Handling apparatus for pharmaceutical containers, and system for processing pharmaceutical containers having a handling apparatus

Abstract

The present invention relates to a handling apparatus (126) for pharmaceutical containers (102), comprising a carrying device (146), which is or can be fixed to a transport device (130), a plurality of holding devices (136), which are arranged laterally next to one another, for temporarily holding one container (102) each, and a distance-changing device (150) to which the holding devices (136) are fixed, wherein: the holding devices (136) can be transferred from a first position into a second position and vice versa along a distance direction (164) by means of the distance-changing device (150); distances between adjacent holding devices (136) differ from one another in the first position and in the second position; the handling apparatus (126) comprises a sensor device (228) which comprises at least one sensor element (230) assigned to one of the holding devices (136) and designed to provide a sensor signal to a control device (144); according to the presence and / or type of the sensor signal, the control device (144) can determine whether or not a container (102) is held at the holding device (136). The invention also relates to a system (100) for processing pharmaceutical containers (102).

Description

[0001] HANDLING DEVICE FOR PHARMACEUTICAL CONTAINERS AND PLANT FOR PROCESSING PHARMACEUTICAL CONTAINERS WITH A HANDLING DEVICE

[0002] The present invention relates to a handling device for pharmaceutical containers, comprising a carrying device which is or can be fixed to a transport device, a plurality of holding devices arranged laterally next to one another for temporarily holding a respective container and a distance changing device to which the holding devices are fixed, wherein the holding devices can be transferred by means of the distance changing device along a distance direction from a first position to a second position and vice versa, wherein distances between adjacent holding devices are different from one another in the first position and in the second position.

[0003] Furthermore, the present invention relates to a system for processing pharmaceutical containers, comprising at least one transport device on which a handling device of the type described above is held and which can be moved from a receiving position to a transfer position and vice versa, a receiving area on which a carrier with containers received therein can be positioned, wherein a plurality of containers can be received from the carrier by means of the handling device when the transport device assumes the receiving position, and a transfer area on which a receiving device for the containers is arranged, for example a transport system, wherein the containers can be transferred from the handling device to the receiving device when the transport device assumes the transfer position.

[0004] A handling device and a system of the type described above are described, for example, in DE 102020 134 783 A1. The handling device is used to pick up the containers from a common carrier, for example, a nest, and insert them into a transport system, for example, a cell chain. The handling device is moved by means of the transport device, for example, designed as a horizontal articulated-arm robot (SCARA). A container can be held on a respective holding device, whereby the number of holding devices ("positions") usually corresponds to the number of containers arranged in a row in the carrier. The spacing between adjacent containers in the carrier, for example, the nest spacing, often differs from the spacing between holding elements for the containers of the transport system ("machine spacing").To adjust the distance, the handling device of this type includes a distance adjustment device, with which, for example, the nesting stitch can be adjusted to the machine stitch. The distance adjustment can preferably be performed during the movement from the receiving position to the transfer position.

[0005] It is known that a process control is performed when removing containers from the carrier. For example, an optical sensor device is used to detect the presence of containers in the carrier and / or any foreign objects on the carrier. This could be, for example, a container whose pickup failed.

[0006] The handling device and system described in DE 102020 134 783 A1 have proven effective in practice. Nevertheless, it would be desirable to provide a handling device for pharmaceutical containers and a system that can ensure greater process reliability.

[0007] The object of the present invention is to provide a generic handling device for pharmaceutical containers and a generic system with which a higher process reliability can be ensured.

[0008] This 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 sensor device which comprises at least one sensor element which is assigned to one of the holding devices and is designed to provide a sensor signal to a control device, wherein, depending on the presence and / or the type of the sensor signal, the control device can determine whether a container is held on the holding device or not.

[0009] In the handling device according to the invention, the sensor device can be used to determine whether a container is held on at least one of the holding devices. In particular, this can preferably provide the option of determining whether the container is present on the holding device, preferably during pickup from the carrier, during transport from the pickup position to the transfer position, and / or during transfer to the pickup device. This increases process reliability when using the handling device. This applies in particular if the presence of a container can be detected during transport from the pickup position to the transfer position, whereby a loss (for example due to falling) of a container during transport can advantageously be detected.This preferably makes it possible to save on a sensor device for monitoring the carrier at the transfer area, since any defect in a container on the carrier can be detected via the sensor device on the handling device during the planned pickup of the container.

[0010] It is advantageous if the sensor device comprises two or more sensor elements, each sensor element being assigned to one of the holding devices, and the control device being able to determine whether or not a container is being held on a respective holding device. This offers the possibility of checking two or more locations on the handling device for the presence of a container.

[0011] Advantageously, the sensor device comprises as many sensor elements as there are holding devices, with each holding device being assigned a sensor element. This offers the possibility, in particular, of checking all locations of the handling device for the presence of a container, with a view to ensuring high process reliability when using the handling device.

[0012] It is conceivable, for example, that the number of locations in the carrier for the containers, i.e., in the nest, is smaller than the number of holding devices and thus the number of locations on the handling device. For example, in such a case, the control device may know that, when picking up a series of containers from the carrier, holding devices remain unoccupied, and specifically which holding devices these are. This information can be taken into account to note that an unoccupied location in the handling device does not represent a faulty condition.

[0013] It can be provided that two or more relative positions of the holding devices can be adjusted via the distance-changing device. Accordingly, for example, the initial position and at least one secondary position are provided.

[0014] It is advantageous if it is possible to determine whether a container is held on the holding device or not, regardless of whether adjacent holding devices are in the primary or secondary position. This makes the handling device highly versatile, with the detection of the container's presence independent of the stitch.

[0015] It is advantageous if it is possible to determine whether a container is held by the holding device or not, regardless of the relative distance between adjacent holding devices. This offers particularly high process reliability and versatility.

[0016] It may prove advantageous if the sensor element can be used to detect without contact whether a container is held on the holding device or not.

[0017] In particular, in the last-mentioned advantageous embodiment, it can be provided that the sensor element is designed as an inductive, capacitive, magnetic or optical sensor element.

[0018] In an advantageous implementation, it proves advantageous in practice, for example, if the sensor element is an inductive sensor element that can provide a sensor signal via the inductance or the change in inductance resulting from a change in the position of a moving component of the handling device. The change in position can result, for example, from the movement of at least one holding element for mechanically gripping the container, which will be discussed below.

[0019] Advantageously, the sensor element is attached to the respective holding device and is moved along with the movement of the holding device via the distance-changing device. This proves advantageous with regard to detecting the presence of the container independently of the puncture, as described above.

[0020] It may prove advantageous if the holding device comprises a receiving part with a receptacle in which the sensor element is preferably arranged in a form-fitting manner. This allows the sensor element to assume a defined position on the holding device, ensuring reliable detection of the presence of the container.

[0021] The receptacle can, for example, comprise a blind hole into which the sensor element is inserted. This allows for a structurally simple design and assembly. It can be advantageous if the receptacle or the receptacle part comprises a guide element for an electrical connection cable, via which the sensor element is connected to an electrical device. The electrical device can be a printed circuit board, for example, or a printed circuit board can be included in the device. The guide element can ensure correct orientation of the connection cable to avoid damage, which is advantageous for the service life of the handling device.

[0022] To achieve the same purpose, the handling device can advantageously comprise a guide element for the electrical connecting cable arranged on the support device, wherein the angular position of the guide element relative to the support device is preferably variable. The variable angular position can be used, for example, to specifically optimize the alignment of the connecting cable to avoid damage and thus ensure a long service life of the handling device.

[0023] The receiving part is designed in one piece, for example, to achieve a structurally simple design.

[0024] In a preferred embodiment of the invention, the distance-changing device can comprise, for example, a folding gate or a scissor-operated mechanism, as well as a drive device with which the length of the folding gate or the scissor-operated mechanism can be changed. A holding device is attached to each of the relatively movable joint members of the folding gate or the scissor-operated mechanism. By changing the length of the folding gate or the scissor-operated mechanism, the relative position of the holding devices can be changed in order to transfer them from the first position to the second position and vice versa.

[0025] The drive device may be a drive motor or comprise a drive motor.

[0026] At least one guide element for the scissor pull or the scissor gate is advantageously arranged on the support device or formed by it.

[0027] It can prove advantageous in practice if the scissor gate or scissor pull has a first end and a second end opposite this first end and is held stationary on the support device by means of a fixed joint member arranged between the first end and the second end. Guide elements for the electrical connecting cables have already been discussed. A respective connecting cable is advantageously assigned a guide element, wherein the length of the connecting cable from the sensor element to the guide element is greater the greater the distance between the corresponding holding device to which the sensor element is assigned and the fixed joint member. In the case of a scissor gate or scissor pull, the range of movement of the holding device is particularly greater the greater the distance between the holding device and the fixed joint member.Due to the dependence of the length of the connecting cable on the distance between the holding device and the joint member, an optimized route of the connecting cable can be achieved with regard to process reliability.

[0028] For example, the connecting cables run in a curved shape from the sensor element to the guide element.

[0029] The electrical device can advantageously comprise a circuit board to which an electrical connection cable for controlling at least one drive device of the handling device is connected. For example, the drive device serves to drive the scissor gate or the scissor hoist. A further drive device can be provided to actuate the holding devices for picking up or releasing containers. Starting from the circuit board, for example, a multi-pole electrical connection cable, in particular a bus cable, can lead to the control device. Alternatively, the control device can comprise the circuit board.

[0030] It may prove advantageous if the container can be mechanically secured to the respective holding device and if the holding device comprises two holding elements that can be moved relative to one another from a closed position to a gripping position and vice versa, wherein the container, in the gripping position, is arranged in a container receptacle formed between the holding elements. This allows for reliable transport of the containers on the handling device.

[0031] In addition to the above-mentioned receiving part, the holding device can advantageously have a holding part which comprises the holding elements and which can be detachably connected to the receiving part.

[0032] The handling device can preferably comprise, as a component of each holding device, several holding parts that have different container-specific properties, wherein a respective holding part can be selectively connected to the receiving part. The various holding parts are, in particular, format parts with different container-specific properties. Advantageously, each holding part can cover a certain format range. Depending on which containers are to be processed, the appropriate holding part can be used. The connection to the receiving part is achieved, for example, by frictional and / or positive locking. The connection is preferably made manually and / or without tools.

[0033] The holding part comprises, for example, a base body on which one of the holding elements is directly or indirectly movable and, in particular, rotatably mounted for transfer from the closed position to the gripping position and vice versa. This ensures reliable function of the holding device.

[0034] It can be provided that one of the holding elements is arranged immovably on the base body and in particular is formed integrally with the base body, with a view to a structurally simple design.

[0035] Alternatively, it can be provided that both of the holding elements are directly or indirectly movable and in particular rotatably mounted, as explained above.

[0036] The movable holding element is preferably coupled to a bearing element or comprises or forms such a bearing element, which is movably mounted on the base body via a return element, wherein the holding element can be moved from the closed position to the gripping position against a return force of the return element. Conversely, the holding element can be moved from the gripping position to the closed position under the action of the return element.

[0037] The return element is preferably designed mechanically, in the form of a spring. For example, a torsion spring is conceivable, through which the bearing element is guided and which is supported by the bearing element and the base body.

[0038] The bearing element or the holding element can be connected to a detection element or comprise or form such a detection element, wherein the detection element can be detected by the sensor element. When the holding element moves, the detection element moves relative to the sensor element. Depending on the relative position of the detection element and the sensor element, the detection element can, for example, be arranged in a detection range or outside a detection range of the sensor element or, for example, if each is arranged in the detection range, can be detected with varying degrees of intensity. Depending on the relative position, and thus depending on the relative position of the holding elements, the sensor element can provide a sensor signal that is evaluated to determine the presence of the container on the holding device.

[0039] For example, the detection element has a larger overlap with a detection range of the sensor element in the closed position of the holding elements than in the gripping position of the holding elements, or vice versa.

[0040] The detection element can, for example, be formed separately from the bearing element and fixed to it in a rotationally fixed manner.

[0041] The detection element can, for example, protrude radially from the bearing element or be designed as a radial projection on the bearing element.

[0042] For example, a free end of the detection element that is facing away from the bearing element can interact with the sensor element.

[0043] It may prove advantageous if the detection element is arranged on a side of the base body opposite the holding element.

[0044] The bearing element, for example, passes through the base body, wherein the holding element and the detection element can be arranged at opposite ends of the bearing element.

[0045] It can be provided that the detection element and the holding element are arranged on different sides of the bearing element in a top view of the holding device along a container direction, thereby enclosing an angle between them. In a preferred embodiment, the angle can be, for example, approximately 100° to 180°, preferably approximately 120° to 160°.

[0046] An axis of the sensor element can, for example, be aligned parallel to an axis defined by the bearing element. In practice, it can prove advantageous if the sensor element does not provide a sensor signal when the holding elements are in the closed position, whereas a sensor signal is provided when the holding elements are in the gripping position. In this example, the sensor signal is indicative that a container is held between the holding elements. The absence of a sensor signal can therefore be interpreted as an error during a movement of the handling device, assuming that containers are held thereon. If, on the other hand, a sensor signal can be detected, it can be assumed, for example, that no error is present during such a movement.

[0047] Conversely, it can be provided that a sensor signal is provided in the closed position of the holding elements and no sensor signal is provided in the gripping position. The above statements apply accordingly. Accordingly, the presence of a sensor signal can be interpreted as an error during a movement of the handling device, assuming that containers are being held thereon. In the absence of a sensor signal, it can be assumed, for example, that no error is present during such a movement.

[0048] It is understood that during operation of the container processing system, the control device knows at what point in time containers are being picked up, should have been picked up, and are being transferred. Depending on this, the presence or absence of the sensor signal and / or a change in the sensor signal can be interpreted as a faulty condition or not as a faulty condition. For example, existing or missing sensor signals can be ignored during breaks in the handling device's operation.

[0049] It is advantageous if the handling device comprises an actuating device by means of which the holding elements of at least one holding device can be moved relative to one another from the closed position into an open position, in which a container can be inserted into the container receptacle or removed from the container receptacle. The actuating device comprises, for example, a drive device that is connected to the aforementioned electrical device via an electrical connecting line.

[0050] Advantageously, a common actuating device is provided for all holding devices. This eliminates the need for separate actuating devices. The holding elements can preferably be moved from the gripping position to the open position by means of the actuating device when the container is to be removed from the container receptacle.

[0051] Advantageously, the holding elements are moved from the open position into the gripping position by the return element after the container has been inserted into the container holder.

[0052] It was mentioned above that the movable holding element can be moved from the closed position to the gripping position against a restoring force of the restoring element. For example, it is not necessary for the restoring force to be effective for the entire duration. For example, the movement occurs against the restoring force into the open position and then, under the action of the restoring force, into the gripping position.

[0053] Conversely, the movement can first occur against the restoring force from the gripping position to the open position and then, under the action of the restoring force, to the closed position.

[0054] The actuating device can comprise a drive device and a push element or pivotable pivoting element that can be displaced by the drive device on the support device and that acts directly or indirectly on at least one of the holding elements of the holding device. The push element or pivoting element can in particular be referred to as the actuating element of the actuating device.

[0055] If the actuating device is intended for several holding devices, a sliding element in the form of a profile or a strip is advantageously used, via which all holding devices can be actuated jointly and preferably simultaneously and synchronously.

[0056] The pushing element or the pivoting element preferably applies an opening force to an actuating member on the holding device, which is coupled to the holding element, in order to actuate the holding element.

[0057] In a structurally simple design, the actuating element is advantageously the detection element or a contact element arranged on the detection element. This also ensures a compact design and reliable function of the handling device. Using the detection element, the relative position of the movable holding elements can be used to determine whether a container is being held or not. The relative position of the holding elements can be changed by applying force to the detection element directly or indirectly via the contact element.

[0058] The actuating element or the detection element forms, for example, a lever which is connected to or encompassed by the bearing element for the movable holding element.

[0059] The handling device is advantageously designed for pharmaceutical use and can therefore be used, for example, in a decontamination atmosphere (e.g., using H2O2 or EtO). The handling device is advantageously suitable for use in WIP (washing-in-place) environments.

[0060] The holding devices are advantageously designed identically.

[0061] As already mentioned, the present invention also relates to a system for processing pharmaceutical containers. The object underlying the invention is achieved according to the invention in that the handling device of the system mentioned above is a handling device of the type described above.

[0062] The advantages already mentioned in connection with the explanation of the handling device according to the invention can also be achieved with the system according to the invention. Advantageous embodiments of the system according to the invention result from advantageous embodiments of the handling device according to the invention. Reference is made to the above explanations.

[0063] The at least one transport device is, for example, a robotic device or comprises such a device, in particular a SCARA robot.

[0064] The system advantageously comprises at least one processing station for the containers, for example a weighing station, a filling station, a closing station and / or a control station.

[0065] In a preferred embodiment, the system can comprise two transport devices, each transport device supporting a handling device of the type described above, wherein several containers can be alternately picked up by one of the handling devices, the respective transport device assuming the receiving position, and wherein several containers can be alternately transferred by one of the handling devices, the respective transport device assuming the transfer position. The handling devices can accordingly be operated alternately. For example, it is conceivable for one transport device to assume the receiving position at the time the other transport device assumes the transfer position.

[0066] The carrier, for example a nest, is arranged in particular at the transfer area.

[0067] The system can advantageously comprise a movable or rotatable receiving device at the transfer area, which accommodates two or more carriers, in particular three carriers. After the containers from one carrier have been picked up, another carrier is made available by rotating or moving the receiving device. This enables rapid processing of the containers. After the containers have been removed from one carrier, the transfer device is rotated or moved to provide the next carrier.

[0068] With two or more transport devices and handling devices, two or more carriers can be processed at the receiving device at the same time.

[0069] 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:

[0070] Figure 1: a schematic partial representation of the system according to the invention for processing pharmaceutical containers in a preferred embodiment;

[0071] Figure 2: the handling device according to the invention in a perspective partial view;

[0072] Figure 3: the handling device from Figure 2 in a sectional view along the plane 3-3 in Figure 2, wherein holding devices assume an initial position and holding elements assume an open position;

[0073] Figure 4: a representation corresponding to Figure 3, wherein the holding devices assume a second position; Figure 5: a representation similar to Figure 3, with an upper housing part of the handling device hidden, wherein the holding devices assume a closed position and are not actuated by an actuating device;

[0074] Figure 6: a representation similar to Figure 5, wherein the holding devices assume the second position and the holding elements assume the open position, under actuation by the actuating device;

[0075] Figure 7: an enlarged view of part A in Figure 2 with components of the handling device hidden;

[0076] Figure 8: a perspective exploded view of a holding device and a sensor element of the handling device;

[0077] Figure 9: a sectional view taken along the line 9-9 in Figure 5; and

[0078] Figure 10: the handling device in a plan view, sectioned in the plane 10-10 in Figure 2, wherein the holding devices assume the initial position and the holding elements assume a gripping position in which containers are held.

[0079] Figure 1 shows a schematic partial representation of a preferred embodiment of a system according to the invention for processing pharmaceutical containers, designated overall by reference numeral 100. The invention is explained below using the example of containers 102 in the form of syringes 104. However, it is not limited thereto. The containers 102 can alternatively be vials, cartridges, or ampoules. The containers 102 can be stable or non-stable.

[0080] In the system 100, the containers 102 are fed into a common carrier 106. The carrier 106 is, in particular, a nest 108.

[0081] The system 100 comprises a receiving device 112 at a transfer area 110. The carriers 106 can be fed to the receiving device 112, for example, optionally via one of two feeders 114.

[0082] In the present example, the receiving device 112 is oriented to accommodate three carriers 106. The receiving device 112 is rotatable about a rotation axis 118 by means of a drive device 116. The carriers 106 are spaced at an identical angular distance from one another with respect to the rotation axis 118.

[0083] The system 100 further comprises at least one processing station 120 for processing the containers. The processing station 120 comprises, for example, a weighing station, a filling station, a closing station, and / or an inspection station.

[0084] The containers 102 are fed to the processing station 120 via a receiving device in the form of a transport system 122, in this case designed as a cell chain 124. The containers 102 can be transferred to holding elements of the cell chains 124 via handling devices 126 at a transfer area 128.

[0085] The handling device 126 is held on a transport device 130. The transport device 130 is a robotic device and is configured here as a SCARA robot 132.

[0086] In the present example, the distance between adjacent containers 102 in the carrier 106 (nest stitch) differs from the distance between adjacent holding elements of the cell chain 124 (machine stitch), which is advantageously identical to the stitch at the at least one processing station 120. To adjust the nest stitch to the machine stitch, the distance between the containers 102 from one another can be changed using the handling device 126 as explained below (stitch distortion).

[0087] The two transport devices 130 in this case each hold a handling device 126. In a respective receiving position, a row of containers 102 is removed from the carrier 106. The transport device 130 then moves to the respective transfer position, where the containers 102 are transferred from the handling device 126 to the cell chain 124.

[0088] In the present embodiment, two carriers 106 can be processed simultaneously via the two handling devices 126. For example, the corresponding transport devices 130 are moved synchronously and each assumes the receiving position and the transfer position at the same time. Alternatively, an opposing, alternating movement of the transport devices 130 can be provided. For example, it is conceivable for one transport device 130 to assume the receiving position for receiving containers 102, and the other transport device 130 to assume the transfer position for transferring the containers 102 to the cell chain 124.

[0089] If a receiving device with, for example, only two carriers 106 is used, such alternating operation of the transport devices 130 can be particularly advantageous. For example, a plurality of containers 102, in particular a row within the nest 108, are alternately picked up by each handling device 126 and transported to the cell chain 124.

[0090] As can be seen in particular from Figures 1 and 2, in a preferred embodiment of the invention the handling device 126 comprises a housing 134, of which a front housing part is hidden in Figure 2 in order to provide a clear view of the holding devices 136 of the handling device 126 and the containers 102 held thereon.

[0091] A connecting device 138 for the mechanical connection to the transport device 130 is arranged on the housing 134. A feedthrough 140 for an electrical connection line 142, which in this case can be configured as a bus cable, is preferably provided on the connecting device 138. The electrical connection line 142 preferably leads to a control device 144. The control device 144 is a control device of the handling device 126 and preferably of the system 100 as a whole.

[0092] The handling device 126 comprises a support device 146 as a supporting structure for the remaining components of the handling device 126. The support device 146 forms, for example, a frame 148 for directly or indirectly holding the remaining components of the handling device 126.

[0093] As mentioned, the distance between holding devices 136 can be adjusted to adjust the nesting pitch of containers 102 to the machine pitch. For this purpose, handling device 126 includes a distance-changing device 150, which can be controlled by control device 144.

[0094] The distance-changing device 150 comprises a drive motor 152 as a drive device, which can be controlled via an electrical device 154 coupled to the control device 144. Reference numeral 156 denotes a circuit board of the device 154. The drive motor 152 acts on a scissor-type gate 158, which is constructed from interconnected articulated links 160. Rail-like guide elements 162 are arranged on the support device 146 for guiding the articulated links 160 along a spacing direction 164.

[0095] To act on the scissor gate 158, the drive motor 152 in the present example can drive a belt 165a, which drives a spindle 165b. A fixing member 165c, which is attached to one of the joint members 160, is displaced via the spindle 165b. This embodiment is exemplary.

[0096] Between a first end 166 and a second end 168 opposite the first end 166 of the scissor gate 158, the scissor gate 158 is fixedly secured to the support device 146 via a fixed joint member 170. Consequently, when the scissor gate 158 is extended or shortened, only those joint members 160 that are laterally spaced from the joint member 170 move. The greater the distance from the joint member 170, the greater the range of motion.

[0097] The holding devices 136, via which the containers 102 can be received, are fixed to the joint members 160. In the present case, the handling device 126 is designed to comprise a maximum of 12 holding devices 136, although this number is not limiting for the invention and could vary. However, by way of example, only ten of these positions are occupied by holding devices 136. The two unoccupied positions in the present case are each arranged at the end of the handling device 126 (Figures 2 to 6 and 10).

[0098] It is conceivable that the number of holding devices 136 and thus the number of "locations" is identical to the number of containers 102 in a row of the carrier 106. The locations of the nest 108 can thus be the same as the locations of the handling device 126 (in this case, 10 locations each). On the other hand, it can be provided that the nest 108 and the handling device 126 have a different number of locations.

[0099] The holding devices 136 secured to the scissor gate 158 can be spaced at different distances from one another due to the change in length of the scissor gate 158. In particular, an initial position is provided in which the scissor gate 158 is extended and adjacent holding devices 136 are spaced as far apart as possible (Figures 3, 5, and 10). By controlling the drive motor 152, the scissor gate 158 can be shortened, thereby transferring the holding device 136 to a second position (Figures 4 and 6). In the second position, the distance between the adjacent holding devices 136 is different from the initial position and, in the present embodiment, is particularly smaller.

[0100] It may be intended that there is more than one secondary position.

[0101] For example, the distance between the holding devices 136 in the second position corresponds to the nest stitch and in the first position to the machine stitch.

[0102] With regard to the structure and functioning of the holding devices 136, reference is made in particular to Figures 7 to 9.

[0103] The holding devices 136 comprise holding elements 172, 174 for mechanically gripping the containers 102 and accordingly form a so-called pair of pliers for gripping a respective container 102. The holding elements 172, 174 can assume a closed position relative to one another (Figure 5), a gripping position (Figures 2, 7 and 10) and an open position (Figures 3, 4 and 6).

[0104] In the closed position, a container receptacle 176 formed between the holding elements 172, 174 is essentially closed. In the gripping position, a container 102 is held, in particular, in a form-fitting manner between the holding elements 172, 174. In the open position, the container receptacle 176 is widened relative to the gripping position so that the container 102 can be inserted into or removed from the container receptacle 176.

[0105] As can be seen in particular from the exploded view of Figure 8, the holding device 136 in the present embodiment comprises a receiving part 178 and a holding part 180.

[0106] The receiving part 178 has a fastening section 182 for securing to the scissor gate 158 and a connecting section 184 connected thereto. The receiving part 178 further comprises a receptacle 186. In the present case, the receiving part 178 is advantageously formed in one piece, for example from a molded plastic part. The holding part 180 has a base body 188 which comprises or forms a holding section 190. The holding section 190 is designed to correspond to the connecting section 184. In the present example, the holding section 190 forms a recess 192 into which a projection 194 of the connecting section 184 can be inserted. The connection of the receiving part 178 to the holding part 180 is, for example, positively locking by engagement of the projection 194 in the recess 192 and / or non-positively locking. A snap-in and / or clamping connection is conceivable, for example.

[0107] In particular, it is advantageous if manual and / or tool-free assembly and disassembly of the holding part 180 on or from the receiving part 178 is possible.

[0108] The holding device 136 can comprise a plurality of additional holding parts 180, which are only schematically illustrated in Figure 8. Each holding part 180 is, in particular, a format part, wherein the holding parts 180 differ from one another in terms of container-specific properties. Each holding part 180 advantageously covers a certain format range for different containers 102.

[0109] Depending on which containers 102 are to be processed, the corresponding (format) holding part 180 can be used together with the receiving part 178.

[0110] The receiving parts 178 are present at the unoccupied positions of the holding devices 136. Only the holding parts 180 are not mounted. Thus, the ability to detach the holding parts 180 from the receiving parts 178 allows for easy adjustment of the number of positions.

[0111] The base body 188 is designed in one piece and forms the holding element 172, which is stationary. In contrast, the holding element 174 is movable. A through opening 196 is formed in the base body 188.

[0112] A bearing element 198 is inserted into the through-opening 196, defining an axis 200. The bearing element protrudes from the base body 188 on both sides. On the side facing the holding element 172, the holding element 174 is connected to the bearing element 198, in this case by screwing. On the side facing away from the holding elements 172, 174, a detection element 202 is rotationally fixed to the bearing element 198, in this case by screwing. The detection element 202 protrudes radially from the bearing element 198, relative to the axis 200.

[0113] In a plan view of the holding device 136 along a container direction aligned parallel to the axis 200, the detection member 202 and the holding element 174 are aligned at an angle 204 to each other. In the present example, the angle 204 is approximately 135° to 145°. While the holding element 174 (as well as the holding element 172) is accordingly aligned toward the front of the handling device 126, the detection member 202 points rearward, toward the carrying device 146.

[0114] The bearing element serves to rotatably support the holding element 174 on the base body and is rotatably mounted therein against the restoring force of a restoring element 206. The restoring element 206 is configured here as a mechanical spring, in particular as a helical spring 208 penetrated by the bearing element 198. The helical spring 208 is supported at one end on the base body 188 and at the other end on the bearing element 198.

[0115] The holding element 174 can be pivoted against the force of the coil spring 208. In particular, the holding elements 172, 174 can be moved (temporarily) from the closed position to the gripping position, from the closed position to the open position, and from the gripping position to the open position, counter to the restoring force. Conversely, the holding elements 172, 174 are moved from the open position to the gripping position, from the open position to the closed position, and (temporarily) from the gripping position to the closed position by the action of the coil spring 208.

[0116] To actuate the holding devices 136, the handling device 126 comprises an actuating device 210. The actuating device 210 has a drive device in the form of a drive motor 212, which is connected to the electrical device 154 via an electrical connecting line and can be controlled by the control device 144.

[0117] Furthermore, in the present example, the actuating device 210 comprises a push element 214, designed as a bar 216, which is displaceably mounted on the support device 146. The drive motor 212 is operatively connected to the bar 216. For this purpose, a belt 128 is drivable, which can move a spindle 220, which in turn is connected to the bar 216 via a coupling element 222. It is understood that this embodiment is exemplary.

[0118] Depending on the rotational state of the drive motor 212, the bar 216 can be moved forward toward the holding elements 172, 174 or backward away from the holding elements 172, 174.

[0119] A contact member 224 is arranged on a respective holding device 136, which can be acted upon by the strip 216. In the present case, the contact member 224 is designed as a disc-shaped bearing element 226. The bearing element is connected to the detection member 202, in this case by screwing (Figures 7 and 8). The contact member 224 is arranged at the free end of the detection member 202.

[0120] Alternatively, it can be provided that the detection element 202 forms the contact element 224.

[0121] The detection element 202 forms a lever for pivoting the bearing element 198 about the axis 200. The corresponding opposite lever is formed by the holding element 174.

[0122] Figure 5 shows the situation when no containers 102 are held on the holding devices 136. The bar 216 assumes a retracted position. The holding elements 172, 174 assume the closed position under the action of the coil spring 208.

[0123] In this case, it may be provided that the strip 216 contacts the contact elements 224.

[0124] To pick up containers, the bar 216 is moved forward by the drive motor 212. This causes the holding elements 172, 174 to be moved into the open position against the action of the coil spring 208 (Figures 3 and 4). The containers 102 are inserted into the container receptacles 176.

[0125] To close the holding device 136, the bar 216 is moved rearward again by the drive motor 212. Under the action of the coil spring 208, the holding elements 172, 174 are moved into the gripping position (Figures 2, 7, and 10), and the containers 102 are held on the holding devices 136. The procedure for transferring the containers 102 can be reversed.

[0126] To increase process reliability, the handling device 126 includes a sensor device 228. The sensor device 228 can determine whether or not a container 102 is held on the respective holding device 136. To a certain extent, the presence of a container 102 in the container receptacle 176 can be checked, provided the handling device 126 is functioning properly.

[0127] As already explained, it is understood that the handling device can take breaks during operation of the system 100. The corresponding times are preferably known to the control device 144. Accordingly, if, for example, it is determined that no container 102 is held on the respective holding device 136 during a break, such a state is not interpreted as an error. In contrast, it is provided that, for example, a faulty state of the handling device 126, namely due to a missing container 102, is detected during operation of the handling device 126, in particular during and after the containers 102 are picked up from the nest 108 until the containers 102 are transferred to the cell chain 124.

[0128] The sensor device 228 comprises a plurality of sensor elements 230, with each holding device 136 being assigned a sensor element 230. This offers the possibility of checking each location of the handling device 126 for the presence of a container 102.

[0129] As can be seen, for example, from Figures 7 and 8, the sensor element 230 is inserted into the receptacle 186, in particular in a form-fitting manner. For this purpose, the receptacle 186 can form a blind hole in which the sensor element 230 is arranged.

[0130] The positioning of the sensor element 230 on the receiving part 178 is advantageous. As a result, the sensor element 230 also executes the displacement movement of the receiving part 178 when the length of the scissor gate 158 changes. This offers the possibility of determining the presence of the container 102 regardless of whether the holding devices 136 are in the first position or the at least one second position. The function of the sensor device 228 is accordingly independent of the stitch. Furthermore, when changing the format by replacing the holding part 180, it is not necessary to make any changes to the sensor device 228 with regard to the positioning of the sensor element 230.

[0131] Each sensor element 230 is connected to the electrical device 154 via an electrical connecting line 232 (Figure 10). For an advantageous routing of the connecting line 232, the receptacle 186 forms a guide element 234 through which the connecting line 232 is guided.

[0132] Furthermore, each connecting line 232 is assigned a guide element 236, which is fixed to the support device 146. It is advantageous if the guide elements 236 can assume different angular positions with respect to the support device 146 in order to enable the best possible routing of the connecting lines 232 (Figure 10).

[0133] The connecting lines 232 run in an arc shape between the guide element 234 and the guide element 236.

[0134] The length of the respective connecting line 232 from the guide element 234 to the guide element 236 is greater in this case, the further the corresponding holding device 136, on which the corresponding sensor element 230 is arranged, is spaced from the fixed joint member 170. The longer connecting lines 232 for holding devices 136 arranged further outwards are useful because these holding devices travel a greater distance when the scissor gate 158 is lengthened or shortened than the internal holding devices. This counteracts excessive stress on the external connecting lines 232.

[0135] The connecting lines 232 are connected to the device 154. Information such as sensor signals from the sensor elements 230 are transmitted from this device 154 to the control device 144.

[0136] The sensor elements 230 are inductive sensors in this case. This offers the possibility of contactless detection of whether a container 102 is held on the holding device 136. The sensor elements 230 react to a change in inductance resulting from the position of the detection element 202. The position of the detection element 202, in turn, depends on the relative position of the holding elements 172, 174 and thus on whether the container 102 is received in the container receptacle 176. In the situation illustrated in Figure 5, the holding elements 172, 174 assume the closed position. The detection element 202 is arranged with its free end in the detection range of the sensor element 230. In this case, no sensor signal is provided by the sensor element 230 in this case. Based on this, the control device 144 can determine that no container 102 is held on the holding device 136.

[0137] If, in contrast, the holding elements 172 assume the gripping position (Figures 7 and 10), the detection element is pivoted relative to its position in the closed position because the detection element 202 is rotationally fixedly coupled to the holding element 174 via the bearing element 198. The detection element 202 is located, for example, outside a detection range of the sensor element 230 or engages this detection range to a lesser extent. In this case, a sensor signal is provided. For the control device 144, the presence of the sensor signal indicates that the container 102 is held on the holding device 136.

[0138] Conversely to the above statements, it can be provided that the sensor element 230 provides the sensor signal when the detection element 202 is located in the detection range, in the closed position of the holding elements 172, 174, and the sensor signal is not provided when the detection element 202 is outside the detection range or to a lesser extent in the detection range when the holding elements 172, 174 assume the gripping position or the opening position.

[0139] If a container 102 accidentally falls during transport from the nest 108 to the cell chain 124 or cannot be picked up from the nest 108 at all, this can be detected by the control device 144. In these cases, the sensor signal is lost because the holding elements 172, 174 return to the closed position, or the sensor signal is missing because the holding elements 172, 174 remain in the closed position. It is particularly conceivable that defects in the nest 108 can also be detected in this way.

[0140] Due to the location-specific and spot-independent monitoring of the presence of the containers 102, it is particularly conceivable that a sensor device for process control at the transfer area 110 can be eliminated. This is also advantageous, for example, when only limited installation space is available, as is the case here at the transfer area 110 due to the design of the receiving device 112.

[0141] Plant Container Syringe Carrier Nest Transfer Area

[0142] Feeding device

[0143] Drive device rotary axis

[0144] Processing station transport system cell chain

[0145] Handling device Transfer area T ransport device Scara robot

[0146] Housing Holding device Connecting device Feedthrough Connecting cable Control device Supporting device Frame

[0147] Distance change device Drive motor Electrical device Circuit board

[0148] Folding gate Joint element Guide element Distance direction a Belt b Spindle c Fixing element First end Second end Joint element Holding element Holding element Container receptacle Receptacle part Holding part Fastening section Connecting section Receptacle Main body Holding section Recess Projection Through opening Bearing element Axis Detection element Angle Restoring element Coil spring Actuating device Drive motor Push element Bar Belt Spindle Coupling element Contact element Bearing element Sensor device Sensor element Connecting cable Guide element

[0149] Guide element

Claims

PATENT CLAIMS 1. A handling device (126) for pharmaceutical containers (102), comprising a carrying device (146) which is or can be secured to a transport device (130), a plurality of holding devices (136) arranged laterally next to one another for temporarily holding a respective container (102), and a distance-changing device (150) to which the holding devices (136) are secured, wherein the holding devices (136) can be transferred from a first position to a second position and vice versa by means of the distance-changing device (150) along a distance direction (164), wherein distances between adjacent holding devices (136) are different from one another in the first position and in the second position, characterized in that the handling device (126) comprises a sensor device (228) which comprises at least one sensor element (230) which is assigned to one of the holding devices (136) and is designed,to provide a sensor signal to a control device (144), wherein, depending on the presence and / or type of the sensor signal, the control device (144) can determine whether a container (102) is held on the holding device (136) or not.

2. Handling device (126) according to claim 1, characterized in that the sensor device (228) comprises two or more sensor elements (230), wherein each sensor element (230) is assigned to one of the holding devices (136) and it can be determined by the control device (144) whether a container (102) is held on a respective holding device (136) or not, in particular that the sensor device (228) comprises as many sensor elements (230) as holding devices (136), wherein each holding device (136) is assigned a sensor element (230).

3. Handling device (126) according to claim 1 or 2, characterized in that regardless of whether adjacent holding devices (136) assume the first position or the second position, it is possible to determine whether a container (102) is held on the holding device (136) or not, preferably that regardless of which Relative distance between the adjacent holding devices (136), it can be determined whether a container (102) is held on the holding device (136) or not.

4. Handling device (126) according to one of the preceding claims, characterized in that by means of the sensor element (230) it can be detected without contact whether a container (102) is held on the holding device (136) or not.

5. Handling device (126) according to one of the preceding claims, characterized in that the sensor element (230) is designed as an inductive, capacitive, magnetic or optical sensor element (230).

6. Handling device (126) according to one of the preceding claims, characterized in that the holding device (136) comprises a receiving part (178) with a receptacle (186) in which the sensor element (230) is preferably arranged in a form-fitting manner, wherein the receiving part (178) is preferably designed in one piece.

7. Handling device (126) according to one of the preceding claims, characterized in that at least one of the following applies: the receptacle (186) comprises a blind hole into which the sensor element (230) is inserted; the receptacle (186) or the receptacle part (178) comprises a guide element (234) for an electrical connection line (232), via which the sensor element (230) is connected to an electrical device (154).

8. Handling device (126) according to claim 7, characterized in that the handling device (126) comprises a guide element (162, 236) arranged on the support device (146) for the electrical connection line (232), wherein preferably an angular position of the guide element (236) relative to the support device (146) is variable.

9. Handling device (126) according to one of the preceding claims, characterized in that the distance changing device (150) comprises a scissor gate (158) or a scissor pull and a drive device (152) with which a length of the scissor gate (158) or the scissor pull can be changed, wherein a holding device (136) is fixed to each of the articulated members (160, 170) of the scissor gate (158) or the scissor pull that are movable relative to one another.

10. Handling device (126) according to one of the preceding claims, characterized in that the scissor gate (158) or the scissor pull has a first end (166) and a second end (168) opposite thereto and is held in a stationary manner on the support device (146) by means of a fixed joint member (170) which is arranged between the first end (166) and the second end (168).

11. Handling device (126) according to claim 9 or 10 in conjunction with claim 2 and 8, wherein a guide element (162, 236) is assigned to a respective connecting line (232), characterized in that the length of the connecting line (232) from the sensor element (230) to the guide element (236) is greater, the greater the distance of the corresponding holding device (136) to which the sensor element (230) is assigned from the fixed joint member (160, 170).

12. Handling device (126) according to one of claims 8 to 11, characterized in that the electrical device (154) comprises a printed circuit board (156) to which an electrical connection line (232) for controlling at least one drive device (152, 212) of the handling device (126) is connected.

13. Handling device (126) according to one of the preceding claims, characterized in that the container (102) can be mechanically held on the respective holding device (136) and that the holding device (136) comprises two holding elements (172, 174) which can be transferred relative to one another from a closed position into a gripping position and vice versa, wherein the container (102) is arranged in the gripping position in a container receptacle (176) formed between the holding elements (172, 174).

14. Handling device (126) according to claim 13 in conjunction with claim 6, characterized in that the holding device (136) has, in addition to the receiving part (178), a holding part (180) which comprises the holding elements (172, 174) and which can be detachably connected to the receiving part (178).

15. Handling device (126) according to claim 14, characterized in that the holding part (180) comprises a base body (188) on which one of the holding elements (172, 174) is mounted directly or indirectly in a movable and in particular rotatable manner for transferring from the closed position into the gripping position and vice versa and / or that one of the holding elements (172, 174) is arranged immovably on the base body (188) and in particular is formed integrally with the base body (188).

16. Handling device (126) according to claim 15, characterized in that the movable holding element (172, 174) is coupled to a bearing element (198) or comprises or forms such a bearing element which is movably mounted on the base body (188) via a restoring element (206), wherein the holding element (172, 174) can be transferred from the closed position into the gripping position against a restoring force of the restoring element (206).

17. Handling device (126) according to claim 16, characterized in that the bearing element (198) or the holding element (172, 174) is connected to a detection element (202) or comprises or forms such a detection element, wherein the detection element (202) can be detected by the sensor element (230).

18. Handling device (126) according to claim 17, characterized in that the detection member (202) is formed separately from the bearing element (198) and is rotationally fixed thereto and / or protrudes radially from the bearing element (198) or is designed as a radial projection (194) on the bearing element (198).

19. Handling device (126) according to claim 17 or 18, characterized in that at least one of the following applies: the detection element (202) is arranged on a side of the base body (188) opposite the holding element (172, 174) and / or the bearing element (198) passes through the base body (188); the detection element (202) and the holding element (172, 174) are arranged, in a plan view of the holding device (136), along a container direction on different sides of the bearing element (198) and enclose an angle (204) between them, wherein the angle (204) is approximately from 100° to 180°, preferably approximately from 120° to 160°.

20. Handling device (126) according to one of claims 14 to 19, characterized in that the sensor element (230) does not provide a sensor signal in the closed position of the holding elements (172, 174), whereas a sensor signal is provided in the gripping position of the holding elements (172, 174), or vice versa.

21. Handling device (126) according to one of claims 14 to 20, characterized in that the handling device (126) comprises an actuating device (210) by means of which the holding elements (172, 174) of at least one holding device (136) can be transferred relative to one another from the closed position into an open position, in which a container (102) can be inserted into the container receptacle (176) or removed from the container receptacle (176), in particular that a common actuating device (210) is provided for all holding devices (136), wherein the holding elements (172, 174) can preferably be transferred from the gripping position into the open position by means of the actuating device (210).

22. Handling device (126) according to claim 21, characterized in that the actuating device (210) comprises a drive device (212) and a thrust element (214) or pivotable pivoting element which can be displaced by the drive device on the support device (146) and which acts directly or indirectly on at least one of the holding elements (172, 174) of the holding device (136).

23. Handling device (126) according to claim 22, characterized in that the pushing element (214) or the pivoting element applies an opening force to an actuating member coupled to the holding element (172, 174) for actuating the holding element (172, 174).

24. Handling device (126) according to claim 23, characterized in that the actuating member is the detection member (202) or a contact member (224) arranged on the detection member (202) and / or that the actuating member or the detection member (202) forms a lever which is connected to the bearing element (198) for the movable holding element (172, 174) or is encompassed by it.

25. A system (100) for processing pharmaceutical containers (102), comprising at least one transport device (130) on which a handling device (126) according to one of the preceding claims is held and which is movable from a receiving position to a transfer position and vice versa; a receiving area on which a carrier (106) with containers (102) received therein can be positioned, wherein a plurality of containers (102), in particular a row of containers (102), can be received from the carrier (106) by means of the handling device (126) when the transport device (130) assumes the receiving position; and a transfer area (110, 128) on which a receiving device for the containers is arranged, for example a transport system (122), wherein the containers (102) can be transferred from the handling device (126) to the receiving device when the transport device (130) assumes the transfer position.

26. System (100) according to claim 25, characterized in that the system (100) comprises two transport devices (130), wherein a handling device (126) according to one of claims 1 to 14 is held on each transport device (130), wherein a plurality of containers (102) can be alternately picked up by one of the handling devices (126), wherein the respective transport device (130) assumes the takeover position, and wherein a plurality of containers (102) can be alternately transferred by one of the handling devices (126), wherein the respective transport device (130) assumes the transfer position.

27. System (100) according to claim 25 or 26, characterized in that the system (100) comprises a displaceable or rotatable receiving device (112) at the transfer area (110, 128) which receives two or more carriers (106), in particular three carriers (106), wherein after receiving the containers (102) of one carrier (106), a further carrier (106) is provided by rotating or displacing the receiving device (112).

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