. Translational movements, such as lifting movements, are preferably not present to prevent particle entrainment resulting from translational movements. This, in particular, prevents particles from being introduced into the first zone.

[0082] In a preferred embodiment of the invention, the handling system advantageously comprises at least one transport track for closing elements and a holding element for containers to be closed. Depending on the type of container, the holding element can be, for example, a support element for stable containers or a gripping element for non-stable containers. Particularly in the last-mentioned advantageous embodiment, the tool is movable from a receiving position to a transfer position and vice versa, with closing elements being received with the tool in the receiving position and positioned above the container to be closed in the transfer position.

[0083] Position and orientation information refer to the intended use of the handling system and the handling device.

[0084] In the aforementioned embodiment, the tool accommodates the closing elements, which are positioned above the containers. Using a pushing element, such as a ram, the closing elements can be placed on or in the containers to close them.

[0085] The tool is advantageously movable such that the closing elements are oriented opposite each other in the receiving position and the transfer position. In particular, the closing elements are rotated. For example, in the receiving position, the closing elements can be oriented with the side facing the filled product facing upward. Any buildup is removed via a gas flow (e.g., laminar flow, LF). In the transfer position, the side facing the product is facing downward.

[0086] It can be advantageous if the tool is movable in such a way that the closing elements, depending on the nature, in particular the size, of the container to be closed, are picked up at the same receiving position and can assume different transfer positions arranged above the container along a container axis, with containers of different nature having identical container axes. On the receiving side, the closing elements can be fed in at the same position. On the transfer side, for example, the larger the container, the higher the closing elements are arranged. However, the closing elements can be positioned along the same axis, in particular a container axis, regardless of size. As a result, pushing elements can be moved along the same axis regardless of size in order to close containers of different sizes with the closing elements.

[0087] A system according to the invention for processing pharmaceutical containers comprises a handling system of the type described above, wherein the handling system comprises or forms a closing station for the containers, and wherein at least one further processing station is provided for the containers, for example, a filling station. For example, closing elements are supplied to the containers filled with a product, and the closing elements are placed or inserted onto or into the containers by means of push elements.

[0088] The system according to the invention then exhibits the advantages and effects mentioned in connection with the handling device and the handling system. Advantageous embodiments of the system result from advantageous embodiments of the handling device and the handling system.

[0089] The following description of preferred embodiments of the invention, taken in conjunction with the drawings, serves to explain the invention in more detail. They show:

[0090] Figure 1: a system according to the invention for processing pharmaceutical containers in a preferred embodiment, comprising a handling system according to the invention with a handling device according to the invention, each in a preferred embodiment;

[0091] Figure 2: a schematic representation of the handling system of the plant from Figure 1;

[0092] Figure 3: a perspective partial view of the handling device and a locking device of the handling system from Figure 1;

[0093] Figure 4: a perspective view of the handling system from Figure 1 in a partial view;

[0094] Figure 5: a perspective partial view of the handling device with some components omitted;

[0095] Figure 6: a representation corresponding to Figure 5 in a different perspective;

[0096] Figure 7: a side view of the handling device along the arrow “7” in Figure 5;

[0097] Figure 8: a sectional view taken along line 8-8 in Figure 7; Figure 9: a side view of the handling device with its tool in a receiving position for closing elements;

[0098] Figure 10: the handling device from Figure 9, with the tool in a transfer position; and

[0099] Figures 11 and 12: Representations corresponding to Figures 9 and 10, respectively, wherein the closing elements are used to close containers of different sizes.

[0100] Figure 1 shows a schematic representation of an advantageous embodiment of the system according to the invention for processing pharmaceutical containers, designated overall by reference numeral 100. Examples of containers 102 in this case are vials 104, which are shown in Figures 10 and 12. However, the invention is not limited to this type of container.

[0101] The system 100 allows the containers 102 to be processed at a plurality of processing stations 106. The processing stations 106 include, for example, at least one weighing station 108 for tare weighing and gross weighing of the containers in an unfilled or filled state, a filling station 110 for filling the containers 102 with a product, and a closing station 112. At the closing station 112, the containers 102 can be closed using closing elements 114.

[0102] The closing elements 114 are shown in Figures 9 to 12 and in Figure 6. The closing elements 114 are considered pharmaceutical production material 116. In view of the above, it is understood that the present invention is not limited to closing elements 114 as production material 116.

[0103] The system 100 comprises the handling system 118 according to the invention in a preferred embodiment, which in turn comprises the handling device 120 according to the invention in a preferred embodiment. The handling device 120 is configured here as a feed device 122 for the closing elements 114. Furthermore, the handling device 120 comprises a closing device 124 for pressing the closing elements 114 onto the containers 102 and a storage device 126 for storing the closing elements 114. The closing device 124 and storage device 126 will be discussed further below. As can be seen, for example, from Figure 2, the handling system 118 comprises a frame 128 that can be positioned on a support surface 130 of a room, for example, a laboratory.The frame 128 comprises a separating element 132, which in this case is plate-shaped and can, in particular, form a support element for processing stations 106. The separating element 132 can, in particular, be a table top of the frame 128.

[0104] The separating element 132 separates a first zone 134 from a second zone 136. The cleanliness class of the first zone 134 is higher than the cleanliness class of the second zone 136. In particular, the first zone 134 is part of a cleanroom, for example, cleanliness class A, B, C, or D. The second zone 136 is arranged below the separating element 132 and thus in the substructure 138 of the handling system 118, simultaneously a substructure 138 of the system 100.

[0105] The first zone 134 is preferably covered by a machine guard or an isolator device 140, with which the cleanliness class can be ensured.

[0106] Within the first zone 134, the containers 102 can be transported along the processing stations 106 by means of a transport system 142. In the present case, the vials 104 are stable containers 102, so that the transport system 142 comprises a support element 144 (Figures 10 and 12). The support element 144 is formed, for example, by a conveyor belt, although the present invention is not limited thereto. Instead of a belt conveyor, a rake conveyor or a conveyor with a robotic device can be provided, for example.

[0107] In the present embodiment, the containers 102 can be positioned on the support element 144 in the handling system 118, regardless of their size, such that the container axes 146 are spatially fixed. For processing on the handling system 118, the containers 102 also have defined positions along the transport system 142.

[0108] A control device 148 is provided for controlling and / or regulating the operation of the system 100. The control device 148 can simultaneously be a control device of the handling system 118 and the handling device 120. It is advantageously operatively connected to all controllable components of the system 100. As can be seen in particular from Figures 2 and 4, the handling device 120 in this case comprises a support device 150, a joint device 152, a carrying device 154, and a drive device 156.

[0109] The drive device 156 comprises drive units, here configured as drive motors 158. The drive motors 158 are, for example, servo motors or stepper motors. The drive motors 158 can, for example, comprise an integrated or attached transmission that provides the respective optimal transmission ratio of the respective motor speed for the respective joint and / or the respective transmission device.

[0110] In the present case, the drive device 156 is arranged in the second zone 136 and thus in the substructure 138.

[0111] In the present case, a through-opening 160 is formed in the separating element 132 (Figure 2). A plane 162 formed by the separating element 132 is schematically illustrated in Figure 4.

[0112] The drive motors 158 are held, for example, at the bottom of the separating element 132 or otherwise on the frame 128.

[0113] The drive motors 158 serve to rotatably drive the joint device 152 and a tool 164, held on the joint device 152, for the closing elements 114. For this purpose, a respective drive motor 158 drives a coupling element 166, 168, and 170, respectively. The coupling elements 166, 168, and 170 are guided through the through-opening 160 and protrude into the first zone 134. The drive forces are thus provided in the handling system 118 by the drive motors 158 arranged in the base 138.

[0114] In contrast, no drive motors are arranged on or in the support device 150 or on or in the joint device 152. Furthermore, no connecting lines, such as electrical lines and / or pneumatic lines, are arranged in the support device 150 or in the joint device 152, and in particular, no connecting lines extend through these devices 150, 152.

[0115] Overall, this results in a compact design of the handling device 120 while at the same time being relatively lightweight compared to conventional handling devices. This makes it possible to increase the work rate achievable with the handling device 120 due to its compact design and low weight. At the same time, it is possible to use the handling device 120 in areas of the system 100 where limited installation space is available.

[0116] In the present embodiment, the support device 150 forms a kind of base for the joint device 152. In the present example, the support device 150 is placed on top of the support device 154, which is formed in a column shape. The support device 154 forms a housing 172 for the coupling elements 166, 168, and 170 and encloses them in a circumferential direction.

[0117] In a different embodiment, the support device 150 could, for example, be arranged directly on the separating element 132, whereby the carrying device 154 is omitted.

[0118] In the present case, the support device 154 rests against an edge 174 of the through-opening 160 (Figure 2). Alternatively, for example, the support device 154 could be provided to engage into the through-opening 160 or to pass through it.

[0119] For the purpose of zone separation, it may be advantageous if a sealing device 176 is present between the first zone 134 and the second zone 136. For example, the sealing device 176 seals between the support device 154 and the edge 174 of the through-opening 160. The sealing device 176 is shown schematically in Figure 2.

[0120] As can be seen, for example, from Figures 2 to 6, the support device 150 in the present embodiment comprises a support device housing 178 (hereinafter: housing 178). The housing 178 is attached to the top of the support device 154.

[0121] The housing 178 comprises a plate-shaped housing part 180 in the present example, which forms a bottom of the housing 178, as well as a further housing part 182, which is hood-shaped in the present example. The housing part 182 overlaps the housing part 180 and encloses a receiving space 184 with it.

[0122] Furthermore, the housing 178 comprises end walls 186, 188 at opposite ends and, in this case, an intermediate wall 190 arranged between the end walls 186, 188. A sealing device 192 seals the housing 178, in this case between the housing part 182 and the walls 186, 188, and 190. The housing 178 is thus sealed in a particularly pharmaceutically acceptable manner, allowing the housing 178 to be hosed down or rinsed for cleaning. The housing 178 can be subjected to a VHP cycle, in particular with H2O2.

[0123] The coupling elements 166, 168 and 170 engage through the housing part 180 into the receiving space 184.

[0124] In this case, the coupling elements 166, 168, and 170 are rotatable about rotation axes 194 and 196 (Figure 8). There is a rotatable mounting on the support device 154.

[0125] In particular, there is no translational movement of the coupling elements 166, 168, and 170. Drive forces of the drive motors 158 are transmitted to the joint device 152 solely via rotational movements. By avoiding translational movements, particularly between the first zone 134 and the second zone 136, the risk of particles being carried over, particularly into the first zone 134, is reduced or advantageously eliminated, so that the hygienic standard of the handling device 120 is high.

[0126] In the present embodiment, the coupling elements 166 and 168 are aligned coaxially with each other and rotatable independently of each other about the rotation axis 194. Here, the (first) coupling element 166 is a hollow shaft 198 through which the (second) coupling element 168 extends.

[0127] The (third) coupling element 170 is arranged parallel to the other two coupling elements 166, 168.

[0128] In the present example, the joint device 152 forms an articulated arm with a first articulated arm portion 200 that is rotatable relative to the support device 150. The articulated arm portion 200 can be rotated relative to the support device 150 via the coupling element 166.

[0129] The articulated arm further comprises a second articulated arm section 202, which is rotatably mounted on the first articulated arm section 200. The second articulated arm section 202 can be rotated relative to the first articulated arm section 200 via the coupling element 168. The tool 164 is rotatably mounted on the second articulated arm section 202. The tool 164 can be rotated relative to the second articulated arm section 202 via the coupling element 170.

[0130] In the present embodiment, the first articulated arm section 200 and the second articulated arm section 202 are substantially of the same length.

[0131] The following describes how the respective drive force provided by the drive motors 158 via the coupling elements 166 to 170 is transmitted for the above-mentioned rotary movements.

[0132] For rotating the first articulated arm section 200, the handling device 120 comprises a (first) drive element 204. In the present case, the drive element 204 is configured as a sleeve that is inserted into a through-opening 206 of the housing 178. The through-opening 206 is formed in the end wall 186.

[0133] The drive element 204 and the bevel gear 214 are rotatably mounted on the end wall 186 of the housing 178 via a bearing device 208. The bearing device 208 is designed as a rolling bearing and, in this case, comprises two bearing rings.

[0134] A sealing device 210 is provided, which provides a rotary seal between the drive element 204 and the end wall 186 of the housing. The sealing device 210 is designed as a rotary sealing element, for example, as a double wiper.

[0135] The drive element 204 is coupled to the coupling element 166 via meshing bevel gears 212 on the coupling element 166 and 214 on the drive element 204. Rotation of the coupling element 166 drives the drive element 204 to rotate about a (first) axis of rotation 216, which is oriented perpendicular to the axis of rotation 194.

[0136] The drive element 204 is coupled in a rotationally fixed manner to the first articulated arm section 200. The drive element 204 rests, for example, in a flange-like manner on the articulated arm section 200 (Figure 8).

[0137] In the present embodiment, the first articulated arm section 200 comprises a first articulated arm section housing 218 (hereinafter: housing 218). The housing 218 comprises a housing part 220 and a housing part 222. The housing part 220 is connected to the drive element 204 in a rotationally fixed manner and, in this case, is plate-shaped. The housing part 222 is hood-shaped.

[0138] An edge 224 of the housing part 222 is joined to the housing part 220 via a sealing device 226. The sealing device 226 seals the housing 218 for a pharmaceutically acceptable design, particularly for cleaning purposes and resistance to VHP cycles. The housing 218 encloses a receiving space 228.

[0139] When the coupling element 166 is driven, the first articulated arm section 200 is rotated about the rotation axis 216. The second articulated arm section 202 held thereon and the tool 164 held thereon are also rotated about the rotation axis 216.

[0140] A (second) drive element 230 is provided to drive the second articulated arm section 202. In this case, the drive element 230 passes through the sleeve of the drive element 204 and is aligned coaxially with it. The drive element 230 is designed as a hollow shaft 232.

[0141] The drive element 230 is rotatably mounted on the intermediate wall 190 via a bearing device 234, in this case a rolling bearing.

[0142] A further bearing device 236 is provided, via which the drive element 230 is rotatably mounted on the drive element 204. The bearing device 236 is designed as a rolling bearing.

[0143] The drive element 230 is coupled to the second coupling element 168 via bevel gears 238 on the coupling element 168 or 240 on the drive element 230. When the coupling element 168 is driven, the drive element 230 rotates about the rotation axis 216.

[0144] To transmit the drive force to the second articulated arm section 202, the handling device 120 comprises a (first) transmission device 242. The transmission device 242 is accommodated in the housing 218. In the present case, the transmission device 242 is a wheel transmission, in particular a gear transmission.

[0145] A first gear 244 is rotationally fixedly connected to the drive element 230. The gear 244 meshes with another gear 246, which in turn meshes with a third gear 248, which is rotationally fixedly connected to a (first) output element 250. The output element 250 defines a (second) axis of rotation 252, which in this case is aligned parallel to the axis of rotation 216.

[0146] The number of teeth of the wheels 244 and 248 is identical in this case, so that neither a step-up nor a reduction of the speed of the drive element 230 takes place.

[0147] The output element 250 is rotatably mounted on the articulated arm section 200, in particular its housing part 220, via a bearing device 254. The bearing device 254 is designed as a rolling bearing and comprises two bearing rings arranged at a distance from one another.

[0148] The output element 250 passes through the housing part 220 and is connected in a rotationally fixed manner to the second articulated arm section 202.

[0149] The second articulated arm section 202 comprises a (second) articulated arm section housing 256 (hereinafter: housing 256). The housing 256 comprises a housing part 258 and a further housing part 260.

[0150] Housing part 258 is plate-shaped, and housing part 260 is hood-shaped. An edge 262 of housing part 260 is attached to housing part 258 with the interposition of a sealing device 264. Sealing device 264 provides a particularly pharmaceutical-compliant seal for housing 256, allowing for cleanability and the use of VHP cycles. Housing 256 forms a receiving space 266.

[0151] The articulated arm sections 200, 202 are rotationally sealed relative to each other. For this purpose, a sealing device 268 is provided, which seals between the housing part 260 and the housing part 220 and is designed as a double wiper.

[0152] When the coupling element 168 is driven, the drive force is transmitted via the drive element 204 and the gear device 242 to the output element 250 and also to the articulated arm section 202 for rotation about the rotation axis 252.

[0153] To rotate the tool 164, the handling device 120 includes a (third) drive element 270. The drive element 270 is configured as a shaft that is aligned coaxially with the drive elements 204 and 230. The drive element 270 extends through the drive element 230. The drive element 270 is rotatably mounted on the housing 178 via a bearing device 272, in this case in the form of a rolling bearing. In this case, the bearing device 272 is arranged on the end wall 188.

[0154] In addition, a bearing device 274 is provided, via which the drive element 270 is rotatably mounted on the drive element 230.

[0155] To couple the drive element 270 to the coupling element 170, meshing bevel gears 276 are provided on the coupling element 170 and 278 on the drive element 270. When the coupling element 170 rotates about the rotation axis 196, the drive element 270 rotates about the rotation axis 216.

[0156] In order to transmit the driving force to the tool 164, the handling device 120 comprises a (second) transmission device 280 and, in addition, a (third) transmission device 282.

[0157] The transmission device 280 is arranged in the housing 218 and, in this case, is configured as a wheel transmission and, in particular, a gear transmission. The transmission devices 242 and 280 are functionally identical and differ only in the arrangement of the gears 244, 246, and 248 in the receiving space 228. The number of teeth of the gears 244 and 248 is also identical in this case, so that neither a step-up nor a step-down of the speed of the drive element 270 occurs.

[0158] In the second transmission device 280, the gear 248 is connected in a rotationally fixed manner to a (second) output element 284. The output element 284 is configured coaxially with the output element 250 and is rotatable relative thereto. The output element 250 is designed as a sleeve through which the output element 283 is guided.

[0159] A bearing device 288 ensures the rotatable mounting of the output element 284 relative to the output element 250. Another bearing device 286 is provided for mounting the output element 284 on the second articulated arm section 202. The bearing devices 286, 288 are roller bearings in this case. The bearing device 286 is mounted opposite a ring 290, which is non-rotatably connected to the housing part 258.

[0160] The third transmission device 282 is arranged in the receiving space 266. In this case, the transmission device 282 is configured as a belt transmission, in particular a toothed belt transmission. A drive gear 292 is rotationally connected to the output element 284 and is driven by it. An output gear 294 is rotationally connected to a power transmission element 296.

[0161] The gears 292 and 294 have the same number of teeth, so that there is neither an increase nor a reduction in the speed.

[0162] The force transmission element 296 defines a (third) rotational axis 298, which is aligned parallel to the rotational axes 252 and 216. The tool 164 is connected to the force transmission element 296, in this case by a screw connection. For this purpose, the force transmission element 296 protrudes from the housing 256. Preferably, the force transmission element 296 is rotationally sealed relative to the housing 256 via a rotary sealing element.

[0163] A toothed belt 300 of the transmission device 282 transmits the drive force by meshing with the wheels 292, 294. In addition, a tensioning wheel 302 is provided with which the tension of the toothed belt 300 can be adjusted.

[0164] When the coupling element 170 rotates, the drive element 270 rotates about the rotation axis 216. The drive force is transmitted via the gear mechanism 280 to the output element 284 for rotation about the rotation axis 252. Furthermore, the drive force is transmitted via the gear mechanism 282 for rotation of the force transmission element 296 and thus of the tool 164 about the third rotation axis 298.

[0165] Depending on the nature of the handling device 118, specifically the gearing devices 242, 280 and / or 282, and / or the drive motors 158, it can be provided that the rotary axes 216, 252, and 298 can be controlled and operated completely independently of one another. For example, when one drive motor 158 is activated, the other two drive motors 158 can be switched to passive / inactive mode. With sufficiently good mounting, this results in the first articulated arm section 200 being pivoted, whereas the angle of the articulated arm section 202 and the tool 164 relative to the articulated arm section 200 being maintained, in that only the second articulated arm section 202 is pivoted, whereas the angle of the tool 164 to the articulated arm section 202 and the angle of the articulated arm section 200 to the support device 150 are maintained, or in that only the tool 164 is pivoted, whereas the articulated arm sections 200, 202 are not moved.

[0166] In practice, however, due to the nature of the gearing devices 242, 280 and / or 282, and / or the drive motors 158, which cannot be fully switched off, there may be a dependency of the rotational movements about two or more of the rotational axes 216, 252, and 298 due to starting elements and / or internal friction. Frictional influences of the various bearing devices may also contribute to this dependency.

[0167] For this reason, in practice, it may be provided or required, for example, that two or more drive motors 158 are active in order to perform a pivoting movement about only one rotational axis (for example, of the articulated arm section 200, the articulated arm section 202, or the tool 164), whereas the remaining angular positions of the articulated arm sections or the tool relative to one another should not change, as explained above. By activating two or more drive motors 158, the aforementioned dependencies can be compensated for, so that, as a result, only one of the rotational axes 216, 252, and 298 is controlled.

[0168] Depending on the nature of the gearing devices and / or the drive motors 158 and the frictional influences that may occur, the person skilled in the art will be able to ensure a desired movement of the tool 164 by appropriately controlling the drive motors 158.

[0169] In this case, the tool 164 serves to hold the locking elements 114. In this case, the tool 164 is multi-positioned with a plurality of receptacles 304, in this case eight, for example.

[0170] During operation of the handling system 118, closing elements are supplied by the storage device 126, which for this purpose may in particular have feed tracks 306. Upstream of the feed tracks 306, the storage device 126 comprises, for example, a container for closing elements 114, for example in the form of a conveyor pot.

[0171] The closing elements are transferred from the feed tracks 306 into the receptacles 304 in a manner familiar to those skilled in the art and can be transported by the tool 164. Figure 9 illustrates this by way of example. The tool 164 assumes a receiving position in which the closing elements 114 are received. Their orientation is such that the side facing the product is facing upward.

[0172] An air flow can be provided via the system 100, for example by means of LF (laminar flow), in order to act on the closing elements 114 on the side facing the product and to blow off particles.

[0173] Starting from the receiving position, the tool 164 is then pivoted into a transfer position, which is shown in Figure 10, under suitable control of the drive motors 158.

[0174] In the transfer position, the closing elements 114 are arranged above the containers 102 and are aligned with the respective container axes 146.

[0175] The closing device 124 comprises push elements 308 (Figures 3 and 10), with each closing element 114 being assigned a push element 308. By axially moving the push elements 308 along the container axis 146 by means of drive units 310 of the closing device 124, the closing elements 114 are pressed out of the receptacles 304 and close the containers 102.

[0176] The handling system 118 is designed such that the receiving position is independent of the size of the containers 102. This is illustrated in Figures 9 and 11. Figures 9 and 11 show how the receiving position is identical for containers 102 of different sizes. This is advantageous because the position of the feed tracks does not need to be changed and no translational lifting movement needs to be performed from the substructure 138.

[0177] In the transfer position, the closing elements 114 are arranged in different positions depending on the size of the containers 102, but in each case above the containers 102 on the container axes 146. This is shown in Figures 10 and 12. In the variant shown in Figure 12, the containers 102 are larger than in the situation according to Figure 10. However, in this case too, the closing elements 114 are aligned axially with the container axes 146 and can be pressed against them by means of the pushing elements 308. The required trajectory of the tool 164 in order to assume the correct receiving position and the correct transfer position can be ensured by suitable control of the articulated device 152.

[0178] It is understood that the present invention is not limited to the use of the handling device for the pick-and-place application of closure elements described here.

[0179] In the present case, the axes of the coupling elements 166 to 170 are aligned perpendicular to the support surface 130 and the separating element 132, in particular vertically. The rotation axes 216, 252, and 298 are aligned parallel to the support surface and the separating element, in particular horizontally.

[0180] In a different embodiment of the handling device 120 according to the invention, different axes could be oriented. Deviating from the vertical version of the handling device 120 described here, it is conceivable that it is mounted suspended, for example, on a side wall or on a ceiling wall of the system 100.

[0181] The components of the handling system 118, in particular the handling device 120, that are exposed to the atmosphere of the first zone 134 are, as far as possible, made of a pharmaceutical-grade material that allows for WIP applications and / or decontamination applications. For example, stainless steel grade 316L is used. Alternatively or additionally, a plastic material can be used to reduce mass and / or inertia. For example, the housings 178, 218, and / or 256 are made entirely or partially of the plastic material.

[0182] With the handling system 118, the containers 102 can be closed in a timed manner. The cycle time can be approximately 1 to 2 seconds, for example. With the eight-position configuration, approximately 14,400 to 28,800 containers can be processed per hour. In a practical implementation, for example, a cycle time of 1.2 seconds was achieved, with a processing of 24,000 containers per hour.

[0183] 100 system

[0184] 102 containers

[0185] 104 Vials

[0186] 106 processing station

[0187] 108 weighing station

[0188] 110 filling station

[0189] 112 locking station

[0190] 114 locking element

[0191] 116 Production material

[0192] 118 Handling system

[0193] 120 Handling device

[0194] 122 Feeding device

[0195] 124 locking device

[0196] 126 Storage device

[0197] 128 frame

[0198] 130 footprint

[0199] 132 Separator

[0200] 134 first zone

[0201] 136 second zone

[0202] 138 Substructure

[0203] 140 Machine protection

[0204] 142 Transport system

[0205] 144 Installation element

[0206] 146 Container axis

[0207] 148 Control device

[0208] 150 support device

[0209] 152 Joint device

[0210] 154 Carrying device

[0211] 156 Drive device

[0212] 158 drive motor

[0213] 160 passage opening

[0214] 162 Level

[0215] 164 tools

[0216] 166, 168, 170 coupling element

[0217] 172 Enclosure edge

[0218] Sealing device

[0219] Support device housing, 182 housing part

[0220] Recording room, 188 end wall

[0221] Partition wall

[0222] Sealing device, 196 rotation axis

[0223] Hollow shaft first articulated arm section second articulated arm section

[0224] drive element

[0225] passage opening

[0226] Storage facility

[0227] Sealing device, 214 Bevel gear first axis of rotation first articulated arm section housing, 222 Housing part

[0228] edge

[0229] Sealing device

[0230] Receiving space for the second drive element

[0231] Hollow shaft, 236 Bearing device, 240 Bevel gear first gear device, 246, 248 Wheel first output element second axis of rotation

[0232] Bearing device second articulated arm section housing, 260 housing part

[0233] edge

[0234] Sealing device

[0235] Receiving space sealing device third drive element, 274 bearing device, 278 bevel gear second gear device third gear device second output element, 288 bearing device

[0236] ring

[0237] drive wheel

[0238] Output gear

[0239] Power transmission element third rotation axis toothed belt tensioning wheel holder feed track

[0240] Shear element

[0241] drive unit

Claims

PATENT CLAIMS 1. A handling device (120) for pharmaceutical production material (116), comprising a support device (150) and a joint device (152) comprising a first joint arm section (200) rotatable relative to the support device (150), a tool (164) for handling the production material (116), which is held directly or indirectly on the first joint arm section (200), and at least one drive device (156), wherein the handling device (120) comprises a first drive element (204) rotatably driven about the first axis of rotation (216) and connected in a rotationally fixed manner to the first joint arm section (200), and a second drive element (230) rotatably driven about a rotation axis (216) and coupled via a first gear device (242) to a first output element (250), which first output element (250) is directly or indirectly connected to the tool (164). is in active connection,for rotation of the tool (164) about a second axis of rotation (252) relative to the first articulated arm section (200), and wherein the first articulated arm section (200) comprises or forms a first articulated arm section housing (216) in which the first gear device (242) is received., 2. Handling device (120) according to claim 1, characterized in that the handling device (120) on the joint device (152) and / or on the support device (150) is free of a drive motor (158) for an articulated arm section (200, 202) and / or that the handling device on the joint device (152) and / or on the support device (150) is free of a connecting line for a drive motor (158) on the joint device (152) and on the support device (150).

3. Handling device (120) according to claim 1 or 2, characterized in that the first articulated arm section housing (216) comprises a first housing part (220) and a second housing part (182) as well as a arranged sealing device (226), wherein the housing parts (220, 222) are preferably sealed relative to one another in a pharmaceutically acceptable manner.

4. Handling device (120) according to one of the preceding claims, characterized in that the support device (150) comprises or forms a support device housing (178) in which the first drive element (204) and the second drive element (230) are partially arranged, wherein the drive elements (204, 230) are guided through at least one through-opening (160, 206) of the support device housing (178), preferably that the first drive element (204) and / or the second drive element (230) is rotationally sealed relative to the support device housing (178) by means of a sealing device (176, 192, 210, 226, 264, 268).

5. Handling device (120) according to claim 4, characterized in that the support device housing (178) comprises a first housing part (180) and a second housing part (182) as well as a sealing device (192) arranged, for example, between the housing parts (180, 182), wherein the support device housing (178) is preferably sealed in a pharmaceutically acceptable manner.

6. Handling device (120) according to one of the preceding claims, characterized in that at least one of the following applies: the first drive element (204) and the second drive element (230) are aligned coaxially with one another and are, in particular, rotatable independently of one another about the first axis of rotation (216); the first drive element (204) forms a sleeve or a hollow shaft (198, 232) through which the second drive element (230) is guided, or vice versa.

7. Handling device (120) according to one of the preceding claims, characterized in that the support device (150) comprises at least one bearing device (208), wherein the first drive element (204) is rotatably mounted on the support device (150) via the at least one bearing device (208) and / or the second drive element (230) is rotatably mounted on the support device via the at least one bearing device (234) (150) is rotatably mounted, wherein preferably two bearing devices (208, 234) are provided and a bearing device (208, 234) is assigned to each of the first drive element (204) and the second drive element (230), and / or that the handling device comprises a bearing device (236) via which the first drive element (204) and the second drive element (230) are rotatably mounted on one another.

8. Handling device (120) according to one of claims 4 to 7, characterized in that the handling device (120) comprises a first coupling element (166) assigned to the first drive element (204) and a second coupling element (168) assigned to the second drive element (230), and the coupling elements (166, 168) can be driven by the at least one drive device (156), preferably independently of one another, wherein the coupling elements (166, 168) engage in the support device housing (178) and are coupled therein to the respective drive element (204, 230), wherein the coupling elements (166, 168) can preferably be driven independently of one another by means of different drive motors (158) of the drive device (156).

9. Handling device (120) according to claim 8, characterized in that at least one of the following applies: the coupling elements (166, 168) are coupled to the drive elements (204, 230) via a toothing, in particular via meshing bevel gears (212, 214, 238, 240); the coupling elements (166, 168) are aligned coaxially with one another; the first coupling element (166) is a hollow shaft (198) or forms a hollow shaft (198) through which the second coupling element (168) is passed, or vice versa.

10. Handling device (120) according to one of the preceding claims, characterized in that at least one of the following applies: the first transmission device (242) is or comprises a wheel transmission, in particular a gear transmission; the first articulated arm section (200) comprises a bearing device (254) via which the first output element (250) is rotatably mounted relative to the first articulated arm section (200).

11. Handling device (120) according to one of the preceding claims, characterized in that the joint device (152) comprises a second articulated arm section (202) which is rotatable about the second axis of rotation (252) relative to the first articulated arm section (200), wherein the first output element (250) is connected in a rotationally fixed manner to the second articulated arm section (202), wherein the tool (164) is connected to the second articulated arm section (202) so as to be pivotable about a third pivot axis, and in that the handling device (120) comprises a third drive element (270) which is operatively connected to the tool (164) for pivoting about the third pivot axis.

12. Handling device (120) according to claim 11, characterized in that at least one of the following applies: the third drive element (270) is held on the support device (150) and can be driven to rotate about an axis (216), preferably the third drive element (270) is arranged at least partially in the support device housing (178); the third drive element (270) is aligned coaxially with the first drive element (204) and / or the second drive element (230) and is in particular rotatable about the first axis of rotation (216) independently of the first drive element (204) and / or the second drive element (230); the third drive element (270) is designed as a drive shaft which is guided through the second drive element (230) designed as a hollow shaft (232) or sleeve and / or the first drive element (204).

13. Handling device (120) according to claim 11 or 12, characterized in that the support device (150) comprises a bearing device (272) via which the third drive element (270) is rotatably mounted about the first axis of rotation (216) and / or that the handling device comprises a bearing device (274) via which the third drive element (270) is rotatably mounted on the second drive element (230) and / or on the first bearing element.

14. Handling device (120) according to one of claims 11 to 13, characterized in that the handling device (120) comprises a third coupling element (170) associated with the third drive element (270), which engages in the support device housing (178) and is coupled therein to the third drive element (270), wherein the third coupling element (170) is preferably drivable independently of the first coupling element (166) and the second coupling element (168) by means of a drive motor (158) of the drive device (156).

15. Handling device (120) according to claim 14, characterized in that at least one of the following applies: the third coupling element (170) is coupled to the third drive element (270) via a toothing, in particular via meshing bevel gears (276, 278); the third coupling element (170) is aligned parallel to the first coupling element (166) and / or to the second coupling element (168); the third coupling element (170) is aligned coaxially to the first coupling element (166) and / or to the second coupling element (168) and / or the first coupling element (166) and / or the second coupling element (168) is a hollow shaft (198) or forms a hollow shaft (198) through which the third coupling element (170) is passed, or vice versa.

16. Handling device (120) according to one of claims 11 to 15, characterized in that the handling device comprises a second gear device (280) which is coupled to the third drive element (270), a second output element (284) via which the second gear device (280) is coupled to a third gear device (282) arranged on the second articulated arm section (202), which third gear device is operatively connected to the tool (164) via a force transmission element (296), wherein preferably the second gear device (280) is arranged in the first articulated arm section housing (218) and / or that the second gear device (280) is or comprises a wheel transmission, in particular a gear transmission.

17. Handling device (120) according to one of claims 11 to 16, characterized in that the first output element (250) is aligned coaxially with the second output element (284) and / or that the first output element (250) forms a sleeve or hollow shaft (198, 232) through which the second output element (284) is guided and / or that the handling device (120) comprises a bearing device (288) via which the second output element (284) and the first output element (250) are mounted on one another.

18. Handling device (120) according to one of claims 11 to 17, characterized in that the second articulated arm section (202) comprises or forms a second articulated arm section housing (256) in which the third gear device (282) is received, in particular that the second articulated arm section housing (256) comprises a first housing part (258) and a second housing part (260) and a sealing device (264) arranged between the housing parts (258, 260), wherein the housing parts (258, 260) are preferably sealed relative to one another in a pharmaceutically acceptable manner and / or that the second articulated arm section housing (256) is rotationally sealed relative to the first articulated arm section housing (218) by means of a sealing device (268).

19. Handling device (120) according to one of claims 16 to 18, characterized in that the third transmission device (282) is or comprises a belt transmission which comprises a drive wheel (292) connected in a rotationally fixed manner to the second output element (284), a drive wheel (294) connected in a rotationally fixed manner to the power transmission element (296), and a belt element running over the drive wheel (292) and the output wheel (294), preferably in that a tensioning wheel (302) is provided for adjusting the belt tension.

20. Handling device (120) according to one of the preceding claims, characterized in that at least one of the following applies: the tool (164) is designed in several positions, for the simultaneous processing of a plurality of preferably identical specimens of the production material (116); the handling device (120) is a feeding device (122) for closing elements (114) for pharmaceutical containers (102), wherein the Tool (164) comprises a receiving body for the closing elements (114).

21. A handling system (118) for pharmaceutical production material (116), comprising a frame (128) which can be set up on a support surface (130) and which comprises a separating element (132), in particular a plate-shaped separating element, which separates a first zone (134) from a second zone (136), wherein the first zone (134) has a higher purity class than the second zone (136), a handling device (120) according to one of the preceding claims, wherein the support device (150) and the joint device (152) are arranged in the first zone (134), wherein the at least one drive device (156) is arranged in the second zone (136), wherein at least one coupling element (166, 168, 170) of the handling device (120) is guided through a through-opening (160) of the separating element (132).

22. Handling system (118) according to claim 21, characterized in that the handling system (118) comprises a particularly columnar support device (154) in which the at least one coupling element (166, 168, 170) is arranged and which extends through the through-opening (160) or engages therein or rests in the first zone (134) on the edge (174) of the through-opening (160, 206), and preferably a sealing device (176) for sealing the through-opening (160) between the first zone (134) and the second zone (136).

23. Handling system (118) according to claim 22, characterized in that the at least one coupling element (166, 168, 170) or the carrying device (154) is free from a rectilinear movement, in particular a lifting movement, through the through opening (160).

24. Handling system (118) according to claim 22 or 23, characterized in that the handling system (118) comprises at least one transport track for closing elements (114) and a holding element for containers (102) to be closed, wherein the tool (164) is movable from a receiving position into a transfer position and vice versa, wherein closing elements (114) are received with the tool (164) in the receiving position and are positioned above the container (102) to be closed in the transfer position.

25. Handling system (118) according to claim 24, characterized in that at least one of the following applies: the tool (164) is movable such that the closing elements (114) have oppositely directed orientations in the receiving position and the transfer position; the tool (164) is movable such that the closing elements (114), depending on the nature, in particular the size, of the containers (102) to be closed, are received in the same receiving position and can assume different transfer positions arranged along a container axis (146) above the containers (102), wherein containers (102) of different nature have identical container axes (146).

26. Plant (100) for processing pharmaceutical containers (102), comprising a handling system (118) according to one of claims 21 to 25, wherein the handling system (118) comprises or forms a closing station (112) for the containers, and wherein at least one further processing station (106) is provided for the containers (102), for example a filling station (110).

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