Barrier system, component, system and methods

Abstract

The invention relates to a barrier system, in particular an isolator system (10), said barrier system (10) having an environment with restricted access, in particular an isolator (12); a transfer system (16) having a supply device (24) for supplying at least one component (32) for a processing system (30) into the surroundings (12); a station (36) provided in the surroundings (12); and a handling device (46), preferably a handling robot, provided in the surroundings (12). The handling device (46) is designed to pick up a component (32) supplied into the surroundings (12) by means of the supply device (24), transfer the component between the supply device (24) and the station (36) and couple the component (32) to the station (36) in order to install the component (32) or decouple a component (32) from the station (36) in order to remove the component (32), and the handling device (46) has an end effector (50), said end effector (50) having at least two receiving elements (52) which are spaced apart from one another. The handling device (46) is designed to move the end effector (50) in such a way that the receiving elements (52) engage into the counterparts (34) of the component (32) in order to receive the component (32), and the handling device is designed to move the end effector (50) in such a way that the receiving elements (52) and the counterparts (34) of the component (32) are separated from one another in order to release the component (32). Furthermore, the invention relates to a component, to a system, and to a plurality of methods.

Description

Barrier system, component, system and process

[0001] The present invention relates to a barrier system, in particular an isolator system, having an environment with restricted access, a transfer system with a feed device for feeding at least one component for a processing system into the environment, and a handling device arranged in the environment, which is configured to receive a fed component and transfer it between the feed device and a station within the environment and to couple the component to the station in order to install the component, or to decouple a component from the station in order to remove the component. Furthermore, the present invention relates to a component for a processing system of a barrier system. Furthermore, the present invention relates to a system with a barrier system and at least one component.Furthermore, the present invention relates to a method for providing a processing system of a barrier system in a restricted-access environment. Furthermore, the present invention relates to methods for coupling a component of a processing system within a restricted-access environment. Furthermore, the present invention relates to a method for initiating handling of at least one component for a processing system of a barrier system in a restricted-access environment.

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

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

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

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

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

[0007] Feeding devices within the isolator can be used to feed or introduce containers or consumables into the isolator. For example, the containers or consumables can be stored in a transfer lock or a staging container, e.g., a beta container, outside the isolator. This staging container can then be coupled from the outside to a port, e.g., an alpha-beta port, of the isolator and subsequently introduced into the isolator while maintaining the integrity of the isolator's defined atmosphere.

[0008] To handle the containers or consumables, one or more handling devices, e.g. handling robots, can be arranged in the isolator. A processing system can be used inside the isolator to process the pharmaceutical or cosmetic products. The processing system can have different processing stations depending on the intended work steps. For example, a filling station can be provided in the isolator for filling the containers. One or more closing stations, e.g., a plugging station and / or a crimping station, can be arranged in the isolator for sealing the containers.

[0009] For other work steps, it may be necessary to integrate filters or filter packs, as well as gassing bells, or handling systems such as transfer tubes or feed plates for collecting and transferring and / or feeding containers or consumables to be processed into the processing system.

[0010] The introduction and handling of components or parts of such processing stations of the processing system, particularly sterile ones, is generally possible using the means for introducing and handling the containers or consumables. Thus, the components or parts of the processing stations can be introduced into the isolator using a port system or a feed device and handled within the isolator using a handling device. In this way, a setup system can be provided that enables automatic setup of the processing system within the isolator.

[0011] Such setup systems are known in the state of the art.

[0012] For example, WO 2020 / 225838 A1 discloses a device and method for the automated management of the assembly of a machine for processing and / or packaging pharmaceutical products in an isolated, controlled-atmosphere processing chamber. The device comprises a transport container that can accommodate one or more components and introduce them into the processing chamber. The device also comprises a handling device and a gripping tool for handling the components.

[0013] However, the known isolator systems and methods for automated setup of processing systems in isolators still leave room for improvement, particularly with regard to the handling of components.

[0014] Against this background, it is an object of the present invention to provide an improved barrier system, in particular an isolator system, as well as an improved method for providing a processing system of a barrier system in an environment with restricted access, in particular in which the handling of the components is improved.

[0015] According to a first aspect of the present invention, a barrier system, in particular an isolator system, is provided, wherein the barrier system comprises an environment with restricted access, in particular an isolator; a transfer system with a feed device for feeding at least one component for a processing system into the environment; a station arranged in the environment; and a handling device, preferably a handling robot, arranged in the environment. The handling device is configured to receive a component fed into the environment by means of the feed device and to transfer it between the feed device and the station and to couple the component to the station in order to install the component, or to decouple a component from the station in order to remove the component. The handling device has an end effector, the end effector having at least two spaced-apart receiving elements. wherein the handling device is configured to move the end effector such that the receiving elements engage with counterparts of the component in order to receive the component and to move the end effector such that the receiving elements and the counterparts of the component are separated from one another in order to release the component.

[0016] According to a second aspect of the present invention, a component for a processing system of a barrier system, in particular an isolator system, is provided, wherein the component has counterparts for engaging receiving elements of an end effector of a handling device of the barrier system, wherein the counterparts of the component are designed as recesses in the component or as recesses in an adapter that is fixed or fixable to the component, wherein a first recess is a substantially semicircular recess with a circular diameter and defines a first center point and has a radial opening whose width corresponds at least to the circular diameter of the first recess, and a second, in particular substantially semicircular, recess defines a second center point, wherein the second center point is spaced from the first center point at a distance, wherein the second, in particular semicircular,Recess represents a first region of the second recess, and wherein the second recess has a second region connected to the first region, and wherein the second region is configured to enable movement of one of the receiving elements, within the second recess, along a path from the second region into the first region, wherein the second region extends along a portion of the path, in particular wherein the second recess has a greater width in the second region than in the first region, and wherein the component is further configured to be coupled to a station of the barrier system arranged in an isolator of the barrier system.

[0017] The component according to the second aspect is particularly suitable for use in the barrier system according to the first aspect.

[0018] According to a third aspect of the present invention, a system is provided comprising a barrier system according to the first aspect and at least one component according to the second aspect.

[0019] According to a fourth aspect of the present invention, a method is provided for providing a processing system of a barrier system, in particular an isolator system, in an environment with restricted access to the barrier system, in particular an isolator, the method comprising the following steps: feeding at least one component, in particular according to the second aspect, for the processing system into the environment by means of a feeding device of the barrier system; picking up the at least one component by means of a handling device of the barrier system arranged in the environment, preferably a handling robot; transferring the at least one picked up component within the environment between the feeding device and a station of the barrier system arranged in the environment by means of the handling device; coupling the at least one component to the station by means of the handling device in order to install the component;and releasing the at least one component by means of the handling device, wherein the picking-up step comprises a step of inserting an end effector of the handling device, wherein the end effector has at least two spaced-apart receiving elements, wherein the handling device is configured to move the end effector such that the receiving elements engage counterparts of the component in order to pick up the component; and the releasing step comprises a step of moving the end effector, wherein the handling device is configured to move the end effector such that the receiving elements and the counterparts of the component are separated from one another in order to release the component.

[0020] According to a fifth aspect of the present invention, a method is provided for coupling a component for a processing system of a barrier system, in particular an isolator system, in an environment with restricted access, in particular in an isolator of the barrier system, the method comprising the following steps: controlling an actuator of a station of the barrier system by means of a control device of the barrier system, so that at least one fastening device of the station is moved into a position predefined for coupling with the component; and coupling the component to the station by means of a movement of a handling device of the barrier system, wherein the handling device has picked up the component.

[0021] According to a sixth aspect of the present invention, a method is provided for coupling a component for a processing system of a barrier system, in particular an isolator system, in a restricted-access environment, in particular in an isolator of the barrier system, the method comprising the following steps: releasing a locking device of a first station of the barrier system by means of a movement of an actuator of a second station and / or by means of a movement of an actuator of the first station of the barrier system to enable the coupling of the component to the first station; coupling the component to the first station by means of a movement of a handling device of the barrier system, wherein the handling device has picked up the component;and then locking the locking device by means of a movement of the actuator of the second station and / or by means of a movement of the first station in order to secure the coupling of the component to the first station;

[0022] According to a seventh aspect of the present invention, a method is provided for initiating handling of at least one component for a processing system of a barrier system, in particular an isolator system, in a restricted access environment, in particular an isolator, of the barrier system, the method comprising the following steps: defining an initial position of the at least one component relative to a handling device and relative to a station of the barrier system by a coordinate initiation device of the barrier system interacting with a feed device of the barrier system.

[0023] The methods according to the fourth, fifth, sixth and seventh aspects can be carried out in particular in the barrier system according to the first aspect or in the system according to the third aspect, wherein the component can be a component according to the second aspect.

[0024] The methods according to the fourth, fifth, sixth and seventh aspects can in particular be supplemented by at least one method step according to one or more of the other methods according to the fourth and / or fifth and / or sixth and / or seventh aspects.

[0025] The barrier system is, in particular, an isolator system. The isolator system can preferably be part of a filling system with multiple processing and processing stations. The filling system can, for example, be a system for filling and closing containers with a pharmaceutical or cosmetic substance. The barrier system is designed to be automatically set up. This means that the processing system can be prepared in the isolator of the barrier system by means of a set-up process. The set-up process can be carried out, in particular, using the method according to the fourth aspect.

[0026] The isolator may have an interior space. The isolator is preferably an aseptic isolator. An aseptic isolator has a highly clean or sterile, i.e., germ-free, environment in the interior space. The handling device and the (at least one) station are arranged in the isolator, in particular in the interior space of the isolator. Furthermore, the feeding device can be arranged in the isolator. Furthermore, the processing system is arranged in the isolator if the processing system is provided by incorporating the at least one component.

[0027] The processing system can be part of the filling system. The processing system can comprise a process or processing station, such as a filling and / or closing station for filling and closing containers with a pharmaceutical or cosmetic substance. The processing system can be provided in the isolator by incorporating the at least one component by coupling it to the station. In this way, the processing system is installed in the isolator of the barrier system. In the installed state, the processing system comprises at least one component. In the installed state, the processing system can also comprise multiple components, in particular wherein the components are coupled to multiple stations. In particular, multiple components can be connected to one another if they interact and / or provide a common function. For example, several components can be connected together to provide a processing station.

[0028] The station, in particular at least one station, is designed to receive at least one component and to fix it in at least one defined position in order to provide the processing system. The station can preferably be fastened to a floor of the isolator. In particular, the station can be fastened to a wall or to a ceiling of the isolator. The station can be fastened by means of a mounting device. This can be, for example, a bolt or other conventional fastening means. The station can have an actuator. In particular, a movable or actuatable part of the actuator can be coupled to the component. This part can be a fastening device of the station. The fastening device serves to receive, fasten, or couple the component. The fastening device is, for example, a receptacle for a cylindrical counterpart. The actuator can move the component in the coupled state.The actuator can, for example, be an extendable and / or rotatable and / or pivotable cylinder. The actuator can move the fastening device into a first position and at least into a second position. The first position can be a predefined position for coupling to the component. In the predefined position, the component can be coupled to the fastening device in a particularly simple manner. The predefined position can be particularly easy to reach for the handling device. The second position can be an operating position. In particular, the actuator can be controlled by the control device by means of the controlling step. In particular, the station can have a locking device. The locking device can be part of the fastening device or integrated into it. If the barrier system has several stations, these can be of identical or different construction.For example, they can differ in terms of the actuator's range of motion. The range of motion is the area within the isolator that the actuator can reach with its movable part.

[0029] The control can be carried out in particular by means of the control device according to the fifth aspect.

[0030] The locking device can increase safety by securing the coupling of an installed component, thus preventing it from becoming uncoupled during operation of the processing system. Furthermore, a locking device enables the installation of a component in complex installation situations, for example, overhead, by securing the component against uncoupling from the station using the locking device. The locking device can be a conventional mechanism for locking two coupled elements. The locking device can be used to secure the coupling of the component to the station when the locking is engaged, so that the coupling cannot be released. When the locking is released, the coupling of the component to the station can also be released.In particular, both the component and the station can have corresponding parts of the locking device that can engage with each other to effect locking. In particular, the locking device has an accessible switch. The switch switches the state of the locking device between a locked state and a released state.

[0031] The locking device can be released, in particular, with the release step according to the sixth aspect. In particular, the switch can switch the state of the locking device to the released state. In this state, the coupling partners can be coupled or separated to realize the coupling or uncoupling.

[0032] The locking device can be locked, in particular, with the locking step according to the sixth aspect. In particular, the switch can switch the state of the locking device to the locked state. In this state, coupled coupling partners cannot be separated, and uncoupled coupling partners cannot be coupled. In other words, the state of the locking device is then secured.

[0033] The control device can be configured to control the actuator and / or the handling device. However, there can also be a control device for controlling the actuator and the handling device, in particular wherein the control devices are in data exchange. In particular, in this way Movements of the handling device and the actuator are coordinated.

[0034] The component can be coupled to the station. This means that the component can be reversibly attached to the station and fixed in at least one defined position. For this purpose, the component can in particular have a coupling element for coupling to the fastening device or the locking mechanism. The component is fixed in the installed state or in the state coupled to the station. In the installed state, the component is part of the processing system. In particular, the component can be the only component of the processing system in the installed state. The component can also be referred to as a functional element for the processing system. Each component provides a function of the processing system. For example, a component can be a filter or a filter pack. In this case, the component provides a filter function. For example, a component can be a transfer tube.In this case, the component provides a transfer function, e.g., for consumables. For example, a component can be an object plate or a feed plate. In this case, the component provides a collection or feed function for objects, e.g., closure caps. The type and function of the component can be selected according to the desired functions of the processing system. A component can also be a support element. In this case, the component provides a support function, particularly for another component. A component that has all the functions of the processing system can be referred to as the processing system.

[0035] The transfer system serves to introduce the components into the isolator. By means of the transfer system, components can be introduced into the isolator without compromising the integrity of the isolator's defined atmosphere. The transfer system can, for example, have an isolator opening. The isolator opening can be closed by means of a door. A transfer lock can be coupled to the isolator opening from the outside. The components can be arranged in the transfer lock. The transfer lock can be designed to accommodate the feeding device. Preferably, the transfer lock is coupled to the isolator opening with the door closed, and the door is only opened when the door is in the coupled state. For example, the transfer system can be designed as a port system, in particular as an alpha-beta port system. The port system can have a port, also called an alpha port, which is integrated into the isolator. The alpha port can have the isolator opening and the door. The transfer lock can be designed accordingly as a beta port or beta container, which can be coupled to the alpha port. The beta port or beta container can be, for example, a sterile bag or a rigid transport container, e.g., a stainless steel container, a plastic container, or an aluminum container. In particular, the transfer system can be controlled by the control device or another control device.

[0036] The feeding device is used to feed components into the isolator. In other words, the feeding device introduces the components into the isolator and makes the components available for provision of a processing system in the isolator. The feeding device can be movably arranged in the transfer lock in order to introduce the components from the transfer lock into the interior of the isolator via the port and to make them available in the interior. It goes without saying that the feeding device can also be used to remove removed components from the isolator. In particular, the feeding device can be controlled by the control device or another control device. The feeding device can be a carriage or a drawer. In particular, the feeding device can be guided on rails or guides. In particular, the feeding device can be movable by means of wheels or rollers.The feed device can, in particular, comprise holders for holding the components. The holders can be configured to hold the components in a defined position and orientation in the feed device. Through the interaction of a coordinate initiation device with the feed device, the initial position of the component in the feed device relative to the handling device and relative to the station of the barrier system can be determined. In this way, the initial position of the component in the interior of the isolator can be defined.

[0037] The feeding can be carried out, in particular, by means of the feeding device. The feeding step is carried out in such a way that the integrity of the defined atmosphere of the isolator is not violated.

[0038] The starting position of the at least one component can be a position and / or a location in a defined coordinate system. The location can be understood as an orientation of the component relative to the coordinate system. The coordinate system can, for example, define the space in the isolator using spatial coordinates. Furthermore, a position and / or a location, or orientation, of other components of the barrier system can be defined in the coordinate system. The starting position can be defined by means of the defining step.

[0039] The definition can be carried out in particular by the coordinate initiation device determining the exact position of the feed device in the isolator or in the interior by interacting with the feed device. If, in addition, the exact position and orientation of the component in the feed device is known, the starting position of the component in the isolator can be defined. In particular, this can be achieved by a coordinate transformation, wherein at least one known point on the component is defined in a coordinate system in the feed device and at least one known point on the feed device has been determined in a coordinate system in the isolator by means of the coordinate initiation device. If, for example, the position of the handling device or the station in the coordinate system of the isolator is also known, the starting position of the component can be defined relative to these positions.In principle, it is also possible for the coordinate initiation device to interact directly with the component in order to determine its initial position directly, in particular independently of the position of the feeding device, in particular in the coordinate system of the isolator.

[0040] The coordinate initiation device can be a tactile coordinate measuring unit. The coordinate initiation device can be a laser-based or camera-based coordinate measuring unit. In particular, the coordinate initiation device can raise the feed device so that the feed device is aligned in a, preferably mechanically determined, defined support situation with a known position and orientation of the feed device relative to the coordinate initiation device.

[0041] The handling device is used to handle the components in the isolator. Thus, the handling device serves to transfer the supplied components between the feed Device and the station to transfer and install the components by the handling device coupling the component to the station. To this end, the handling device can pick up the fed components, in particular those provided by the feeding device, and move and orient or align them in the isolator in order to couple the components to the station in a predetermined orientation. By coupling the components to the station, the handling device can provide the processing system in the isolator. It goes without saying that the handling device can also be used to remove the components or to decouple them from the station and then place them on the feeding device.

[0042] The transfer can be carried out in particular by means of the handling device according to the first aspect. The transfer requires that the component has been picked up by the handling device, in particular by means of the picking-up step.

[0043] Coupling the component to the station results in the component being fixed to the station, preferably by means of a positive fit. For this purpose, the component and the station can have corresponding elements as coupling partners, which preferably engage with one another in a positive fit. For example, the component can have a rod-shaped coupling element as a coupling partner, which can be inserted into a corresponding coupling partner of the station, designed as a receptacle, for coupling. Coupling can be effected such that the component is aligned and fixed in a defined position and orientation relative to the station. Furthermore, coupling can be effected such that the degrees of freedom of the component are defined in the coupled state. Coupling can be carried out in particular by means of the handling device according to the first aspect.The coupling step involves moving the component by means of the handling device, so that the component interacts with its coupling partner, preferably in a form-fitting manner, with the coupling partner of the station to secure the component to the station. After the coupling step, the component is installed. The coupling step according to the fourth, fifth, and sixth aspects can also be this step in one embodiment.

[0044] The handling device is preferably designed as a handling robot. The handling device has at least one multi-axis arm and one end effector. A drive device, for example, can be provided to move the arm. The handling device has a range of motion. The range of motion is the area in which the handling device can handle the component, in particular transfer, orient, and position it. The handling device can also have multiple handling robots. In particular, the ranges of motion of the handling robots then overlap. In particular, the handling device can be controlled by the control device or another control device.

[0045] The end effector is used to pick up or couple the component to the handling device. The end effector is arranged at one end of the arm. The end effector is motion-coupled to the arm. The end effector is movable by means of the arm. In particular, the end effector can be moved by the arm to any spatial coordinate within the range of movement of the handling device. The end effector can be rotated about at least one axis of rotation relative to the arm. In combination with the rotation about the axis of rotation, the end effector can be aligned in a defined space by the arm in the isolator during movement. For example, the end effector can be held in a horizontal orientation during transfer. Once the component has been picked up by the end effector, the component can be moved in a defined manner by the handling device. In other words, the component is motion-coupled to the arm. The end effector has aCoupling with the component at least two spaced-apart receiving elements.

[0046] Picking up occurs by inserting the end effector into the component. The insertion occurs by engaging the pick-up elements in the component. Picking up can be performed in particular by means of the handling device according to the first aspect.

[0047] The receiving elements interact with counterparts of the component to enable coupling between the end effector and the component. The receiving elements The receiving elements can be cylindrical in design, at least in sections, and extend in a rod-like manner in an axial direction or longitudinal direction. The receiving elements are fastened or can be fastened to the end effector at one end and can have an end section at their other end which is designed to engage in the counterpart of a component. In other words, the receiving element or the end section can bring about a coupling with the counterpart. The receiving elements engage, in particular with the end sections, in the counterparts in order to receive the component and to releasably fix the component to the end effector during handling by means of the handling device. At least one of the receiving elements has a rotationally symmetrical section, in particular an end section, which is designed to be rotatably received in the counterpart. The receiving elements are arranged in a fixed position on the end effector.Each receiving element is rigidly connected to the end effector. The receiving elements are thus motion-coupled to the end effector and can be moved by means of the arm. Motion-coupled in this context means that any movement of the end effector or arm is directly transferred to the receiving elements. If the receiving elements are engaged with their counterparts, this means that any movement of the end effector or arm is directly transferred to the component.

[0048] The counterparts serve as receptacles for the receiving elements during engagement. The counterparts of the component are designed as recesses in the component or as recesses in an adapter that is or can be fixed to the component. The recesses are essentially groove-shaped and correspond to an outer contour of the receiving element or of the end section. This means that each recess has a first region that is designed to bring a receiving element into contact with the counterpart in a defined manner. Furthermore, each recess can have a second region that is designed to enable the receiving element to slide into the recess, in particular into the second region, and from there into the first region. For this purpose, the recess in the second region can have an opening in one side of the groove-shaped recess or have a section with a greater width of the groove-shaped recess.In this way, each counterpart is designed so that one of the receiving elements, in particular with the end section, can be moved from a first position in which the. If the receiving element is not engaged with the counterpart, it can be guided into a second position by means of translational and / or rotational movements, in which the receiving element is engaged with the counterpart. The movement of the receiving elements occurs from the respective first to the respective second position along a path.

[0049] The engagement of the receiving elements in the counterparts of the component occurs through a movement of the end effector by means of the handling device. In particular, the handling device can be controlled for this purpose by the control device or another control device. Since the receiving elements are rigidly connected to one another, the movement of the end effector always causes a simultaneous movement of at least two receiving elements. The paths of the counterparts are selected so that both receiving elements can be guided simultaneously along the respective path. The paths can be identical or different. The paths can be straight or curved at least in sections. Depending on the paths, the receiving elements can be moved from the first to the second position either by means of a single movement or by means of a sequence of movements of the end effector.The movement sequence can include translational and / or rotational movements of the end effector. In the first position, the receiving elements have no contact with the counterparts. In the second position, the receiving elements come into contact with the counterparts and are in contact with the counterpart. Due to this contact, the receiving elements and the counterparts are in engagement with each other by means of a positive locking mechanism. The positive locking mechanism acts in such a way that each receiving element is movement-coupled with its counterpart in at least one direction through contact with the latter. If the receiving elements are arranged in the first position, the component is released. If the receiving elements are arranged in the second position, the component is received.When the receiving elements are arranged in the second position, the end effector can transmit movement to the component in any direction by means of the receiving elements, in which the receiving elements are motion-coupled to their counterparts by contact. In this way, the end effector and the component are detachably connected or coupled to each other.

[0050] Release occurs by removing the end effector from the component. Release occurs by separating the receiving elements from the component. In particular, separation occurs in the reverse manner to engagement. In particular, separation can occur by reversing the movement or movement sequence and moving the receiving elements from the second position to the first position. Release can be performed, in particular, by means of the handling device according to the first aspect.

[0051] It is fundamentally possible to handle components with a gripper system connected to a handling device. Gripper systems grip objects with a feed movement of at least two gripping elements relative to each other. A gripper system therefore requires the presence of a larger number of moving parts in the isolator. In addition, gripper systems require at least one additional actuator to actuate the feed movement. In particular, sensors may be required if high demands are placed on the accuracy of the gripper systems. Moving parts are subject to wear and tear. Wear can cause the smallest particles of the moving parts or their bearings to abrasion. Such particles can contaminate the interior of the isolator and enter products processed in the isolator.In addition, moving parts require increased maintenance due to their greater mechanical complexity compared to stationary parts. The same applies to additional actuators or sensors, as each actuator or sensor is subject to wear and a certain probability of failure. In an isolator, maintenance usually requires violating the integrity of the isolator's defined atmosphere if the isolator has to be opened. Opening the isolator usually requires H2O2 decontamination of the isolator interior and all components within it before it can be put back into operation. Furthermore, opening the isolator poses health risks for maintenance personnel if hazardous substances are processed in the isolator. The same applies to maintenance using glove systems, which allow maintenance personnel to reach into the isolator's interior while wearing gloves integrated into an outer wall of the isolator.With such glove systems, there is a risk that damage to the gloves may go unnoticed and a user may come into contact with the contents of the isolator.

[0052] According to the invention, the handling device is configured to move the end effector such that the receiving elements engage the counterparts of the component and create a coupling to receive the component, and to move the end effector such that the receiving elements and the counterparts of the component are separated or decoupled from each other to release the component. The engagement of the receiving elements with the counterparts creates a positive connection. This creates a motion-coupled connection between the end effector and the component, allowing the component to be moved in a defined manner by the handling device.

[0053] This eliminates the need for gripper systems to handle the components. This simplifies and improves handling. Furthermore, maintenance effort and downtime of the barrier system are reduced. Furthermore, health risks for maintenance personnel are reduced.

[0054] A further advantage according to the fifth aspect is that the handling of the components is improved by moving the station's fastening device into a predefined position for coupling with the component. This allows the fastening device to be brought into the movement range of the handling device, thereby reducing the distance over which a component must be transferred by the handling device. This allows stations that are not located within the movement range of the handling device to be reached.

[0055] A further advantage according to the sixth aspect is that the handling of the components is improved by securing the coupling by means of a locking device. In this way, the coupling can be carried out with a simplified movement. For example, a simple pushing movement is then sufficient to insert a rod-shaped coupling partner into a corresponding coupling partner designed as a receptacle. By means of the locking device, the coupling partners can be fixed and secured in the coupled state without further movement of the handling device. Without a locking device, a rotational movement would have to be provided by the handling device during coupling, for example, in order to couple and secure the component by means of a thread.

[0056] A further advantage according to the seventh aspect is that the handling of the components is improved by making handling more precise. Defining a starting position of the component, which is determined by the coordinate initiation device relative to the handling device and relative to the station, reduces inaccuracies in handling the component and, especially during coupling, reduces the likelihood of unwanted collisions between the coupling partners.

[0057] The task posed at the beginning is thus completely solved.

[0058] In a first embodiment of the aspects, the receiving elements can be designed to be immovable, wherein the handling device is configured to move the end effector in such a way that the receiving elements engage in the counterparts of the component exclusively due to the movement of the end effector or that the receiving elements and the counterparts of the component are separated from one another exclusively due to the movement of the end effector.

[0059] This eliminates the need for any moving components to grip the component. This reduces the complexity of the end effector. Reduced complexity reduces maintenance effort.

[0060] In a further embodiment of the aspects, the barrier system can have a setup system arranged in the environment for automatically installing the at least one component of the processing system in the environment and for automatically removing the at least one component, wherein the setup system has the handling device.

[0061] In a further embodiment of the aspects, the barrier system can have a control unit. The control unit can be the control unit according to the fifth aspect. The control unit can control the barrier system. In particular, the control unit can control the transfer system. In particular, the control unit can control the processing system. In particular, the control unit can control the handling device. In particular, the control unit can control the station's actuator. In principle, the barrier system can also have several control units that can work alone or together.

[0062] In a further embodiment of the aspects, the barrier system can further comprise a control device which is designed to assist, when the component is picked up by the handling device, a coupling of the component to the station by a movement of an actuator of the station, wherein the control device controls the actuator in such a way that at least one fastening device of the station is moved into a position predefined for coupling to the component, and in particular when the component is coupled to the station, controls the actuator in such a way that the component is brought into an operating position.

[0063] In the predefined position, the fastening device can be arranged within the movement range of the handling device. Furthermore, the fastening device can be easily accessible for the handling device in the predefined position. This means that no other components are arranged between the fastening device and the handling device in such a way that coupling is made difficult or impossible. In the operating position, the component can then be arranged, for example, outside the movement range of the handling device.

[0064] In particular, the predefined position can be a position in which the fastening device is aligned in the Earth's gravitational field in such a way that the component remains coupled to the fastening device by gravity, even without a securing device. In this position, the component can be secured in the fastening device particularly easily with a securing device, since the component does not need to be held by the handling device during this process. In the operating position, the component can then be arranged upside down, for example.

[0065] This offers the advantage that the component does not have to be mounted in a complex installation situation, such as overhead, which would require coupling. This simplifies handling and eliminates the need for a second, parallel handling device to support the This also eliminates the need for gloves, i.e., the use of assembly personnel, because the complexity of the installation situation is reduced to such an extent that the handling device can easily automate the assembly. This eliminates the need for assembly personnel to wear gloves, thus minimizing risks. In particular, this avoids the risk of damaging a glove during assembly, leading to potential contamination.

[0066] In a further embodiment of the aspects, an actuator of a second station and / or an actuator of a first station of the barrier system can be configured to release a locking device of the first station of the barrier system in order to enable the coupling of the component to the first station and, when the component is coupled to the first station, to lock the locking device in order to secure the coupling of the component to the first station.

[0067] In particular, the actuator of the second and / or the first station can switch the locking state. The locking is switched by contact. For this purpose, it can be provided that the actuator of the second station can move such that the movable part of the actuator, in particular with a contact element, comes into contact with the switch of the locking device. For this purpose, it can be provided additionally or alternatively that the actuator of the first station can move such that the locking device comes into contact with the actuator of the second station. In other words, the movement of the actuator of the second and / or the first station provides a relative movement between a part of the actuator of the second station, in particular the contact element, and the locking device in order to operate the locking device.For this purpose, the range of motion of the actuator of the second and / or first station must be configured to allow contact between the actuator of the second station and the locking device. In particular, each actuator can be controlled by means of the control device. In this way, the actuator of the second and / or first station can switch the locking state between a locked state and a released state using the switch.

[0068] This allows the locking device to be operated without the intervention of assembly personnel or an additional handling device or actuator when the complexity of the installation situation or safety considerations require the use of a locking device. This allows the locking device to be used particularly simply and efficiently and can be operated with the isolator closed.

[0069] In a further embodiment of the aspects, the control device can further be designed, when the component is coupled to the station by means of the handling device and in particular released by means of the handling device, to establish a fluid path connection between a fluid connection of the station and a fluid connection of the component by means of a movement of an actuator of the station, in that the control device controls the actuator in such a way that the fastening device is pressed against the component, so that the fluid connections come into operative connection and establish the fluid path connection, in particular wherein at least one seal can seal the fluid path connection between the fluid connections.

[0070] In the context of this embodiment of the aspects, the term "coupled" can already be understood as a state in which the component is deposited and released in a defined position and orientation within the movement range of the actuator by means of a movement of the handling device of the barrier system. In other words, the component does not have to be fixed and can have at least one degree of freedom. In the defined position and orientation, the component can thus be movable, so that the component can be moved by a movement of the actuator or the movement of the fastening device to establish the fluid path connection. However, the movement of the component due to the pressing is limited, so that the component can be clamped, for example, by moving it against a fixed stop or another station or another component. The pressing can fix the component.

[0071] A fluid connection is understood to be an inflow or outflow of a fluid line or fluid path that is designed to be coupled to another fluid connection in order to establish a fluid path connection. The fluid paths of connected fluid connections can be connected to form a common fluid path. The fluid path connection can be configured to connect fluid paths for liquid or gaseous fluids.

[0072] The seal can be, for example, an O-ring seal or a conical sealing element. The seal can be arranged at the fluid connection of the station and / or at the fluid connection of the component.

[0073] In this way, a fluid path connection between installed components and a fluid path of the processing system can be established fully automatically without having to open the isolator.

[0074] In a further embodiment of the aspects, an auxiliary tool can be fastened to the second station or can be fastened by means of the handling device, wherein the auxiliary tool is configured to be moved by means of a movement of the actuator of the second station and / or by means of a movement of the actuator of the first station relative to the locking device in order to release or lock the locking device of the first station.

[0075] The auxiliary tool serves to improve the installation of components. By means of the auxiliary tool, in particular, the transmission of a force resulting from a movement of the actuator of a station to an object within the insulator can be realized. The movement of the actuator can preferably be rectilinear. In particular, the movement of the actuator can be a pivoting movement. In particular, the auxiliary tool can be used to operate the locking device. In particular, the auxiliary tool can actuate the switch of the locking device. The auxiliary tool can, for example, be a contact pin, a seat, or a counterholder. The auxiliary tool can be designed such that it is suitable for interacting with an object within the insulator. The auxiliary tool can, in particular, be a gripper.Alternatively, it can also be provided that the actuator interacts with the locking device by means of a component in order to operate the locking device, wherein the component is inserted at the second station instead of the auxiliary tool. is built. In this case, the switch is actuated via a surface of the component. In other words, a relative movement between the auxiliary tool or component and the locking device is provided by means of an actuator of a station in order to operate the locking device. The relative movement can, as previously described, be provided by the actuator of the first station and / or by the actuator of the second station. The range of movement of the actuator of the first and / or second station must enable contact between the auxiliary tool or component and the locking device. The auxiliary tool can be designed to enlarge the range of movement, in particular by means of an extension, or to reach a point on the locking device that is not directly located in a trajectory of the movement of the actuator.

[0076] The auxiliary tool can, in particular, be inserted into the insulator in the same way as a component and handled by means of the handling device, in particular coupled to a station. The auxiliary tool can be used in the installed state. In particular, or alternatively, the auxiliary tool can also be used by means of the handling device when it is accommodated by the handling device.

[0077] The auxiliary tool can be used to increase the actuator's range of motion. In particular, the auxiliary tool can be used to enable a station to interact with an object within the isolator. This allows an existing station in the barrier system to be used efficiently and economically.

[0078] In a further embodiment of the aspects, the barrier system may further comprise a coordinate initiation device, wherein the coordinate initiation device is configured to interact with the feeding device in order to define a starting position of the at least one component relative to the handling device and relative to a station.

[0079] In particular, the coordinate initiation device may be the coordinate initiation device according to the seventh aspect.

[0080] The coordinate initiation device can improve the handling of components by making handling more precise.

[0081] In a further embodiment of the aspects, the coordinate initiation device can be attached to an actuator of a further station or can be attached by means of the handling device, wherein the actuator is configured to move the coordinate initiation device in order to bring the coordinate initiation device into contact with the feeding device.

[0082] In particular, the further station can be designed the same or similarly to the station according to the first aspect.

[0083] The actuator of the additional station can be used to move the coordinate initiation device during the setup process, without the coordinate initiation device requiring its own actuator. This allows for particularly efficient and economical handling of the coordinate initiation device.

[0084] In a further embodiment of the aspects, the coordinate initiation device can be configured to fix the feeding device in order to secure a position and an orientation of the feeding device.

[0085] For fixing, the coordinate initiation device can have preferably conical support elements that are configured to slide positively into corresponding, preferably conical, receptacles of the feed device when the coordinate initiation device is moved against the feed device, preferably against the underside of the feed device. Preferably, the coordinate initiation device fixes the feed device with three support elements, so that the feed device rests mechanically on the support elements.

[0086] In particular, the fixing can be achieved by raising the feed device by the coordinate initiation device, so that it is supported by the coordinate initiation device in a mechanically determined manner. Preferably, the coordinate initiation device fixes the feed device with three support elements, so that the feed device rests on the support elements in a mechanically determined manner. This results in a defined alignment of the feed device relative to the coordinate initiation device. Fixing ensures that the feed device remains in the defined orientation during the picking up of components by means of the handling device. In this way, the handling of the components can be improved.

[0087] In a further embodiment of the aspects, the barrier system can have a control device for controlling the handling device (46), wherein the control device is designed to receive information about the starting position of the at least one component from the coordinate initiation device in order to control the handling device, in particular exclusively based on the information, in order to pick up and / or orient and / or position and / or install the at least one component.

[0088] The information about the starting position can, for example, be a signal from the coordinate initiation device that can be processed by the control device. In particular, the information includes a position and orientation, or rather, the orientation, of the component within the interior of the isolator relative to a position and orientation of the handling device and the station. In particular, the information can further include a position of each of the component's counterparts.

[0089] The control device can, in particular, be the control device according to the fifth aspect, or a further control device. In particular, the control device controls the handling device according to the information in such a way that no sensors are required to detect the position and orientation of the component during handling by means of the handling device. In particular, the control device controls the handling device according to the information in such a way that the coupling of the component to the station takes place without unwanted contact between the component and the station. In particular, the control device controls the handling device according to the information in such a way that the component remains aligned relative to the Earth's gravitational field at all times during handling, so that the receiving elements remain engaged with the counterparts. In this way, particularly precise movement guidance can be provided when handling the component, in particular when coupling it. This allows the component to be handled in a particularly safe manner. This can, in particular, reduce wear, since unwanted collisions between the coupling partners can be avoided. In particular, the cleanliness of the insulator can be improved due to the reduction in wear.

[0090] In a further embodiment of the aspects, the circular diameter of the first recess can substantially correspond to a diameter of the end section of the first of the receiving elements and a shape, in particular a circular diameter, of the second recess can substantially correspond to an outer contour, in particular a diameter, of the end section of a second of the receiving elements, wherein the distance substantially corresponds to a distance between the first and the second of the receiving elements.

[0091] This ensures that various components are compatible with the end effector and can be handled by the handling device. This eliminates the need to adjust the receiving elements on the end effector.

[0092] In a further embodiment of the aspects, the path in the second recess from the second region into the first region can be a straight path.

[0093] A straight path allows the engagement of the receiving elements with their counterparts to be achieved with a particularly simple movement control of the end effector. The movement of the end effector can be a purely translational movement.

[0094] In a further embodiment of the aspects, the path in the second recess from the second region into the first region can be a circular path whose center coincides with the first center.

[0095] A circular path allows the engagement of the second receiving element with the counterparts to be achieved with a particularly simple movement control of the end effector. The movement of the end effector can be a purely rotational movement, with the central axis of the first receiving element serving as the rotational axis.

[0096] In particular, the recess can taper along the circular path as it approaches the second center point. In this way, an increasing clamping force can be achieved in cooperation with the second receiving element when the second receiving element is moved along the path toward the second center point. In this way, the engagement of the receiving elements in the counterparts for receiving the component can be achieved by means of positive and frictional engagement.

[0097] In a further embodiment of the aspects, the first and / or the second recess may have undercuts which are each configured to engage with a projection of one of the receiving elements in order to secure the receiving element in an axial direction of the receiving element.

[0098] The projection may be arranged at one end, in particular at the end portion, of the receiving element. The projection may be wider than the receiving element in a direction orthogonal to the axial direction.

[0099] Each undercut can be designed as a pocket designed to receive the projection. The undercut can be connected to the opening in one side of the groove-shaped recess, so that the projection protrudes into the undercut when the receiving element engages. In this way, the receiving element and the counterpart are motion-coupled in the axial direction. This allows the component to be guided in the axial direction without the component being accidentally released.

[0100] In a further embodiment of the aspects, at least one of the counterparts can be designed in a region of the, in particular semicircular, recess in such a way that, when a receiving element engages in the recess, a fit is produced between the recess and the receiving element, wherein the fit is preferably a clearance fit and wherein the recess has a depth which is in a ratio to a width, in particular the circle diameter, of between 1:1 and 1.6:1, preferably between 1.2:1 and 1.5:1, particularly preferably between 1.2:1 and 1.4:1, so that, when the component is received by the receiving elements, canting occurs between the at least one of the counterparts and the respective receiving element in order to make relative movement between the counterparts and the receiving elements more difficult.

[0101] In particular, jamming can occur if a receiving element is tilted in its counterpart. Jamming can result in high frictional forces at the contact points. In this way, the engagement of the receiving elements in the counterparts to hold the component can be achieved using both positive and non-positive locking.

[0102] In a further embodiment of the aspects, the component can be provided with a code (e.g. QR or data matrix code) which is designed to be read by means of a sensor, in particular a camera, in particular wherein the code is arranged as a marking on a surface of the component.

[0103] The code can be read while the component is being handled by the handling device. In particular, the code can be read while the component is being transferred by the handling device. In this case, the component can be transferred between the feed device and the station in such a way that the code is guided past a readout sensor and read.

[0104] The code allows for the identification of each component, ensuring improved traceability and safety. In particular, it allows for verification and assurance that the correct component is being installed.

[0105] In a further embodiment according to the fourth aspect, the method may further comprise the following steps: decoupling the component coupled to the station from the station by means of the handling device in order to remove the component, wherein the component is received by the handling device; and removing the removed component from the restricted-access environment by means of a feed device.

[0106] In particular, decoupling can be performed in the exact opposite way to coupling. The decoupling step requires the picking up step. In particular, the decoupling step can involve releasing the locking device. Decoupling is complete when the component is no longer in contact with the station.

[0107] In particular, the removal can be performed in exactly the opposite way to the feeding. For removal, the handling device can transfer the component back to the feeding device, in particular by means of the transferring step, and position it there, in particular on the holders of the feeding device, and release it, in particular by means of the releasing step. Removal takes place without violating the integrity of the defined atmosphere of the isolator.

[0108] In a further embodiment of the aspects, the steps of inserting and removing the end effector can be carried out in such a way that the receiving elements engage in the counterparts of the component solely due to the movement of the end effector and that the receiving elements and the counterparts of the component are separated from one another solely due to the movement of the end effector, wherein the receiving elements are designed to be immovable.

[0109] In a further embodiment of the aspects, the step of introducing can be a sequence of movements comprising the following successively executed movement steps: First movement of the end effector, so that at least two of the receiving elements are each moved at least partially in a depth direction starting from a surface of the component, wherein each receiving element passes the surface in the region of the respective counterpart and wherein the counterparts of the at least one Component as recesses in the component or as recesses in an adapter which is fixed or fixable to the at least one component, wherein a first recess is a substantially semicircular recess with a circular diameter and which defines a first center point and has a radial opening whose width is at least equal to the circular diameter of the first recess, and a second, in particular substantially semicircular, recess defines a second center point, wherein the second center point is spaced from the first center point at a distance, wherein the second, in particular semicircular, recess represents a first region of the second recess and wherein the second recess has a second region which is connected to the first region and which is designed to prevent a movement of one of the receiving elements within the second recess,from the second region into the first region; second movement of the end effector, preferably a rectilinear movement of the end effector, such that a first receiving element engages in the first recess and a central axis of the first receiving element coincides with the first center point; and third movement of the end effector, preferably a rotational movement of the end effector, about the central axis of the first receiving element, such that the movement of a second receiving element in the second recess from the second region into the first region runs on a circular path whose center point coincides with the first center point, wherein the second region extends along a portion of the path, wherein the movement ends when a central axis of the second receiving element coincides with the second center point.

[0110] The depth direction points from the surface of a component inward into the counterpart. The recess extends from the surface of the component inward into the counterpart in the depth direction. Each recess extends to a defined depth in the depth direction into the counterpart.

[0111] In this embodiment, each receiving element of a barrier system has a corresponding length that allows the at least two receiving elements, which are firmly connected to one another via the end effector, to both engage with the respective counterpart simultaneously. In other words, both receiving elements then extend at least partially in a depth direction starting from a Surface of the component into the component. Preferably, the receiving elements extend into the counterparts with their end sections.

[0112] The first movement is an infeed movement. If the receiving element has a projection at the end section, the infeed movement must occur outside the first area of ​​the recess.

[0113] The central axis of the first receiving element coincides with the cylinder axis in the case of a receiving element which is cylindrically designed, in particular in the region of the end section.

[0114] The second movement can in particular be carried out in such a way that at least the first of the receiving elements engages with the projection into the undercut. In this case, the projection can preferably reach the undercut through an opening in one side of the groove-shaped recess. For this to happen, the at least first receiving element has to be moved in the depth direction during the first movement so far that the projection is arranged at the level of the undercut. When the central axis of the first receiving element coincides with the first center point, the first receiving element rests in the first recess in such a defined manner that the first receiving element can be rotated in the first recess. In other words, the first receiving element then forms a pivot joint together with the first recess.

[0115] The third movement represents a rotational movement of the end effector around the central axis of the first receiving element. Due to the rigid connection of the receiving elements, the movement of the second receiving element takes place on a circular path around the first center point. The radius of the circular path is the distance between the central axes of the first and second receiving elements. In the section of the circular path, the recess can have a radius of curvature corresponding to the circular path. However, the recess can also be designed to be straight in the area of ​​the circular path if the width of the recess is large enough to allow the movement of the second receiving element on the circular path. In particular, the recess in the second Area have a greater width than the diameter of the end section of the second receiving element. When the center axes of the receiving elements coincide with the respective centers of the counterparts, the receiving elements engage in the recesses and the component is received by the handling device. In particular, the second recess has an inner contour which interacts with the outer contour of the second receiving element during the movement of the second receiving element in the second recess, so that a contact force between the second receiving element and the second recess increases the closer the center axis of the second receiving element comes to the second center point. In this way, the engagement of the receiving elements in the counterparts for receiving the component can be realized by means of positive locking and frictional locking.

[0116] The central axis of the second receiving element coincides with the cylinder axis in the case of a cylindrically designed receiving element, particularly in the region of the end section. If the second receiving element is not cylindrical, the central axis of the second receiving element is an axis in the longitudinal direction of the receiving element, which coincides with the second center point when the second receiving element is engaged in the second recess and the component is received by the handling device.

[0117] In an alternative embodiment of the aspects, the step of insertion can be a sequence of movements comprising the following successively executed movement steps: First movement of the end effector, so that at least two of the receiving elements are each moved at least partially in a depth direction starting from a surface of the component, wherein each receiving element passes the surface in the region of the respective counterpart, and wherein the counterparts of the at least one component are formed as recesses in the component or as recesses in an adapter which is fixed or fixable to the at least one component, wherein a first recess is a substantially semicircular recess with a circular diameter and which defines a first center point and has a radial opening whose width is at least equal to the circular diameter of the first recess, and a second, in particular substantially semicircular,Recess defines a second center point, wherein the second center point is spaced from the first center point in a, Distance is spaced, wherein the second, in particular semicircular, recess represents a first region of the second recess and wherein the second recess has a second region which is connected to the first region and which is configured to enable a movement of one of the receiving elements, within the second recess, from the second region into the first region;Further moving the end effector so that the movements of a first receiving element and a second receiving element take place on co-existing, parallel paths, wherein the paths are straight or curved, wherein the second region extends along a portion of the path and such that the first receiving element engages in the first recess and the second receiving element engages in the second recess, wherein the movement ends when a central axis of the first receiving element coincides with the first center point and a central axis of the second receiving element coincides with the second center point;

[0118] The depth direction points from the surface of a component inward into the counterpart. The recess extends from the surface of the component inward into the component in the depth direction. Each recess extends to a defined depth in the depth direction into the counterpart.

[0119] In this embodiment, each receiving element of a barrier system has a corresponding length that allows the at least two receiving elements, which are firmly connected to one another via the end effector, to both engage with the respective counterpart simultaneously. In other words, both receiving elements then extend at least partially into the component in a depth direction, starting from a surface of the component. Preferably, the receiving elements extend into the counterparts with their end sections.

[0120] The first movement is an infeed movement. If the receiving element has a projection at the end section, the infeed movement must occur outside the first area of ​​the recess.

[0121] The central axis of the first receiving element coincides with the cylinder axis in the case of a receiving element which is cylindrically designed, in particular in the region of the end section.

[0122] The further movement represents a translational movement of the end effector. The further movement can in particular be carried out in such a way that the first and the second receiving element each engages with the projection in the undercut. In this case, the projection can in each case preferably reach the undercut through an opening in one side of the groove-shaped recess. For this to happen, the first and the second receiving element must have been moved so far in the depth direction during the first movement that the projection is arranged at the level of the undercut. When the central axis of the first or the second receiving element coincides with the first or the second center point, the first or the second receiving element lies in a defined position in the first or second recess.When the center axes of the receiving elements coincide with the respective centers of the counterparts, the receiving elements engage in the recesses and the component is picked up by the handling device.

[0123] In a further embodiment according to the fifth aspect, when the component is coupled to the station, the method may further comprise the following step: controlling the actuator of the station by means of the control device so that the component is brought into an operating position, wherein the operating position is a position in which the component is used in the processing system.

[0124] In a further embodiment according to the sixth aspect, the method may further comprise a step of fastening an auxiliary tool by means of the handling device at the second station, wherein the auxiliary tool is configured to be moved by means of a movement of the actuator of the second station and / or by means of a movement of the actuator of the first station relative to the locking device in order to release or lock the locking device, wherein the fastening step takes place before the release and locking steps.

[0125] In particular, fastening can be carried out in the same way as coupling the component to the station.

[0126] In a further embodiment according to the seventh aspect, when the coordinate initiation device is attached to an actuator of a further station of the barrier system, the method may further comprise a step of moving the coordinate initiation device by means of the actuator in order to bring the coordinate initiation device into contact with the feeding device.

[0127] The movement of the coordinate initiation device occurs in accordance with the movement of the actuator. Preferably, the movement can be linear. The movement step can, in particular, take place before the definition step.

[0128] In a further embodiment of the aspects, the method may further comprise a step of fixing the feeding device by means of the coordinate initiation device in order to secure a position and an orientation of the feeding device.

[0129] For fixing, the coordinate initiation device can have preferably conical support elements that are configured to slide positively into corresponding, preferably conical, receptacles of the feed device when the coordinate initiation device is moved against the feed device, preferably against the underside of the feed device. Preferably, the coordinate initiation device fixes the feed device with three support elements, so that the feed device rests mechanically on the support elements.

[0130] In particular, the fixing can be carried out in such a way that the feed device is lifted by the coordinate initiation device, so that it is supported by the coordinate initiation device in a mechanically determined manner. Preferably, the coordinate initiation device fixes the feed device with three support elements, so that the feed device rests on the support elements in a mechanically determined manner. This results in a defined alignment of the feed device relative to the coordinate initiation device. Fixing ensures that the feed device The gripping device maintains a defined orientation while picking up components. This improves component handling.

[0131] In particular, the fixing step can take place before the defining step.

[0132] In a further embodiment of the aspects, the method may further comprise the following steps: transmitting information about the initial position of the at least one component from the coordinate initiation device to a control device of the barrier system for controlling the handling device; and controlling the handling device, in particular exclusively based on the information, in order to pick up and / or orient and / or position and / or install the at least one component.

[0133] In order to install the component, in particular the step of coupling the component to the station according to the fourth aspect can be used.

[0134] Transmission can be accomplished using conventional signal and data processing methods. In particular, a bus system can be used.

[0135] Control can be performed using the control device or another control device. If control is performed solely based on the information, additional sensors to improve handling are not necessary.

[0136] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0137] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. They show: Fig. 1 is a schematic view of a first embodiment of an isolator system; Fig. 2 is an isometric view of a second embodiment of an isolator system; Fig. 3 is an isometric view of an embodiment of a handling device; Fig. 4 is an isometric view of the receiving elements of the end effector engaging with the counterparts of the auxiliary tool or the component. Fig. 5 is a schematic view of the counterparts of a) first and b) second embodiment of the component or auxiliary tool; Fig. 6 is an isometric view of a third embodiment of an isolator system (not shown: arm of the handling device; isolator; transfer system); Fig. 7 is an isometric view of a fourth embodiment of an isolator system (not shown: handling device; isolator; transfer system); Fig. 8 is a schematic view of a first embodiment of a method for providing a processing system of a barrier system, in particular an isolator system; Fig. 9 is a schematic view of a second embodiment of the method for providing a processing system of a barrier system, in particular an isolator system; Fig. 10 is a schematic view of a third embodiment of the method for providing a processing system of a barrier system, in particular an isolator system; Fig. 11 is a flow chart of successively executed movement steps of the step of introducing a fourth embodiment of the method for providing a processing system of a barrier system, in particular an isolator system; Fig. 12 is a flow chart of successively executed movement steps of the step of introducing a fifth embodiment of the method for providing a processing system of a barrier system, in particular an isolator system; Fig. 13 is a schematic view of a first embodiment of a method for coupling a component for a processing system of a barrier system, in particular an isolator system; Fig. 14 is a schematic view of a second embodiment of the method for coupling a component for a processing system of a barrier system, in particular an isolator system; Fig. 15 is a schematic view of a first embodiment of a further method for coupling a component for a processing system of a barrier system, in particular an isolator system; Fig. 16 is a schematic view of a second embodiment of the further method for coupling a component for a processing system of a barrier system, in particular an isolator system; Fig. 17 is a schematic view of a first embodiment of a method for initiating handling of at least one component for a processing system of a barrier system, in particular an isolator system; Fig. 18 is a schematic view of a second embodiment of the method for initiating handling of at least one component for a processing system of a barrier system, in particular an isolator system; Fig. 19 is a schematic view of a third embodiment of the method for initiating handling of at least one component for a processing system of a barrier system, in particular an isolator system; Fig. 20 is a schematic view of a fourth embodiment of the method for initiating handling of at least one component for a processing system of a barrier system, in particular an isolator system;

[0138] Fig. 1 shows a first embodiment of an isolator system as a barrier system, designated in its entirety by the reference numeral 10. This is a schematic representation.

[0139] The isolator system 10 includes an isolator 12. The isolator is a restricted-access environment. The isolator 12 includes an interior space 14. The isolator 12 further includes a transfer system 16. The transfer system 16 can be configured as an alpha-beta port system. The transfer system 16 includes a port 18. The port 18 can be an alpha port. The port 18 is arranged on a wall of the isolator 12 that separates the interior space 14 from an external environment. The port 18 can include an isolator opening and an isolator door. The isolator door can be arranged at the isolator opening. The isolator opening can be opened or closed using the isolator door. A transfer lock 20 can be coupled to the port 18 from the outside. The transfer lock 20 can be configured as a beta container or a beta port.

[0140] The isolator system 10 has a feeding device 24, several stations 36 and a handling device 46 in the interior 14 of the isolator 12.

[0141] The feeding device 24 serves to feed components 32, 32' for a processing system 30 into the isolator 12. The feeding device can be in the The components 32, 32' can be arranged or provided in the transfer lock 20 and introduced into the interior 14 via the port 18. The feed device 24 can be movable within the transfer lock 20 for this purpose. This movement is illustrated by the movement arrow 22. The components 32, 32' can be provided outside the isolator in the feed device 24 and then fed via the port 18 and into the interior 14 of the isolator 12.

[0142] The handling device 46 serves to handle, in particular transfer, the components 32, 32' within the isolator 12. The transfer is illustrated by way of example for component 32 using arrow 44. Furthermore, the handling device 46 serves to install the components by coupling the component 32 to the station 36. The component 32' has already been coupled to the station 36 by means of the handling device 46. For handling the components, the handling device 46 has an end effector 50. The end effector 50 serves to pick up the components 32, 32'. The picking up of the components is described in more detail in Figs. 4 and 5. The end effector 50 can be moved accordingly by the handling device 46 in order to orient or align the components 32, 32' and to couple them to the stations 36 in a predetermined orientation.The handling device 46 can preferably be designed as a handling robot, in particular according to the embodiment according to Fig. 3.

[0143] In particular, the components 32, 32' can also be removed or decoupled from the handling device 46 and discharged by means of the feed device 24. The movements then proceed in the opposite direction of the arrows 44 and 22.

[0144] The stations 36 serve to receive the components 32, 32 and to fix the components 32, 32 in a defined position to provide the processing system 30. If all components 32, 32' are coupled to the stations 36, the processing system 30 is provided in the isolator 12. In particular, the components 32, 32' can be connected to one another to provide a processing station or the processing system 30. The coupling of the component 32 to the station 36 can be supported in particular by an actuator 38 (not shown; see Fig. 2) of the station 36. As As can be seen in Fig. 1 and 2, a component 32, 32' is not necessarily coupled to each station 36.

[0145] The isolator system 10 can further comprise a control device 56. The control device 56 serves to control the handling device 46. In particular, the control device 56 controls the transfer of the component 32 from the feed device 24 to the station 36. The control device 56 can further be configured to control the actuator 38 and / or the handling device 46. However, there can also be a control device 56, 56' for controlling the actuator 38 and the handling device 46, in particular with the control devices 56, 56' exchanging data. In particular, movements of the handling device 46 and the actuator 38 can be coordinated with one another in this way.

[0146] Fig. 1 further shows a system 80 with the isolator system 10 and the components 32, 32'.

[0147] Fig. 2 shows a second embodiment of the isolator system 10. The isolator system of the second embodiment essentially corresponds to the isolator system 10 of the first embodiment shown in Fig. 1. Identical elements are identified by identical reference numerals and will not be explained in detail. Fig. 2 only shows the components of the isolator system 10 that are arranged in the interior 14 of the isolator 12. Even if not shown, the isolator system 10 can have a control device 56, in particular corresponding to that of the first embodiment.

[0148] In Fig. 2, the stations 36 are divided into groups a, b, c and d for better understanding. The stations 36a, 36b, 36c and 36d can nevertheless be designed identically. If the majority of all stations 36 in the isolator are referred to, they are designated collectively by the reference numeral 36. The stations can be fastened to a mounting device 42 in the isolator, in particular to the walls or the floor. The mounting device 42 can be a bolt or other conventional fastening means. The actuator 38 can be a This could be a lifting-swivel axis by means of which the component mounted on it can be moved.

[0149] In the second embodiment, the components 32, 32' are also introduced into the insulator 12 by means of the feed device 24. Furthermore, an auxiliary tool 74 can also be introduced into the insulator 12 by means of the feed device 24. The feed device 24 in Fig. 2 is designed to be movable like a drawer. For this purpose, the feed device 24 has rollers 26 that are guided on rails (not shown) in order to realize the movement (cf. arrow 22 in Fig. 1) of the feed device 24. In particular, the rails can protrude in sections into the interior 14 when the port 18 is open.

[0150] The feed device 24 can, in particular, have holders 28 for holding the components 32, 32' and the auxiliary tool 74. The holders 28 can be configured to hold the components 32, 32' and the auxiliary tool 74 in a defined position and orientation in the feed device.

[0151] In this embodiment, the isolator system 10 may include a coordinate initiation device 80. Through the interaction of the coordinate initiation device 80 with the feed device 24, a starting position of the components 32, 32' and the auxiliary tool 74 in the feed device 24 relative to the handling device 46 and relative to each station 36 of the isolator system 10 can be determined. In this way, the starting position of the components 32, 32' and the auxiliary tool 74 in the interior 14 of the isolator 12 can be defined.

[0152] The starting position can be a position and / or a location in a defined coordinate system 82. The location can be understood as an orientation of the component 32, 32' or the auxiliary tool 74 relative to the coordinate system 82. The coordinate system 82 can define the space in the isolator 12 by means of spatial coordinates. In the coordinate system 82, a position and / or a location, or orientation, of the handling device 46 and the stations 36. The starting position can be defined by means of the defining step 402 (see Fig. 17).

[0153] The coordinate initiation device 80 can be attached to the actuator 38 of the station 36d. More specifically, the coordinate initiation device 80 can be attached to a movable or actuatable part of the actuator 38, so that the coordinate initiation device 80 can be moved by the actuator 38. The actuator 38 of the station 36d is a linearly extendable cylinder. In this way, the coordinate initiation device 80 can be moved linearly or rectilinearly according to the arrow 84, up and down, or into contact with the feed device 24 and away from the feed device 24.The coordinate initiation device 80 has three, preferably conical, support elements 86, which are configured to slide in a form-fitting manner into corresponding, preferably conical, receptacles (not shown) of the feed device 24 when the coordinate initiation device 80 is moved into contact with the feed device 24 on the underside of the feed device 24. The feed device 24 can be lifted by the coordinate initiation device 80 in order to fix it, with the feed device 24 resting in a mechanically determined manner on the support elements 86. In this way, a defined alignment of the feed device 24 relative to the coordinate initiation device 80 and thus also to the coordinate system 82 can be realized.

[0154] In this embodiment, the handling device 46 has a range of motion. The range of motion is selected such that all stations 36 are located within the range of motion of the handling device 46. In this way, the handling device 46 can transfer the components 32, 32', which, as described above, are initially arranged in the known and defined starting position in the feed device 24 after being fed into the isolator 12, to the stations 36a (the transfer is shown in Figs. 2 and 1 by the arrow 44) and couple them to the stations 36a for installation. In the installed state shown in Fig. 2, the components 32, 32' are already coupled to the stations 36a and connected to one another. In this state, the components 32, 32' form the processing system 30. The actuators 38 of the stations 36a are designed as linearly extendable cylinders.In particular, the actuators 38 of the stations 36a can move to a height which is a defined. Position of the components 32, 32', so that the processing system 30 is also provided in a defined position.

[0155] In this embodiment, the handling device 46 can, for example, alternatively transfer the component 32 to the station 36c (the alternative transfer is shown by the arrow 44') and couple it to the station 36c in order to install the component 32. The station 36c can also have an actuator 38, which is designed as a linearly extendable cylinder. The station 36c can further have an actuator 38', which is designed as a pivoting cylinder. In this embodiment, the isolator system 10 can have a further control device 56' (not shown). In particular, the control device 56' can be the control device 56 of the first embodiment. The control device 56' is designed, when the component is picked up by the handling device, to assist in coupling the component to the station by moving the actuator 38, 38' of the station 36c.For this purpose, the control device 56', for example, controls the actuator 38' such that at least one fastening device 40 of the station 36c is moved into a predefined position for coupling to the component 32. The predefined position of the fastening device 40 shown in Fig. 2 is well suited for coupling. In particular, the fastening device 40 is in the predefined position within the range of movement of the handling device 46. Furthermore, the fastening device 40 can be easily accessible to the handling device 46 in the predefined position. This means that no other components are arranged between the fastening device 40 and the handling device 46 in such a way that coupling is made difficult or impossible.

[0156] When the component 32 is coupled to the station 36c, the control device 56' can control the actuator 38' such that the component 32 is moved into an operating position. The movement of the actuator 38' is illustrated by the arrow 58. In the operating position, the component 32 can then be arranged, for example, outside the range of movement of the handling device 46.

[0157] In this embodiment, the handling device 46 can, for example, alternatively transfer the component 32 to the (first) station 36b and connect it to the station 36b couple in order to install the component 32. For this purpose, the (first) station 36b can also have a fastening device 40. The station 36b can further have a locking device 70 to secure the coupling of the component 32 to the station 36b. The locking device 70 can be part of the fastening device 40 of the first station 36b, or integrated therein. The actuator 38 of a second station 36b' can be configured to release or lock the locking device 70 by moving the actuator 38 into contact with the locking device 70. In particular, for this purpose the auxiliary tool 74 can be fastened to the second station 36b' by means of the handling device 46. In Fig. 2 the auxiliary tool 74 is shown in the fastened state at the second station 36b'.For fastening, the auxiliary tool 74 can be handled by means of the handling device 46 and coupled to the station 36 in the same way as the components 32, 32'. The operation of the locking device 70, in particular by means of the auxiliary tool 74, is described in more detail below with reference to Fig. 6.

[0158] To control the actuator 38 of the second station 36b', the isolator system 10 may have a further control device 56". The control device 56" may be configured like the control device 56', or it may be the same control device.

[0159] Fig. 2 further shows a system 80 with the isolator system 10 and the components 32, 32'. In particular, the system 80 may further include the auxiliary tool 74.

[0160] In Fig. 3, the handling device 46 of the isolator system 10 from Fig. 2 and a component 32 are shown in detail.

[0161] The handling device 46 serves to handle the components 32, 32' in the insulator 12. Thus, the handling device 46 serves to transfer the supplied components 32, 32' between the feeding device 24 and the station 36 (not shown) and to install the components 32, 32' by the handling device 46 coupling the component 32, 32' to the station 36. For this purpose, the handling device 46 can Pick up components 32, 32' and move and orient or align them in the isolator 12 in order to couple the components 32, 32' to the station 36 in a predetermined orientation.

[0162] The handling device 46 is designed as a handling robot. The handling device 46 has a multi-axis arm 48 and an end effector 50. A drive device, for example, can be provided to move the arm 48. The handling device 46 has a range of motion. The range of motion is the area in which the handling device 46 can handle the component 32, 32', in particular transfer, orient, and position it. The handling device 46 can also have multiple handling robots. In particular, the ranges of motion of the handling robots then overlap. In particular, the handling device 46 can be controlled by the control device 56 of the first embodiment or by a further control device 56'.

[0163] The end effector 50 serves to pick up or couple the component to the handling device 46. The end effector 50 is arranged at one end of the arm 18. The end effector 50 is motion-coupled to the arm 18. The end effector 50 is movable by means of the arm 18. In particular, the end effector 50 can be moved by the arm 18 to any spatial coordinate within the range of motion of the handling device 46. The end effector 50 can be rotated about at least one rotation axis 51 relative to the arm 18. In combination with the rotation (the rotation is illustrated in Fig. 3 by the arrow 49) about the rotation axis 51, the end effector 50 can be spatially aligned in a defined manner during movement by the arm 18 in the isolator 12. For example, the end effector 50 can be held in a horizontal orientation during transfer.Once the component 32 is received by the end effector 50, the component 32 can be moved in a defined manner by the handling device 46. In other words, the component 32 is then motion-coupled to the arm 18. The end effector 50 has a first receiving element 52 and a second receiving element 52' for receiving or coupling the component 32. Similarly, the end effector 50 is also configured to receive or couple an auxiliary tool 74 to the handling device 46 (the receiving of an auxiliary tool 74 by the handling device 46 is illustrated below in Fig. 4).

[0164] The receiving elements 52, 52' interact with counterparts 34, 34' of the component 32 or the auxiliary tool 74 to enable coupling between the end effector 50 and the component 32. For this purpose, the receiving elements 52, 52' are configured to engage the counterparts 34, 34'. The receiving elements 52, 52' can be cylindrical, at least in sections, and extend in a rod-like manner in an axial direction or longitudinal direction. Parallel to the longitudinal direction, each receiving element 52, 52' has a central axis 54, 54'. The receiving elements 52, 52' are attached or attachable at one end to the end effector 50 and can have an end portion 60, 60' at their other end, which is configured to engage the counterpart 34, 34' of a component 32. In particular, the end portion 60, 60' can also be configured as a projection 62, 62', as shown in Fig. 3.In other words, the receiving element 52, 52', or the end section 60, can effect a coupling with the counterpart 34, 34'. The receiving elements 52, 52' engage, in particular with the end sections 60, in the counterparts 34, 34' in order to receive the component 32 and to releasably fix the component 32 to the end effector 50 during handling by means of the handling device 46. At least one of the receiving elements 52, 52' has a rotationally symmetrical section, in particular end section 60, which is designed to be rotatably received in the counterpart 34, 34'. The receiving elements 52, 52' are arranged in a fixed position on the end effector 50 and at a fixed distance a from one another. Accordingly, the counterparts 34, 34' are arranged at a distance a from each other (the geometry of the counterparts 34, 34' is discussed in more detail in Fig. 5). Each receiving element 52, 52' is rigidly connected to the end effector.The receiving elements 52, 52' are thus motion-coupled to the end effector and are movable by means of the arm 18. Motion-coupled in this context means that a movement of the end effector 50 or the arm 18 is transmitted directly to the receiving elements 52, 52'. If the receiving elements 52, 52' are engaged with the counterparts 34, 34', this means that a movement of the end effector 50 or the arm 18 is transmitted directly to the component 32.

[0165] The movement axes of the arm 18 and the rotation 49 around the rotation axis 51 enable a defined movement control of the end effector 50 both with regard to the position of the end effector 50 in the isolator 12 and the orientation of the end effector 50 in space, or in the Earth's gravitational field. With this motion guidance, it is possible to guide the receiving elements 52, 52' uniformly. In other words, the receiving elements 52, 52' can be guided along parallel paths or trajectories. With this motion guidance, it is further possible to guide the first receiving element 52 on a circular path 68 (see also Fig. 5) around the second receiving element 52', wherein the central axis 54' of the second receiving element 52' forms the axis of rotation (or vice versa). The motion guidance of the receiving elements 52, 52' is described in more detail in Fig. 5.

[0166] Fig. 4 shows an isometric view of the receiving elements 52, 52' of the end effector 50 engaging the counterparts 34, 34' of the auxiliary tool 74. The engagement with the component 32, 32' from Fig. 2 or 3 can be performed analogously. If the receiving elements 52, 52' engage the counterparts 34, 34' in the manner shown in Fig. 4, the auxiliary tool 47 or component 32, 32' is received by the end effector 50.

[0167] In the arrangement shown in Fig. 4, the end effector 50 is seen from behind. The arm 18 is not shown. The end effector 50 is oriented by means of the movement axes of the arm 18 and the rotation (see arrow 49) around the rotation axis 51 such that the receiving elements 52, 52' point perpendicularly toward the auxiliary tool 74.

[0168] The counterparts 34, 34' serve as receptacles for the receiving elements 52, 52'. The counterparts 34, 34' are formed as recesses 34, 34' in the auxiliary tool 74, or in the component 32, 32', or as recesses 34, 34' in an adapter 33 (see Fig. 3) that is fixed or fixable to the component 32, 32'. In Fig. 4, the auxiliary tool 74 has a first counterpart, or recess 34, and a second counterpart, or recess 34'. The recesses 34, 34' are essentially groove-shaped and correspond to an outer contour of the receiving element 52, 52', or of the end section 60. This means that each recess 34, 34' has a first region 90, 90', which is designed to bring a receiving element 52, 52' into contact with the counterpart 34, 34' in a defined manner. Furthermore, each recess 34, 34' can have a second region 92, 92', which is designed to prevent sliding in (in Fig.4 illustrates, by means of the arrows 64), the insertion of the receiving element 52, 52' into the recess 34, 34', in particular into the second region 92, 92', and from there into the first. Area 90, 90' to enable. For this purpose, the recess 34, 34' in the second area 92, 92' can have an opening 35 in one side of the groove-shaped recess 34, 34', or a section 35' with a greater width of the groove-shaped recess 34, 34'. In this way, each counterpart 34, 34' is designed so that in each case one of the receiving elements 52, 52', in particular with the end section 60, can be guided from a first position (not shown), in which the receiving element 52, 52' is not in engagement with the counterpart 34, 34', by means of translational and / or rotational movements, into a second position (see Fig. 4) in which the receiving element 52, 52' is in engagement with the counterpart 34, 34'. The movement of the receiving elements 52, 52' occurs from the respective first to the respective second position along a path 66, 68 (exemplary paths 66, 68 are shown in Fig. 5).

[0169] Furthermore, the recesses 34, 34' can have an undercut 63, 63', as shown in the detail in Fig. 4. As shown in the detail, the undercuts 63, 63' are each configured to engage with a projection 62, 62' of one of the receiving elements 52, 52' in order to secure the receiving element 52, 52' in an axial direction (the direction is parallel to the central axis 54, 54' in Fig. 3) of the receiving element 52, 52'. The projection 62, 62' can be arranged at one end, in particular at the end portion 60, 60', of the receiving element 52, 52'. The projection 62, 62' can be wider than the receiving element 52, 52' in a direction orthogonal to the axial direction. As shown by way of example in Fig. 4, the projection 62, 62' and the undercut 63, 63' can be designed cylindrically or conically, corresponding to one another.The undercut 63, 63' can thus be formed as a pocket 63, 63' designed to receive the projection 62, 62'. The undercut 63, 63' can be connected to the opening 35, 35' in one side of the recess 34, 34', so that the projection 62, 62' projects into the undercut 63, 63' when the receiving element 52, 52' engages. In this way, the receiving element 52, 52' and the counterpart 34, 34' are coupled for movement in the axial direction.

[0170] Fig. 5 shows a schematic view of the counterparts 34, 34' of a) first and b) second embodiments of the component 32, or of the auxiliary tool 74. In Fig. 5, the component 32 has a first counterpart, or recess 34, and a second counterpart, or recess 34'. The view is a top view of the counterparts 34, 34'. Furthermore, Fig. 5 illustrates the corresponding movement guidance of the receiving elements 52, 52' by means of the end effector 50 along the paths 66, 68, which leads to engagement of the receiving elements 52, 52' in the counterparts 34, 34'.

[0171] In Fig. 5, the first recess 34 is a substantially semicircular recess with a circular diameter 97. The first recess 34 defines a first center point 96 and has a radial opening 35 whose width corresponds at least to the circular diameter 97 of the recess 34. In this exemplary embodiment, the second recess 34' is also a substantially semicircular recess that defines a second center point 98. The centers 96, 98 are spaced apart from each other by a distance a. The second recess 34' also has a radial opening 35'. The recesses 34, 34' have a first region 90, 90' and a second region 92, 92', which are connected to each other in the manner shown in Fig. 4.

[0172] The prerequisite for the movement of the receiving elements 52, 52' along the tracks 66, 68 to effect engagement is that the receiving elements 52, 52' are located at a sufficient depth in a depth direction starting from a surface 94 (see Fig. 4) of the component. In the detail in Fig. 4, the receiving element 52 is located at a sufficient depth. This means that, in particular when the recess 34 has the undercut 63, as in Fig. 4, the projection 62 must be arranged at a sufficient depth completely at the level of the undercut 63. In order to realize engagement, the tracks 66, 68 enable the receiving elements 52, 52' to be moved from the second region 92, 92' into the first region 90, 90' (see Fig. 4) of the recesses 34, 34'.

[0173] The second region 92, 92' can extend along a portion of the track 66, 68, in particular, wherein the recess 34, 34' in the second region 92, 92' can have a greater width than in the first region 90, 90' (cf. the recess 34' in Fig. 4). However, the recess 34, 34' can also be configured, particularly in the second region 92, 92', such that it guides the receiving element 52, 52' along the track 66, 68.

[0174] In Fig. 5a, the openings 35, 35' of the counterparts, or recesses 34, 34', point in different directions. In other words, the receiving elements 52, 52' cannot slide into the recesses 34, 34' from the same direction. In the illustrated situation, the first receiving element 52 is already engaged with the first counterpart 34. The second region 92 is configured such that the receiving element 52 can slide along the rectilinear path 66 into the second region 90. The sliding in is illustrated in Fig. 5 by the arrow 64. The receiving element 52 is engaged with the first counterpart 34 in such a way that the central axis 54 of the first receiving element 52 coincides with the first center point 96 and the first receiving element 52 rests in the first recess 34 in such a way that the first receiving element 52 can be rotated in the first recess 34.In other words, the first receiving element 52 then forms a rotary joint together with the first recess 34.

[0175] A rotational movement of the end effector about the central axis 54 of the first receiving element 52 is thus possible. Due to the rigid connection of the receiving elements 52, 52', the movement of the second receiving element 52' proceeds on a circular path 68 around the first center point 96. The radius of the circular path 68 is the distance a between the central axes 54, 54' of the first and second receiving elements 52, 52'. The opening 35' points downward in Fig. 5a and has a sufficient width so that the receiving element 52' can be moved on the circular path 68 into the first region 90' of the recess 34'. In the section of the circular path, the recess 34' can also have a radius of curvature corresponding to the circular path 68.

[0176] When the center axes 54, 54' of the receiving elements 52, 52' coincide with the respective centers 96, 98 of the counterparts 34, 34', the receiving elements 54, 54' engage in the recesses 34, 34' and the component 32 is received by the handling device 46. In particular, the second recess 34' has an inner contour which interacts with the outer contour of the second receiving element 52' during the movement of the second receiving element 52' in the second recess 34', so that a contact force between the second receiving element 52' and the second recess 34' increases the closer the center axis 54' of the second receiving meelements 52' comes to the second center point 98. In this way, the receiving of the component 32 by means of positive locking can be supplemented by a force locking.

[0177] In Fig. 5b, the counterparts 34, 34' are of a similar design to that in Fig. 4. In this embodiment, it is not absolutely necessary for the recesses 34, 34' to be semicircular and the receiving elements 52, 52' to be cylindrical, as long as the contours correspond and are suitable for engaging with one another.

[0178] In Fig. 5b, the openings 35, 35' of the counterparts, or recesses 34, 34', point in the same direction. In other words, the receiving elements 52, 52' can slide into the recesses 34, 34' from the same direction. The sliding in is illustrated by the arrows 64. The movements of the first and second receiving elements 52, 52' in Fig. 5b occur on identical, parallel, rectilinear paths 66. However, the paths 66 can also be curved instead of rectilinear.

[0179] The second region 92, 92' extends along a portion of the track 66, so that upon sliding in, the first receiving element 52 engages the first recess 34 and the second receiving element 52' engages the second recess 34'. The receiving elements 52, 52' are engaged with the counterparts 34, 34' when the central axis 54 of the first receiving element 52 coincides with the first center point 96 and the central axis 54' of the second receiving element 52' coincides with the second center point 98.

[0180] If the receiving elements 52, 52' are in the second position (cf. dashed representation in Fig. 5a, b), the receiving elements 52, 52' are in contact with the counterparts 34, 34' and are in contact with the counterparts 34, 34'. Due to the contact, the receiving elements 52, 52' and the counterparts 34, 34' are in engagement with one another by means of a positive connection. The positive connection acts in such a way that each receiving element 52, 52' is coupled in movement with the counterpart 34, 34' in at least one direction by contact with the latter. If the receiving elements 52, 52' are arranged in the second position, the component is received. If the receiving elements 52, 52' are arranged in the second position, the end effector can be Elements 52, 52' transmit a movement to the component 32 in any direction, in which the receiving elements 52, 52' are coupled to the counterparts 34, 34' by contact. In this way, the end effector 50 (not shown) and the component 32 are releasably connected or coupled to one another.

[0181] If the receiving elements 52, 52' are arranged in the first position (see Fig. 5b, the receiving elements 52, 52' are shown with a solid line), the component 32 is released. The release can, in particular, be carried out in the reverse manner to the receiving.

[0182] It should be noted that the recesses 34, 34' and tracks 66, 68 shown are merely examples. Numerous design possibilities exist. In particular, at least one of the recesses 34, 34' and a corresponding track can be designed in a labyrinthine manner. In this case, a movement sequence of the end effector 50 for receiving the component 32 can become more complex in order to prevent or impede an unintentional release of the component 32. In particular, more than two receiving elements and counterparts can also be used.

[0183] Fig. 6 shows a third embodiment of the isolator system 10. The isolator system of the third embodiment essentially corresponds to the isolator system 10 of the first and second embodiments from Figs. 1 and 2. Identical elements are identified by the same reference numerals and are not explained in detail. In Fig. 6, only the stations 36b, the auxiliary tool 74, and the end effector 50 with a received component 32 in the interior 14 of the isolator 12 are shown. The rest of the system can correspond in particular to the isolator system 10 from Fig. 2. Even if not shown, the isolator system 10 can have a control device 56, in particular corresponding to the first or second embodiment, which can in particular control the actuator 38 of the second station 36b' and / or the first station 36b.

[0184] In the present embodiment, for example, the actuator 38 of a second station 36b' may be configured to release a locking device 70 of a first station 36b to enable the coupling of the component 32 to the first station 36b and when the component 32 is coupled to the first station 36b, to lock the locking device 70 to secure the coupling of the component 32 to the first station 36b. In the present example, the auxiliary tool 74 is attached to the second station 36b', so that the auxiliary tool 74 can be moved by means of a movement of the actuator 38 of the second station 36b' in order to release or lock the locking device 70 of the first station 36b. In other words, to switch the locking state. In principle, however, it can also be provided that the actuator 38 interacts with the locking device 70 with its movable part without the auxiliary tool 74. Alternatively, it can also be provided that the actuator 38 interacts with the locking device 70 by means of a component 32', wherein the component 32' is then installed at the second station 36b' instead of the auxiliary tool 74.In other words, a relative movement between the auxiliary tool 74 or component 32' and the locking device 70 can be provided to operate the locking device 70. As previously described, the relative movement can also be provided by the actuator 38 of the first station 36b and / or by the actuator 38 of the second station 36'. The auxiliary tool 74 can, in particular, be supplied and installed in the same manner as shown in Fig. 2.

[0185] In the third embodiment, the auxiliary tool 74 is designed as a contact pin that can actuate a switch 72 of the locking device 70 to switch the locking device 70. The switch 72 can, for example, be arranged on the underside of the locking device 70. For this purpose, the auxiliary tool 74 can be moved by means of the actuator 38. The actuator 38 of the second station 36b' is designed as a linearly extendable cylinder in Fig. 6. Accordingly, a movement of the auxiliary tool 74 can be realized, which is illustrated by the arrow 76. In the same way, however, a movement of the locking device 70 could also be realized by means of the actuator 38 of the first station 36b, which can also be illustrated by the arrow 76.If the actuator 38 of the second station 36b' interacts, as previously described, with the locking device 70 instead of the auxiliary tool 74 with its movable part or alternatively by means of a component 32', the switch 72 is actuated via a surface of the movable part of the actuator 38 or alternatively a surface of the component 32'. Here, too, the relative movement can be effected by a movement of the actuator 38 of the second station 36b' and / or a movement of the actuator 38 of the first station 36b.

[0186] If the switch 72 is actuated by means of the auxiliary tool 74, the locking device 70 is released. The component 32 can then be coupled to the first station 36b. For this purpose, the component 32 can have a rod-shaped coupling element 78 as a coupling partner, which can be inserted into a corresponding coupling partner of the station 36b, designed as a receptacle 78', for coupling (the insertion movement is illustrated by the arrow 79). In the present case, a fastening device 40 has the receptacle 78'.

[0187] The coupling can be carried out in such a way that the component 32 is aligned in a defined position and orientation relative to the station 36b by means of the interaction of the corresponding coupling partners 78, 78' and is fixed by means of the locking device 70. The movement for coupling is shown in Fig. 6 by means of the arrow 79. The handling of the component 32 during coupling is carried out by means of the end effector 50 by the handling device 46 (not shown). The handling device 46 has picked up the component 32 during handling in the manner described in Fig. 4. The coupling can be carried out in particular according to the method 100, which is described below in Fig. 8.

[0188] Fig. 7 shows an isometric view of a fourth embodiment of an isolator system 10 (the handling device, the isolator, and the transfer system are not shown). The isolator system of the fourth embodiment essentially corresponds to the isolator system 10 of the embodiments of Figs. 1 and 2. Like elements are designated by like reference numerals and will not be explained in detail. Although not shown, the isolator system 10 can have a control device 56, in particular corresponding to that of the first or second embodiment, which can control the actuator 38'.

[0189] In the present embodiment, for example, the actuator 38' of a station 36 can be configured to establish a fluid path connection 88 between a fluid port 41 of the station and a fluid port 31 of the component 32 through a movement (see, for example, the pivoting movement illustrated by arrow 58). However, it can also be an actuator 38 with a linear movement. The movement can cause a movement of the fastening device 40. (see, for example, the movement illustrated by arrow 58'), so that the actuator is configured to press the fastening device 40 against the component 32, so that the fluid connections 31, 41 come into operative connection and establish the fluid path connection 88, in particular wherein at least one seal 89 seals the fluid path connection 88 between the fluid connections 31, 41.

[0190] Within the scope of this embodiment of the aspects, the component 32 can also be configured in the coupled state to be moved by means of a movement of the fastening device 40. In other words, the component 32 does not have to be completely fixed in the coupled state and can have at least one degree of freedom. However, the mobility of the component by pressing is limited, so that the component 32 can be clamped, for example, by moving against another component 32'. Alternatively, the component can be clamped between the fastening device 40 and a fixed stop or another station 36'. The pressing can fix the component. In particular, the pressing can provide mutual centering of the fluid connections 31, 41.

[0191] Fig. 7 shows that in this way, a fluid path connection 88 between the fluid connections 31, 41 and a further fluid path connection 88' between the fluid connections 31', 41' can be established. Through the fluid path connections 88, 88', the fluid paths of the station 36 and the further component 32' can be connected by means of the fluid paths of the component 32.

[0192] The seal 89 (not shown) can be, for example, an O-ring seal or a conical sealing element. The seal can be arranged on the fluid connection 31, 3T and / or on the fluid connection 41, 41'.

[0193] Fig. 8 shows a schematic view of a first embodiment of a method 100 for providing a processing system 30 in a restricted access environment, in particular an isolator 12, of a barrier system, in particular isolator system 10, designated in its entirety by the reference numeral 100. The Method 100 can be carried out in particular by means of the isolator system 10 according to one of the previously described embodiments.

[0194] In a first step 102 of the method 100, the at least one component 32 for the processing system 30 is fed into the isolator 12 by means of the feeding device 24.

[0195] In a further step 104 of the method 100, the at least one component 32 is picked up by means of a handling device 46 of the barrier system 10 arranged in the environment 12, preferably a handling robot.

[0196] The receiving step 104 further comprises a step of inserting 120 an end effector 50 of the handling device 46. The end effector 50 has at least two receiving elements 52, 52' spaced apart from one another. The handling device 46 is configured to move the end effector 50 such that the receiving elements 52, 52' engage counterparts 34, 34' of the component 32 in order to receive the component 32.

[0197] In a further step 106 of the method 100, the at least one picked-up component 32 is transferred within the environment 12 between the feed device 24 and a station 36 of the barrier system 10 arranged in the environment 12 by means of the handling device 46.

[0198] In a further step 108 of the method 100, the at least one component 32 is coupled to the station 36 by means of the handling device 46 in order to install the component 32.

[0199] In a further step 110 of the method 100, the at least one component 32 is released by means of the handling device 46.

[0200] The step of releasing (110) further comprises a step of moving 130 the end effector 50, wherein the handling device 46 is configured to move the end effector 50 such that the receiving elements 52, 52' and the counter- pieces 34, 34' of the component 32 are separated from each other to release the component 32. In particular, the step of executing 130 can be carried out in exactly the opposite way to the step of inserting 120.

[0201] Fig. 9 shows a schematic view of a second embodiment of the method 100. The steps 102, 104, 106, 108 and 110 of the method 100 can be carried out in the same way as in the first embodiment of the method 100.

[0202] In a further step 112 of the method 100, the component 32 coupled to the station is decoupled from the station 36 by means of the handling device 46 in order to remove the component. During the decoupling 112, the component 32 must be picked up by the handling device 46. To pick up the component 32, step 104 can be performed before step 112.

[0203] In a further step 114 of the method 100, the removed component 32 is removed from the restricted-access environment 12 by means of the feed device 24. The component must first be transferred to the feed device 24 and placed on the feed device 24. For transfer and release, steps 106 and then 110 can be performed before step 114. In particular, the component can be coupled to the feed device 24 by means of the handling device 46 before release.

[0204] Fig. 10 shows a schematic view of a third embodiment of the method 100. The steps 102, 104, 106, 108, 110, 112 and 114 of the method 100 can be carried out in the same way as in the first embodiment of the method 100. The steps 112 and 114 are optional.

[0205] The steps 120 and 130 are carried out in such a way that the receiving elements 52, 52' engage in the counterparts 34, 34' of the component 32 exclusively due to the movement of the end effector 50 and that the receiving elements 52, 52 and the counterparts 34, 34' of the component 32 exclusively due to the movement of the end effector 50. fector 50. The receiving elements 52, 52' are designed to be immobile.

[0206] Fig. 11 shows a schematic view of the movement steps of the insertion step 120 of a fourth embodiment of the method 100. The insertion step 120 represents a movement sequence.

[0207] In a first step 122 of the insertion movement sequence 120, the end effector 50 is moved so that at least two of the receiving elements 52, 52' are each moved at least partially in a depth direction starting from a surface 94 of the component 32, wherein each receiving element 52, 52' passes the surface 94 in the region of the respective counterpart 34, 34'. The counterparts 34, 34' of the at least one component 32 are formed as recesses 34, 34' in the component 32 or as recesses 34, 34' in an adapter 33 that is fixed or fixable to the at least one component 32. A first recess 34 is a substantially semicircular recess 34 with a circular diameter 97 and defines a first center point 96. Furthermore, the first recess 34 has a radial opening 35 whose width is at least equal to the circular diameter 97 of the recess 34.

[0208] A second recess 34' is a, in particular substantially semicircular, recess 34' that defines a second center point 98, wherein the second center point 98 is spaced a distance a from the first center point 96. The second, in particular semicircular, recess 34' represents a first region 90' of the second recess 34'. The second recess 34' further comprises a second region 92' that is connected to the first region 90' and that is configured to enable movement of the second receiving element 52', within the second recess 34', from the second region 92' into the first region 90'.

[0209] In other words, the first step 122 of the insertion movement sequence 120 represents a feed movement. It goes without saying that if one of the receiving elements 52, 52' has a projection 62 on an end section 60, the feed movement movement must take place outside the first area 90, 90' of the recess 34, 34', since otherwise projection 62 cannot slide into an undercut 63.

[0210] In a second step 124 of the insertion movement sequence 120, the end effector 50 is moved, preferably in a straight line, so that the first receiving element 52 engages in the first recess 34 and a central axis 54 of the first receiving element 52 coincides with the first center point 96. After the second step 124, the first receiving element 52 rests in the first recess 34 in such a defined manner that the first receiving element 52 can be rotated in the first recess 34. In other words, the first receiving element 52 then forms a rotary joint together with the first recess 34 (see also Fig. 5a).

[0211] In a third step 126 of the insertion movement sequence 120, the end effector 50 is moved, preferably rotationally, about the central axis 54 of the first receiving element 52, so that the movement of the second receiving element 52' in the second recess 34' from the second region 92' into the first region 90' runs along a circular path 68 whose center coincides with the first center point 96. The second region 92' extends along a section of the path 68. The movement ends when a central axis 54' of the second receiving element 52' coincides with the second center point 98. If this is the case, the component 32 is picked up by the handling device 46.

[0212] If the receiving elements 52, 52' have the projections 62 and the recesses 34, 34' have the corresponding undercuts 63, it must be ensured in steps 124 and 126 that the projections 62 slide into the undercuts 63 (see also the sliding in, which is shown in Fig. 4 by means of the arrows 64).

[0213] In particular, the sequence of movements of the insertion step 120 may be reversed to execute the end effector 50 and release the component 32 when it is picked up by the handling device 46.

[0214] Fig. 12 shows a schematic view of the movement steps of the insertion step 120 of a fifth embodiment of the method 100. The insertion step 120 represents a movement sequence.

[0215] A first step 122 of the insertion movement sequence 120 according to the fifth embodiment can be carried out in accordance with step 122 of the insertion movement sequence 120 according to the fourth embodiment.

[0216] In a further step 128 of the insertion movement sequence 120, the end effector 50 is moved so that the movements of the first and second receiving elements 52, 52' occur on concurrent, parallel paths 66. The paths 66 can be straight or curved, with the second region 92, 92' extending along a portion of the path 66. The end effector 50 is further moved such that the first receiving element 52 engages in the first recess 34 and the second receiving element 52' engages in the second recess 34'. The movement ends when a center axis 54 of the first receiving element 52 coincides with the first center point 96 and a center axis 54' of the second receiving element 52' coincides with the second center point 98. If this is the case, the component 32 is picked up by the handling device 46.

[0217] If the receiving elements 52, 52' have the projections 62 and the recesses 34, 34' have the corresponding undercuts 63, it must be ensured in step 128 that the projections 62 slide into the undercuts 63 (see also the sliding in, which is shown in Fig. 4 by the arrows 64).

[0218] In particular, the sequence of movements of the insertion step 120 may be reversed to execute the end effector 50 and release the component 32 when it is picked up by the handling device 46.

[0219] Fig. 13 shows a schematic view of a first embodiment of a method 200 for coupling a component 32 for a processing system 30 of a barrier system- systems, in particular isolator system 10 in a restricted access environment, in particular in an isolator 12 of the isolator system 10.

[0220] In a first step 202 of the method 200, an actuator 38 of a station 36 of the barrier system 10 is controlled by means of a control device 56 of the barrier system 10, so that at least one fastening device 40 of the station 36 is moved into a position predefined for coupling to the component 32.

[0221] In a second step 204 of the method 200, the component 32 is coupled to the station 36 by means of a movement of a handling device 46 of the barrier system 10, wherein the handling device 46 has picked up the component 32.

[0222] An example of the predefined position can be seen in Fig. 2 (cf. the predefined position of station 36c in Fig. 2).

[0223] The method 200 may further comprise steps of the method 100. In particular, the component 32 may be picked up by means of step 104 of the method 100.

[0224] Fig. 14 shows a schematic view of a second and a third embodiment of the method 200. The steps 202 and 204 of the method 200 can be carried out in the same way as in the first embodiment of the method 200.

[0225] According to the second embodiment, in a further step 206 of the method 200, the actuator 38, 38' of the station 36, 36c is controlled by the control device 56, so that the component 32 is moved into an operating position, wherein the operating position is a position in which the component 32 is inserted into the processing system 30. To move the component 32 into the operating position, for example, a movement in the direction of arrow 58 (see Fig. 2) can occur. Step 206 follows steps 202 and 204.

[0226] According to the third embodiment, in a further step 208 of the method 200, a fluid path connection 88 is established between a fluid connection 41 of the station 36 and a fluid connection 31 of the component 32 by pressing the fastening device 40 against the component 32, in particular by means of step 206, so that the fluid connections 31, 41 come into operative connection and establish the fluid path connection 88. Step 208 follows steps 202 and 204. In particular, step 206 can precede step 208, or step 208 can be carried out by means of step 206. In particular, the third embodiment of the method 200 can be carried out with the fourth embodiment of the isolator system 10.

[0227] The fastening device 40 is pressed against the component 32 in a movement, preferably parallel to the fluid connection 31, which is indicated by the arrow 58' in Fig. 7. In particular, at least one seal 89 (not shown) can seal the fluid path connection 88 between the fluid connections 31, 41. For example, an O-ring seal 89 or a conical sealing element 89 can be used. The seal 89 can be arranged on the fluid connection 41 and / or on the fluid connection 31.

[0228] In particular, when the component 32 is moved into the operating position by means of step 206, a pivoting movement in the direction of arrow 58 (see Fig. 7) can occur, for example. This movement can be the same movement that was already marked with arrow 58 in Fig. 2. In particular, the movement in the direction 58' can result from the pivoting movement of the actuator 38' in the direction 58.

[0229] Within the scope of the third embodiment of the method 200, step 204 can already cause the component 32 to be coupled to the station 36 when the component 32 is deposited and released in a defined position and location within the movement range of the actuator 38' by means of a movement of the handling device 46 of the barrier system 10. In particular, step 110 of the method 100 can be used for the release. In the defined position and location, the component 32 can be movable, so that the component 32 can be released by a movement of the actuator 38' (see, for example, the arrow 58 in Fig. 7) or the movement of the fastening device 40 (see the arrow 58' in Fig. 7) in the step of establishing 208 the fluid path connection 88.

[0230] The component 32 can thus be moved in step 208 by the movement 58, 58' such that it is pressed against a further component 32' (see also Fig. 7) or a further station 36'. In particular, the component 32 can be clamped between the fastening device 40 of the station 36 and the further component 32' or the further station 36'. In particular, by pressing on it, a second fluid connection 31' of the component 32, which is in particular connected to the first fluid connection 31 of the component 32 by means of a fluid path, can then be pressed against a further fluid connection 41' of the further station 36' or of the further component 32', so that these fluid connections 31', 41' also come into operative connection and provide a further fluid path connection 88'. In particular, here too, at least one seal 89 can seal the fluid path connection 88' between the fluid connections 3T, 4T.Thus, a fluid path connection 88" can then be established between the fluid connection 41 of the station 36 and the further fluid connection 41 of the further station 36 or of the further component 32. In other words, the component 32 is then arranged between the fluid connection 41 of the station and the further fluid connection 41 and connects them by means of a fluid path. By pressing on, the component can be fixed. In particular, the pressing can be carried out in such a way that a mutual centering of the fluid connections 31, 41 is achieved.

[0231] Fig. 15 shows a schematic view of a first embodiment of a further method 300 for coupling a component 32 for a processing system 30 of a barrier system, in particular isolator system 10, in a restricted access environment, in particular in an isolator 12 of the isolator system 10.

[0232] In a first step 302 of the method 300, a locking device 70 of a first station 36 of the barrier system 10 is released by means of a movement of an actuator 38 of a second station 36' and / or by means of a movement of an actuator 38 of the first station 36 of the barrier system 10 in order to enable the coupling of the component 32 to the first station 36. In particular, this can also enable the decoupling of the component 32 be enabled when the component 32 is already coupled to the station 36. An example of the locking device 70, the first station 36, 36b, and the actuator 38 of the second station 36', 36b' is shown in Fig. 6. In particular, the locking device 70 can be released by the actuator 38 of the second station 36', 36b' coming into contact with the locking device 70. The movement can occur in the direction of arrow 76.

[0233] In a further step 304 of method 300, the component 32 is coupled to the first station 36 by means of a movement of a handling device 46 of the barrier system 10, wherein the handling device 46 has picked up the component 32. The coupling can be performed in particular according to step 108 of method 100. The picking up can be performed in particular according to step 104 of method 100.

[0234] In a further step 306 of the method 300, following step 304, the locking device 40 is locked by means of a movement of the actuator 38 of the second station 36' and / or by means of a movement of the actuator 38 of the first station 36, in order to secure the coupling of the component 32 to the first station 36. In particular, the locking device 70 can be locked by moving the actuator 38 and the locking device 70 away from each other relative to one another. The movement can occur in the direction of arrow 76.

[0235] The method 300 may in particular comprise further steps of the method 100.

[0236] Fig. 16 shows a schematic view of a second embodiment of the method 300. The steps 302, 304, and 306 of the method 300 can be carried out in the same way as in the first embodiment of the method 300.

[0237] In a further step 308 of the method 300, an auxiliary tool 74 is fastened to the second station 36' by means of the handling device 46, wherein the auxiliary tool 74 is configured to be moved relative to the second station 36' by means of a movement of the actuator 38 of the second station 36' and / or by means of a movement of the actuator 38 of the first station 36. Locking device 70 can be moved to release or lock the locking device 70. In particular, the locking device 70 can be released by moving the auxiliary tool 74 into contact with the locking device 70. In particular, the locking device 70 can be locked by moving the auxiliary tool 74 away from the locking device 70. The movements can occur in the direction of arrow 76 (see Fig. 6). Step 308 occurs before steps 302 and 306.

[0238] Fig. 17 shows a schematic view of a first embodiment of a method for initiating handling of at least one component 32 for a processing system 30 of a barrier system, in particular isolator system 10, in a restricted-access environment, in particular in an isolator 12 of the isolator system 10.

[0239] In a first step 402 of the method 400, a starting position of the at least one component 32 is defined relative to a handling device 46 and relative to a station 36 of the barrier system 10 by a coordinate initiation device 80 of the barrier system 10 interacting with a feed device 24 of the barrier system 10. An example of the coordinate initiation device 80 is shown in Fig. 2. The starting position can be a position and / or a location in a defined coordinate system 82 (see Fig. 2).

[0240] In particular, step 402 may be preceded by the step of feeding 102 at least one component 32 by means of the feeding device 24 of the method 100. The method 400 may also include further steps of the method 100.

[0241] Fig. 18 shows a schematic view of a second embodiment of the method 400. The step 402 of the method 400 can be carried out in the same way as in the first embodiment of the method 400.

[0242] In a further step 404 of the method 400, if the coordinate initiation device 80 is attached to an actuator 38 of a further station 36d of the barrier system 10, the coordinate initiation device 80 is moved by means of the actuator 38 in order to to bring the coordinate initiation device 80 into contact with the feed device 24. The movement can occur in the direction of arrow 84 in Fig. 2. Step 404 is executed before step 402.

[0243] Fig. 19 shows a schematic view of a third embodiment of the method 400. The steps 402 and 404 of the method 400 can be carried out in the same way as in the second embodiment of the method 400.

[0244] In a further step 406 of the method 400, the feed device 24 is fixed by means of the coordinate initiation device 80 in order to secure a position and orientation of the feed device 24. Step 406 is performed after or simultaneously with step 404 and before step 402.

[0245] Fig. 20 shows a schematic view of a fourth embodiment of the method 400. The steps 402, 404, and 406 of the method 400 can be carried out in the same way as in the third embodiment of the method 400.

[0246] In a further step 408 of the method 400, information about the starting position of the at least one component 32 is transmitted from the coordinate initiation device 80 to a control device 56 of the barrier system 10 for controlling the handling device 46.

[0247] In a further step 410 of the method 400, the handling device 46 is controlled, in particular exclusively, based on the information in order to pick up and / or orient and / or position and / or install the at least one component 32. In other words, the at least one component 32 is handled by the handling device 46 based on the information. In particular, the method 400 can comprise steps of the method 100 for handling the at least one component 32. In particular, the method 400 can further comprise steps of the methods 200 and 300.

Claims

Patent claims 1. A barrier system, in particular an isolator system (10), wherein the barrier system (10) comprises a restricted-access environment, in particular an isolator (12); a transfer system (16) with a feed device (24) for feeding at least one component (32) for a processing system (30) into the environment (12); a station (36) arranged in the environment (12) and a handling device (46), preferably a handling robot, arranged in the environment (12), wherein the handling device (46) is designed to receive a component (32) fed into the environment (12) by means of the feeding device (24) and to transfer it between the feeding device (24) and the station (36) and to couple the component (32) to the station (36) in order to install the component (32), or to decouple a component (32) from the station (36) in order to remove the component (32), characterized in that the handling device (46) has an end effector (50),wherein the end effector (50) has at least two receiving elements (52) spaced apart from one another, wherein the handling device (46) is configured to move the end effector (50) such that the receiving elements (52) engage the counterparts (34) of the component (32) in order to receive the component (32) and to move the end effector (50) such that the receiving elements (52) and the counterparts (34) of the component (32) are separated from one another in order to release the component (32).

2. Barrier system (10) according to claim 1, wherein the receiving elements (52) are designed to be immovable, wherein the handling device (46) is designed to move the end effector (50) in such a way that the receiving elements (52) engage in the counterparts (34) of the component (32) exclusively due to the movement of the end effector (50) or that the receiving elements (52) and the counterparts (34) of the component (32) are separated from one another exclusively due to the movement of the end effector (50).

3. Barrier system (10) according to claim 1 or 2, wherein the barrier system (10) further comprises a control device (56) which is designed to, when the component (32) is received by the handling device (46), couple the component part (32) with the station (36), by a movement of an actuator (38) of the station (36), wherein the control device (56) controls the actuator (38) in such a way that at least one fastening device (40) of the station (36) is moved into a position predefined for coupling to the component (32), and in particular when the component (32) is coupled to the station (36), controls the actuator (38) in such a way that the component (32) is brought into an operating position.

4. Barrier system (10) according to one of claims 1 to 3, wherein an actuator (38) of a second station (36') and / or an actuator (38) of a first station (36) of the barrier system (10) is configured to release a locking device (70) of the first station (36) of the barrier system (10) in order to enable the coupling of the component (32) to the first station (36) and, when the component (32) is coupled to the first station (36), to lock the locking device (70) in order to secure the coupling of the component (32) to the first station (36).

5. Barrier system (10) according to claim 4, wherein an auxiliary tool (74) is fastened to the second station (36') or can be fastened by means of the handling device (46), wherein the auxiliary tool (74) is adapted to be moved by means of a movement of the actuator (38) of the second station (36') and / or by means of a movement of the actuator (38) of the first station (36) relative to the locking device (70) in order to release or lock the locking device (70) of the first station (36).

6. Barrier system (10) according to one of claims 1 to 5, wherein the barrier system (10) further comprises a coordinate initiation device (80), wherein the coordinate initiation device (80) is configured to interact with the feed device (24) to define a starting position of the at least one component (32) relative to the handling device (46) and relative to a station (36).

7. Barrier system (10) according to claim 6, wherein the coordinate initiation device (80) is attached to an actuator (38) of a further station (36") or can be attached by means of the handling device (46), wherein the actuator (38) is configured to move the coordinate initiation device (80) in order to bring the coordinate initiation device (80) into contact with the feed device (24).

8. Barrier system (10) according to claim 6 or 7, wherein the coordinate initiation device (80) is configured to fix the feeding device (24) in order to secure a position and an orientation of the feeding device (24).

9. Barrier system (10) according to one of claims 6 to 8, wherein the barrier system (10) has a control device (56) for controlling the handling device (46), wherein the control device (56) is designed to receive information about the starting position of the at least one component (32) from the coordinate initiation device (80) in order to control the handling device (46), in particular exclusively based on the information, in order to pick up and / or orient and / or position and / or install the at least one component (32).

10. Component (32) for a processing system (30) of a barrier system, in particular an isolator system (10), in particular according to one of claims 1 to 9, wherein the component (32) has counterparts (34) for engaging receiving elements (52) of an end effector (50) of a handling device (46) of the barrier system (10), wherein the counterparts (34) of the component (32) are designed as recesses (34) in the component (32) or as recesses (34) in an adapter (33) which is fixed or fixable to the component (32), characterized in that a first recess (34) is a substantially semicircular recess with a circular diameter (97) and which defines a first center point (96) and has a radial opening (35) whose width corresponds at least to the circular diameter (97) of the first recess (34) and a second, in particular substantially semicircular, recess (34') defines a second center point (98),wherein the second center point (98) is spaced from the first center point (96) by a distance (a), wherein the second, in particular semicircular, recess (34') represents a first region (90') of the second recess (34') and wherein the second recess (34') has a second region (92') which is connected to the first region (90'), and wherein the second region (92') is configured to enable a movement of one of the receiving elements (52), within the second recess (34'), along a path (66, 68) from the second region (92') into the first region (90'), wherein the second region (92') extends along a portion of the path (66, 68), in particular wherein the second recess (34') in, the second region (92') has a greater width than in the first region (90') and wherein the component (32) is further configured to be able to be coupled to a station (36) of the barrier system (10) arranged in an insulator (12) of the barrier system (10).

11. Component (32) according to claim 10, wherein the path (66) in the second recess (34') from the second region (92') into the first region (90') is a straight path (66).

12. Component (32) according to claim 10, wherein the path (68) in the second recess (34') from the second region (92') into the first region (90') is a circular path (68) whose center coincides with the first center (96).

13. Component (32) according to one of claims 10 to 12, wherein the first and / or the second recess (34, 34') can have undercuts (63) which are each adapted to engage with a projection (62) of one of the receiving elements (52) in order to secure the receiving element (52) in an axial direction of the receiving element (52).

14. Component (32) according to one of claims 10 to 13, wherein at least one of the counterparts (34) is designed in a region of the, in particular semicircular, recess (34) such that, when a receiving element (52) engages in the recess (34), a fit between the recess (34) and the receiving element (52) results, wherein the fit is preferably a clearance fit and wherein the recess (34) has a depth which is in a ratio to a width, in particular the circle diameter (97), between 1:1 and 1.6:1, preferably between 1.2:1 and 1.5:1, particularly preferably between 1.2:1 and 1.4:1, so that, when the component (32) is received by the receiving elements (52), a canting occurs between the at least one of the counterparts (34) and the respective receiving element (52) in order to prevent a relative movement between the counterparts (34) and the receiving elements (52).

15. System (80) comprising a barrier system (10) according to one of claims 1 to 9 and at least one component (32) according to one of claims 10 to 14.

16. A method (100) for providing a processing system (30) of a barrier system, in particular an isolator system (10), in particular according to one of claims 1 to 9, in an environment with restricted access of the barrier system (10), in particular an isolator (12), comprising the following steps: Feeding (102) at least one component (32), in particular according to one of claims 10 to 14, for the processing system (30) into the environment (12) by means of a feeding device (24) of the barrier system (10); Picking up (104) the at least one component (32) by means of a handling device (46) of the barrier system (10) arranged in the environment (12), preferably a handling robot; Transferring (106) the at least one received component (32) within the environment (12) between the feed device (24) and a station (36) of the barrier system (10) arranged in the environment (12) by means of the handling device (46); Coupling (108) the at least one component (32) to the station (36) by means of the handling device (46) in order to install the component (32); and Releasing (110) the at least one component (32) by means of the handling device (46), wherein the method (100) is characterized in that the step of picking up (104) comprises a step of inserting (120) an end effector (50) of the handling device (46), wherein the end effector (50) has at least two spaced-apart receiving elements (52), wherein the handling device (46) is configured to move the end effector (50) such that the receiving elements (52) engage in counterparts (34) of the component (32) in order to pick up the component (32); and the step of releasing (110) comprises a step of removing (130) the end effector (50), wherein the handling device (46) is configured to to move the end effector (50) such that the receiving elements (52) and the counterparts (34) of the component (32) are separated from one another in order to release the component (32).

17. The method (100) of claim 16, wherein the method further comprises the following steps: Decoupling (112) the component (32) coupled to the station (36) from the station (36) by means of the handling device (46) in order to remove the component (32), wherein the component (32) is received by the handling device (46); and Removing (114) the removed component (32) from the restricted access environment (12) by means of a feeding device (24).

18. The method (100) according to claim 16 or 17, wherein the steps of inserting (120) and removing (130) the end effector (50) are carried out in such a way that the receiving elements (52) engage in the counterparts (34) of the component (32) exclusively due to the movement of the end effector (50) and that the receiving elements (52) and the counterparts (34) of the component (32) are separated from one another exclusively due to the movement of the end effector (50), wherein the receiving elements (52) are designed to be immovable.

19. The method (100) according to any one of claims 16 to 18, wherein the step of introducing (120) is a sequence of the following successively executed movement steps: First movement (122) of the end effector (50) such that at least two of the receiving elements (52) are each moved at least partially in a depth direction starting from a surface (94) of the component (32), wherein each receiving element (52) passes the surface (94) in the region of the respective counterpart (34) and wherein the counterparts (34) of the at least one component (32) are formed as recesses (34) in the component (32) or as recesses (34) in an adapter (33) which is fixed or fixable to the at least one component (32), wherein a first recess (34) is a substantially semicircular recess with a circle diameter (97) and which defines a first center point (96) and a radial opening (35) whose width is at least equal to the circular diameter (97) of the first recess (34), and a second, in particular substantially semicircular, recess (34') defines a second center point (98), wherein the second center point (98) is spaced from the first center point (96) by a distance (a), wherein the second, in particular semicircular, recess (34') represents a first region (90') of the second recess (34') and wherein the second recess (34') has a second region (92') which is connected to the first region (90') and which is designed to enable a movement of one of the receiving elements (52), within the second recess (34'), from the second region (92') into the first region (90'); Second movement (124) of the end effector (50), preferably linear movement of the end effector (50), such that a first receiving element (52) engages in the first recess (34) and a central axis (54) of the first receiving element (52) coincides with the first center point (96); and Third movement (126) of the end effector (50), preferably rotational movement of the end effector (50), about the central axis (54) of the first receiving element (52), such that the movement of a second receiving element (52') in the second recess (34') from the second region (92') into the first region (90') runs on a circular path (68) whose center coincides with the first center point (96), wherein the second region (92') extends along a section of the path (68), wherein the movement ends when a central axis (54') of the second receiving element (52') coincides with the second center point (98).

20. The method (100) according to any one of claims 16 to 18, wherein the step of introducing (120) is a sequence of the following successively executed movement steps: First movement (122) of the end effector (50) such that at least two of the receiving elements (52) are each moved at least partially in a depth direction starting from a surface (94) of the component (32), wherein each receiving element (52) passes the surface (94) in the region of the respective counterpart (34) and wherein the counterparts (34) of the at least one component (32) are formed as recesses (34) in the component (32) or as recesses (34) in an adapter (33) which is fixed or fixable to the at least one component (32), wherein a first recess (34) is a substantially semicircular recess with a circular diameter (97) and which defines a first center point (96) and has a radial opening (35) whose width is at least equal to the circular diameter (97) of the first recess (34), and a second, in particular substantially semicircular, recess (34') defines a second center point (98), wherein the second center point (98) is spaced from the first center point (96) by a distance (a), wherein the second, in particular semicircular, recess (34') represents a first region (90') of the second recess (34'), and wherein the second recess (34') has a second region (92') which is connected to the first region (90'), and which is designed to is,to enable movement of one of the receiving elements (52), within the second recess (34'), from the second region (92') into the first region (90'); and, Further moving (128) the end effector (50) such that the movements of a first receiving element (52) and a second receiving element (52') take place on co-existing, parallel paths (66), wherein the paths (66) are straight or curved, wherein the second region (92, 92') extends along a portion of the path (66) and such that the first receiving element (52) engages in the first recess (34) and the second receiving element (52') engages in the second recess (34'), wherein the movement ends when a central axis (54) of the first receiving element (52) coincides with the first center point (96) and a central axis (54') of the second receiving element (52') coincides with the second center point (98).

21. Method (200) for coupling a component (32), in particular according to one of claims 10 to 14, for a processing system (30) of a barrier system, in particular an isolator system (10), in particular according to one of claims 1 to 8, or a system (80) according to claim 15, in an environment with restricted access, in particular in an isolator (12), of the barrier system (10), comprising the following steps: Controlling (202) an actuator (38) of a station (36) of the barrier system (10) by means of a control device (56) of the barrier system (10), so that at least one fastening supply device (40) of the station (36) is moved into a position predefined for coupling with the component (32); and Coupling (204) the component (32) to the station (36) by means of a movement of a handling device (46) of the barrier system (10), wherein the handling device (46) has received the component (32).

22. The method (200) of claim 21, wherein when the component (32) is coupled to the station (36), the method further comprises the step of: Controlling (206) the actuator (38) of the station (36) by means of the control device (56) so that the component (32) is brought into an operating position, wherein the operating position is a position in which the component (32) is used in the processing system (30).

23. The method (200) of claim 21 or 22, wherein, when the component (32) is coupled to the station (36), the method further comprises the following step: Producing (208) a fluid path connection (88) between a fluid connection (41) of the station (36) and a fluid connection (31) of the component (32) by pressing the fastening device (40) against the component (32), in particular by means of step 206, so that the fluid connections (31, 41) come into operative connection and produce the fluid path connection (88), in particular wherein at least one seal (89) seals the fluid path connection (88) between the fluid connections (31, 41).

24. Method (300) for coupling a component (32), in particular according to one of claims 10 to 14, for a processing system (30) of a barrier system, in particular an isolator system (10), in particular according to one of claims 1 to 8, or a system (80) according to claim 15, in an environment with restricted access, in particular in an isolator (12), of the barrier system (10), comprising the following steps: Releasing (302) a locking device (70) of a first station (36) of the barrier system (10) by means of a movement of an actuator (38) of a second station (36') and / or by means of a movement of an actuator (38) of the first station (36) of the barrier system (10) systems (10) to enable coupling of the component (32) to the first station (36); Coupling (304) the component (32) to the first station (36) by means of a movement of a handling device (46) of the barrier system (10), wherein the handling device (46) has received the component (32); and subsequently Locking (306) the locking device (70) by means of a movement of the actuator (38) of the second station (36') and / or by means of a movement of the actuator (38) of the first station (36) in order to secure the coupling of the component (32) to the first station (36).

25. The method (300) of claim 24, wherein the method further comprises the step of: Fastening (308) an auxiliary tool (74) by means of the handling device (46) at the second station (36'), wherein the auxiliary tool (74) is designed to be moved by means of a movement of the actuator (38) of the second station (36') and / or by means of a movement of the actuator (38) of the first station (36) relative to the locking device (70) in order to release or lock the locking device (70), wherein the step of fastening (308) takes place before the steps of releasing (302) and locking (306).

26. Method (400) for initiating a handling of at least one component (32), in particular according to one of claims 10 to 14, for a processing system (30) of a barrier system, in particular isolator system (10), in particular according to one of claims 1 to 8, or a system (80) according to claim 15, in an environment with restricted access, in particular in an isolator (12), of the barrier system (10), comprising the following steps: Defining (402) a starting position of the at least one component (32) relative to a handling device (46) and relative to a station (36) of the barrier system terns (10) in which a coordinate initiation device (80) of the barrier system (10) interacts with a feed device (24) of the barrier system (10).

27. The method (400) of claim 26, wherein, when the coordinate initiation device (80) is attached to an actuator (38) of a further station (36") of the barrier system (10), the method further comprises a step of moving (404) the coordinate initiation device (80) by means of the actuator (38) to bring the coordinate initiation device (80) into contact with the feed device (24).

28. The method (400) according to claim 26 or 27, wherein the method further comprises a step of fixing (406) the feeder by means of the coordinate initiation device (80) to secure a position and an attitude of the feeder (24).

29. The method (400) according to any one of claims 26 to 28, wherein the method further comprises the following steps: Transmitting (408) information about the starting position of the at least one component (32) from the coordinate initiation device (80) to a control device (56) of the barrier system (10) for controlling the handling device (46); and Controlling (410) the handling device (46), in particular exclusively based on the information, in order to pick up and / or orient and / or position and / or install the at least one component (32).

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