Handling device for handling pharmaceutical products and method for handling pharmaceutical products

Abstract

The invention relates to a handling device (1) for handling pharmaceutical products (2). The handling device (1) comprises a nest transport device (3) which is designed to transport a plurality of nests (4) having a plurality of pharmaceutical products (2) in a nest transport direction (R1), and a handling unit (5) which is designed to remove pharmaceutical products (2) from the nests (4) or to supply them to the nests (4) in a first position. The handling unit (5) is designed to remove a plurality of pharmaceutical products (2) simultaneously from a plurality of nests (4) or to supply them simultaneously to a plurality of nests (4). The handling unit (5) is designed to simultaneously supply the plurality of pharmaceutical products (2) to a product transport device (6) or to simultaneously receive the plurality of pharmaceutical products (2) from the product transport device (6). The invention also relates to a method for handling pharmaceutical products (2).

Description

[0001] Handling device for handling pharmaceutical products and method for handling pharmaceutical products

[0002] The present disclosure relates to a handling device for handling pharmaceutical products and a method for handling pharmaceutical products.

[0003] To transport pharmaceutical products, in particular ampoules, vials, phials, syringes, cartridges (cylindrical ampoules), or containers, tubs are known in the prior art, in which nests can be received and held. The tubs have a trough-like design so that nests can be received in such a way that the pharmaceutical products held in the nests are securely held. The nests optionally have a grid-like structure so that each pharmaceutical product is held in its own holder. Furthermore, this prevents the individual pharmaceutical products held by a nest from coming into contact with each other.

[0004] During the manufacturing process of pharmaceutical products, it may be necessary to remove the pharmaceutical products from a nest. Likewise, it may be necessary to return the pharmaceutical products to a tub. In short, handling pharmaceutical products in connection with a nest can be part of a manufacturing process. Due to the complexity of nest design, such handling can currently only be carried out very slowly. In particular, due to the fragility and other properties of pharmaceutical products, handling is often performed slowly in the prior art. Therefore, it is an object of the subject matter of the present disclosure to provide a device and a method with which the handling of pharmaceutical products in connection with nests and tubs can be accelerated.

[0005] This problem is solved with a handling device having the features of claim 1 and with a method having the features of claim 40.

[0006] According to one aspect of the present disclosure, a handling device for handling pharmaceutical products is provided. The handling device may include a nest transport device configured to transport a plurality of nests containing a plurality of pharmaceutical products within a nest transport device. The handling device may include a handling unit configured to remove pharmaceutical products from or feed them to the nests in a first position. The handling unit is optionally configured to remove a plurality of pharmaceutical products from or feed them to several nests simultaneously.The handling unit is optionally designed to simultaneously feed a large number of pharmaceutical products to a product transport device or to simultaneously receive a large number of pharmaceutical products from the product transport device.

[0007] Compared to the known prior art, the subject matter of the present disclosure offers the advantage that the throughput of pharmaceutical products can be significantly increased by simultaneously handling a large number of pharmaceutical products across multiple nests. In other words, the nests can be provided by the nest transport device in such a way that the handling unit can simultaneously remove a large number of pharmaceutical products from several nests. The same applies analogously to the reverse process, namely when the handling unit can simultaneously feed a large number of pharmaceutical products to several nests. This makes a throughput of more than 600 pharmaceutical products per minute possible. In one embodiment of the present disclosure, the throughput is approximately 1000 pharmaceutical products per minute.

[0008] The handling device can be designed to remove pharmaceutical products from nests. The handling unit can be designed as a denester. In other words, a nest can be fed individually (i.e., without a tub) to the nest transport device. Optionally, a denester removes the nest from a tub and inserts it directly into the nest transport device. The nest transport device can be a conveying element designed to transport multiple nests in a single transport direction. For this purpose, the nest transport device can have multiple receiving sections. The receiving section can be a frame-like element into which a nest can be inserted. The frame-like element can be formed by two opposing struts and two opposing flexible bands. The nest can be held in the nest transport device by its collar.This makes it irrelevant which pharmaceutical products are contained in the nest, as they can be transported freely suspended and held by the nest along the nest transport direction. This allows the nest transport device to be used for a wide variety of pharmaceutical products. Optionally, the nest transport device has a circulating belt on which the receiving sections (i.e., the frame-like receptacles for the nests) are formed. The continuous operation of the nest transport device eliminates the need for reciprocating movements, thus increasing throughput. Optionally, the transport device has at least three receiving sections positioned side by side, perpendicular to the nest transport direction. In other words, three nests can be transported side by side along the nest transport device in the same direction.Each nest can, for example, contain ten pharmaceutical products in a row perpendicular to the nest transport device. Depending on the nest type and the size of the individual products (objects), there can be fewer or more objects in a row within the nest. If this row is extended across all three nests, there will be thirty pharmaceutical products in the row. By providing the three nests in this manner, a handling unit can manage a series of pharmaceutical products across a multitude of nests. The nests are adjacent to one another. This allows a larger number of pharmaceutical products to be handled with a single movement of the handling unit. The handling unit can have an effector end that can come into contact with the pharmaceutical products.The effector end allows the handling unit to handle the series of pharmaceutical products across all nests transported by the nest transport device simultaneously. The position at which the handling unit begins handling the pharmaceutical products can be referred to as the first position. In the first position, the handling unit makes contact with the pharmaceutical products. Handling the pharmaceutical products can include, for example, gripping. This gripping can involve mechanical clamping and / or lateral suction with a counter-holder. Thus, the handling unit can, for example, pick up a large number of pharmaceutical products from multiple nests simultaneously. The picked pharmaceutical products can be held by the handling unit and moved to another position.For example, pharmaceutical products can be fed into a product transport device. The product transport device can then transport the individual products and deliver them to a downstream unit. For instance, it is conceivable that the individual pharmaceutical products removed from the nests could be delivered to a testing facility for inspection. The example above refers to the removal of pharmaceutical products from nests. However, it is equally possible to transfer the pharmaceutical products from a product transport device using a handling unit and then feed them to a multitude of nests, the number of which is reduced by the nest transport system. A key concept is that the handling unit allows for the handling of a large number of pharmaceutical products across multiple nests.This allows for increased throughput without excessive acceleration of individual pharmaceutical products. Such excessive acceleration is detrimental to the mechanical components of the handling unit and can also damage the pharmaceutical products. For example, with liquids, excessively rapid acceleration and movement can introduce air bubbles or similar particles into the liquid. This can lead to unintended false rejections, particularly during inspection processes. Therefore, the handling device must be designed solely for handling pharmaceutical products. It cannot be designed to fill or otherwise modify the pharmaceutical products.

[0009] Optionally, the nest transport device is designed to transport at least two, and optionally three, nests side by side in the direction of nest transport. In other words, the nest transport device can be designed to transport three nests side by side in a transverse direction to the nest transport device. This increases the number of pharmaceutical products arranged in a row transverse to the direction of nest transport. This, in turn, increases the number of pharmaceutical products that can be handled across multiple nests by the handling unit, which is designed to handle a series of pharmaceutical products.

[0010] Optionally, the nest transport device is designed to hold each nest by its collar. This ensures that pharmaceutical products extending beyond the nest's height (such as syringes or similar items) can be transported suspended freely. Therefore, no modifications to the nest transport device are necessary when handling other pharmaceutical products.

[0011] Optionally, the nest transport device can be moved intermittently during operation. In other words, the nest transport device can be operated intermittently (e.g., stepwise). This allows the handling unit sufficient time to retrieve pharmaceutical products from or feed them into a nest. Intermittent operation is particularly advantageous when using suction grippers. Optionally, the nest transport device can be operated intermittently in only one direction. This significantly increases the throughput of pharmaceutical products compared to a back-and-forth movement of the nest transport device.

[0012] Optionally, the nest transport device is designed to operate exclusively in the direction of nest transport. In other words, when removing pharmaceutical products from the nests, the nest transport device can only operate in one direction (namely, the direction of the nest transport device). It is not possible to move the nest transport device back and forth. This continuous movement of the nest transport device in one direction allows for an increased throughput of pharmaceutical products. The direction of nest transport can only be reversed when the pharmaceutical products are to be fed into the nests being transported by the nest transport device. Even in this case, the nest transport device can be designed to operate exclusively in one direction.This also allows for increased throughput when introducing pharmaceutical products into the nests, as the back-and-forth movement of the nest transport device is avoided.

[0013] Optionally, the nest transport device is designed for continuous operation. This allows a receiving section, capable of holding a nest, to be transported along the top side of the device in the direction of nest transport. At the end of the device, it is redirected and returned to the beginning along the underside. This continuous operation significantly increases the throughput of nests and, consequently, pharmaceutical products. Optionally, the handling system can be configured to simultaneously remove or feed pharmaceutical products from a row of nests. A row can be defined as an imaginary geometric line along which the pharmaceutical products to be removed or fed are arranged.Because the nests are designed in this way, they comprise a multitude of rows of pharmaceutical products. Therefore, when a nest is emptied, pharmaceutical products must be removed from the nest row by row. In the present embodiment, the nest transport device positions a multitude of nests side by side in such a way that pharmaceutical products are arranged in several nests along the same imaginary line (i.e., row). This allows the handling unit to handle the entire row of pharmaceutical products simultaneously.

[0014] Optionally, the row is oriented essentially orthogonally to the nest transport direction. In other words, the pharmaceutical products can be removed row by row from adjacent nests in the nest transport direction.

[0015] Optionally, the handling unit is designed to handle a variety of pharmaceutical products using suction. For this purpose, the handling unit can have a suction bar that extends along its length over the nests of the nest transport device. The pharmaceutical products are handled by suction applied to the end effector or the suction bar. This suction enables particularly gentle handling.

[0016] Optionally, the handling unit is designed to grip and / or hold a large number of pharmaceutical products using suction. The suction can be applied in such a way that the pharmaceutical products can be conveyed out of a nest. Additionally, the suction can be configured to also allow the pharmaceutical products to be held against the handling unit. Optionally, the handling unit is designed to move a large number of pharmaceutical products within a space. In other words, the handling unit can pick up pharmaceutical products at one location and place them at a distant location. The picking location could, for example, be a nest that is transported onto the transport device. The dispensing location could, for example, be a product transport device designed to carry the products away.

[0017] Optionally, the handling unit features multiple holding sections, each designed to grip a specific pharmaceutical product. In other words, the handling unit can have a contour that matches the outer circumference of the pharmaceutical product. This allows the handling unit to grip and hold the product more effectively and securely. If the handling unit operates under vacuum, the holding sections can provide a gripping mechanism that ensures optimal product retention. This prevents leakage during contact between the handling unit and the pharmaceutical product.

[0018] Optionally, the handling device includes a counter-holding device designed to make contact with the pharmaceutical products to be removed by the handling unit in its initial position. The handling unit can, for example, approach the pharmaceutical products to be removed parallel to the direction of transport. In other words, the handling unit can only approach the pharmaceutical products from one side. To prevent damage to particularly sensitive pharmaceutical products, the counter-holding device can also make contact with the pharmaceutical products to be grasped in a direction opposite to the handling unit. This allows the handling unit to make contact with the pharmaceutical products with a certain amount of pressure without causing damage.Furthermore, this creates counter-pressure against any suction cups on the handling unit, ensuring that the suction cups securely pick up the products and preventing leaks. It also prevents unwanted tilting or jamming of the pharmaceutical products in a nest, thus guaranteeing reliable suction.

[0019] Optionally, the counter-holding device can be moved back and forth in the direction of nest transport. In other words, the counter-holding device can be moved back and forth synchronously with the movement of the nest transport device. This ensures that the counter-holding device is always in contact with the pharmaceutical products to be removed when the handling unit is also in contact with the pharmaceutical products.

[0020] Optionally, the counter-holding device has a contact surface designed to make contact with the pharmaceutical products to be removed from the handling unit. This also creates counter-pressure against the suction cups on the handling unit, ensuring that the suction cups securely grasp the products and preventing leaks. The counter-holding device can also have contours to ensure secure contact with the pharmaceutical products. This prevents, for example, lateral displacement of the pharmaceutical products. The contact surface can, for instance, have indentations that correspond to the shape of the pharmaceutical products.

[0021] Optionally, the counter-holding device and the handling unit can make contact in the first position. This allows the counter-holding device to act as a stop for the handling unit, limiting its maximum movement in the nest transport direction. This prevents the handling unit from colliding with the pharmaceutical products and causing damage, even in the event of a malfunction or excessive wear. Furthermore, it allows for greater tolerances in the handling unit's control system. Contact between the counter-holding device and the handling unit is particularly advantageous if the handling unit has recesses into which the pharmaceutical products can slide.This allows, for example, a pharmaceutical product that may not be correctly placed in a nest to be guided into the receiving section of the handling unit by the interaction of the counter-holding device and the handling device, in order to ensure that the handling unit has actually grasped all pharmaceutical products in a row.

[0022] Optionally, the handling device includes a pusher designed to lift the pharmaceutical products to be removed from the handling unit against the direction of gravity in the first position. It may happen that pharmaceutical products are transported in a nest that protrude little or not at all beyond the nest's edge. This can cause problems when the handling unit needs to grasp these products. In this case, it is advantageous to have a pusher positioned below the first position, moving in the direction of gravity. The pusher can optionally be moved up and down in the direction of gravity. By making contact with the pharmaceutical products in a nest, they can be pushed far enough beyond the nest's edge to allow the handling unit to grasp them easily.The pusher device can be operated synchronously with the nest transport device. This ensures that even smaller pharmaceutical products can be handled satisfactorily by the handling device.

[0023] Optionally, the handling device includes a sensor system designed to determine whether a product is present in a nest. In other words, a sensor can be provided to check whether a nest is filled with pharmaceutical products or not. Furthermore, it is also conceivable to detect partial occupancy. This allows, for example, the determination of how many pharmaceutical products are arranged in a row. This is advantageous if the row of pharmaceutical products is to be gripped using suction. It is also possible to detect whether at least one product is present in a nest row. By knowing where a pharmaceutical product is present and where it is not, any suction cups can be deactivated to prevent suction leakage at an empty space (i.e., a space where a mold and such product are present).

[0024] Optionally, the handling device includes a sensor system designed to output nest information indicative of the position of at least one nest. The sensor system can, for example, include a light barrier that indicates when a nest is positioned in a specific location along the nest transport direction. This enables active control of the handling device's elements, such as the pusher or counter-holding device. Furthermore, the handling unit itself can be controlled based on the nest position information to correctly approach a range of pharmaceutical products.

[0025] Optionally, the handling unit is actuated by a robot arm. In other words, the handling unit can be located at one end of an actuator. The actuator can, for example, be designed as a type of industrial robot. The choice of actuator can be based on the position at which the pharmaceutical products are to be transferred or picked up.

[0026] The handling unit can be designed to remove pharmaceutical products from nests and / or feed them into them. The handling unit can include a gripper, a suction cup, or an alternative receiving element. The movement of the handling unit can be linear or rotary. The handling unit can be automated. A technical benefit can be precise and gentle product movement. Alternatively, the handling unit can perform further processing steps, such as alignment or inspection.

[0027] Optionally, the handling unit is actuated by a kinematic mechanism. Examples of such kinematics include Cartesian, SCARA, or delta kinematics. Alternatively, the handling unit can feature articulated arm or parallel kinematics. The kinematics can be selected depending on the desired direction of movement and precision. Cartesian kinematics can be used for linear pick-and-place movements. Delta kinematics can be used for highly dynamic applications with short cycle times. Articulated arm kinematics can enable complex motion sequences with multiple degrees of freedom.

[0028] Optionally, the robot arm can be designed as a kinematic system. This kinematic system has proven highly advantageous, as it allows movement in all spatial directions. The kinematic system can be configured as a delta robot. Furthermore, the delta robot can easily achieve the required speeds. Optionally, a duo-pod robot can be used as the kinematic system. This can have two axes of movement, with movement to the third axis being transmitted via a cardan shaft. A delta robot can have three drive axes and can therefore perform three-dimensional movements. A delta robot can be designed as a parallel kinematic robot. It can consist of three or more pivoting arms mounted on a fixed base. The arms can be connected to a movable platform via coupling links. The platform can carry a tool holder or a gripper.The platform can be moved by simultaneous or combined movement of the arms. The delta robot can exhibit high dynamics and repeatability.

[0029] It can be specifically designed for pick-and-place applications. Alternatively, a Cartesian robot, a SCARA robot, or an articulated robot can be used. Furthermore, a robot arm can be equipped with one or more servo drives. The servo drives can be used to control the joints of the robot arm. Each servo drive can specify a defined angular position, speed, and / or torque. The joints can be controlled sequentially or in a coordinated manner. A technical benefit can be precise and repeatable movement of the robot arm. Alternatively, linear actuators, stepper motors, or pneumatic drives can be used. Optionally, the product transport device has a variety of holding sections designed to hold the pharmaceutical products.The product transport device can, for example, be a destination or a source for pharmaceutical products. The holding sections offer the advantage that the pharmaceutical products can be transported individually through the product transport device. These holding sections ensure the safe transport of pharmaceutical products even without nests.

[0030] Optionally, the product transport device includes spacers, each assigned to a specific holder section, designed to prevent adjacent pharmaceutical products from coming into contact. In other words, a frame element can be provided that at least partially surrounds and protects a pharmaceutical product being transported by the device. Furthermore, the movement of the product transport device can cause a pharmaceutical product to wobble, potentially leading to contact with a neighboring product. The spacers prevent this, thus avoiding damage to the pharmaceutical products.

[0031] Optionally, the product transport device can be designed to transport pharmaceutical products in a suspended position. Suspended transport is particularly advantageous for syringes or syringe components. In this case, the pharmaceutical products have a collar element that can be easily attached to the product transport device. This allows the pharmaceutical products to be transported by the product transport device in a manner similar to transport in a nest.

[0032] Optionally, the product transport device can be designed for continuous operation. Continuous operation means constant movement. In other words, unlike the nest transport device, the product transport device cannot be operated intermittently, but rather continuously at a constant speed. This ensures a consistent frequency of pharmaceutical products in subsequent processes. Furthermore, it ensures that the product transport device removes pharmaceutical products quickly enough for the handling unit to transfer a new batch of pharmaceutical products to the product transport device.

[0033] Optionally, the holder sections are arranged in groups on the product transport device. In other words, the holder sections can be arranged in groups along the transport direction. The number of holder sections in a group can correspond to the number of slots for pharmaceutical products in a nest along the row (see above). The distance between the individual groups of holder sections can correspond to the distance between two nests perpendicular to the nest transport direction. This allows the pharmaceutical products to be transferred to the holder sections of the product transport device as they are removed from the nests. This eliminates the need for any relative relocation of the pharmaceutical products between removal from the nests and feeding them into the transport device. Consequently, the handling process can be accelerated and simplified.

[0034] Optionally, the individual groups can be spaced apart from each other. In other words, the individual groups can be spaced apart along the direction of transport.

[0035] Optionally, the product transport device is designed to transport the pharmaceutical products in one direction. This transport direction can be oriented differently than the nest transport direction. This allows the device to be designed more compactly overall, as space can be utilized more efficiently. Furthermore, the pharmaceutical products held in the transport device can be conveyed perpendicular to the nest transport device, enabling the nests to be transported further below the transport device. This allows for continuous operation, which can increase the throughput of pharmaceutical products.

[0036] Optionally, the transport direction is essentially orthogonal to the nest transport direction. This allows for a particularly compact device from which the pharmaceutical products can be transported directly perpendicular to the nest transport device. The nest transport device can then continue transporting the nests within the device. This is particularly advantageous when the nest transport device is transporting several nests side by side, as no complicated curves or bends need to be negotiated.

[0037] Optionally, the handling unit is designed to move synchronously with the product transport device in the transport direction, at least temporarily. The handling unit can assume a second position. This second position can differ from the first. In the second position, the handling unit can receive pharmaceutical products from or feed them to the transport device. The transport device can be continuously driven. In other words, it is not necessary to stop the transport device to transfer pharmaceutical products to or from the handling unit. To allow sufficient time for receiving or transferring the pharmaceutical products in the second position, the handling unit can be moved briefly in sync with the transport device. In other words, the handling unit can be moved translationally in the transport direction.The handling unit can incorporate a rail system that allows its receiving sections to shift in the direction of transport. While the handling unit moves synchronously with the transport device, pharmaceutical products can be transferred between the transport device and the handling unit, or vice versa. On its return from the second position to the first, the handling unit can be operated in such a way that the previously executed translational movement in the transport direction is reversed. This allows the handling unit to return to its original position in the first position. Consequently, it is not necessary to operate this transport device intermittently or incrementally, enabling the continuous transport of pharmaceutical products.This allows the dispensing of pharmaceutical products through the transport device to be standardized while simultaneously increasing throughput.

[0038] Optionally, the product transport device can have a movable holding element that can be moved from a first holding element position to a second holding element position. The holding element can, for example, be a device that secures the pharmaceutical products within the transport device. This prevents the pharmaceutical products from unintentionally falling out of the transport device. The movable holding element ensures that the pharmaceutical products can be easily transferred to and removed from the transport device. Therefore, the holding element can assume two positions, in particular exclusively. Optionally, the operation of the holding element is synchronized with the handling unit.This ensures that when the handling unit is in the second position, the holding element is in a corresponding position so that pharmaceutical products can be transferred to or picked up from the holding element. If cartridges are handled as the pharmaceutical products, the product transport device can be inclined to the vertical (direction of gravity) so that the cartridges come to rest in the holding element.

[0039] Optionally, the product transport device includes a cell conveyor designed to transport the pharmaceutical products in series. In other words, the transport direction can be configured to transport the pharmaceutical products exclusively in a row. This allows the pharmaceutical products to be made available in series in a downstream handling unit. For example, the nest transport device is designed to transport the pharmaceutical products in a matrix-like manner (i.e., within the nests). This allows the handling device to also change the arrangement of the pharmaceutical products.

[0040] Optionally, in its first position, the retaining element releases the holding sections, allowing pharmaceutical products to be inserted into and removed from them. In other words, in the first position, the retaining element can be retracted to release the holding sections, enabling pharmaceutical products to be fed into or removed from them. The retaining element can, for example, be folded down by rotation. Optionally, the retaining element has an L-shaped cross-section. One end of the retaining element can be rotatably mounted, allowing it to be spaced apart from the holding sections in the first position. This facilitates easy repositioning of the retaining element.

[0041] Optionally, in its second position, the retaining element blocks the holding sections so that the pharmaceutical products held within them cannot leave. In other words, the retaining element can be folded in front of a portion of the holding sections, preventing the pharmaceutical products from leaving. Optionally, the retaining element is designed as a profile rail with an L-shaped cross-section. In its second position, the retaining element can be moved in front of the holding sections (at least partially) so that pharmaceutical products cannot leave. For example, it is conceivable that the L-shaped retaining element is rotated from above (i.e., in the direction of gravity) in front of the holding sections so that a portion of the retaining element comes to rest in front of an opening in the holding sections.This prevents pharmaceutical products from falling out during transport. Optionally, the holding element is designed as a hinged bar. In other words, the holding element can be rotated to move from the first holding element position to the second and vice versa. This means that a point on the holding element always remains in the same position, regardless of its orientation. This allows for particularly fast actuation of the holding element, contributing to increased throughput of the device. Optionally, the handling unit is designed to transport pharmaceutical products from the product transport device into nests arranged on the nest transport device.In other words, the device described above can feed pharmaceutical products both from the nests to the transport device and vice versa. This allows the device to be used both for removing pharmaceutical products from the nests and for the reverse transport process, where the pharmaceutical products are returned to a nest. Essentially, all directions of movement described here can also be reversed. Thus, the device can be used both for introducing pharmaceutical products into nests and for removing pharmaceutical products from nests. For example, pharmaceutical products may need to be removed from the nests for inspection in an inspection device.Therefore, after inspection, it may be necessary to return the pharmaceutical products to a nest to make them available for further processing. Unlike removing pharmaceutical products from nests, when feeding pharmaceutical products into a nest, it may no longer be necessary to provide the counter-holding device and the pusher. Instead, it may be advantageous to provide a centering element (further details follow below). Thus, in the present description, all configurations and features specified in connection with removing pharmaceutical products also apply analogously to feeding pharmaceutical products into nests. Optionally, the nest transport device includes a centering element designed to guide pharmaceutical products into the nests during the transition from the handling unit.In other words, the arrangement of pharmaceutical products in the nests can be designed to optimally utilize the space within the nests. Therefore, the arrangement of pharmaceutical products in such nests can be staggered. The centering element prevents the handling unit from having to adjust for every staggered arrangement. Furthermore, the centering element ensures that the handling unit can precisely position itself within the nest rows. Instead, the centering element can be positioned in each row according to the nests used, allowing the pharmaceutical products to slide smoothly from the handling unit into the nests. This eliminates the need for precise positioning of the handling unit; instead, only the centering element needs to be repositioned.The centner element can only be moved back and forth in a translational direction, perpendicular to the nest transport device. Movement in the direction of nest transport is not required. This simplifies the design and control of the handling unit. The centner element can have a comb-like shape. The centner element can comprise a multitude of individual centner sections. Each centering section can correspond to a holder section for a pharmaceutical product in the handling unit. The guide sections can be open on one side. This prevents the pharmaceutical products from jamming or becoming entangled in the centner element. Overall, the centering element simplifies the feeding of pharmaceutical products into the nests.

[0042] Optionally, the centering element can be moved in a direction orthogonal to the nest transport direction. This compensates for any misalignment of the receiving sections within the nests. The centering element can thus move back and forth between two positions. More precisely, the centering element can be moved in a translational direction transverse to the nest transport direction. This accommodates the staggered arrangement of the pharmaceutical products within the nests.

[0043] Optionally, the centering element can be designed to be positioned based on the nest position. For example, a sensor can be provided that outputs a sensor signal indicating the nest's position within the nest transport device. Based on this sensor information, the centering element can then be positioned. This ensures that the pharmaceutical products can be easily introduced from the handling unit into the nests.

[0044] Optionally, the centering element has a tapered shape towards its outer end. This tapered shape can be achieved with a chamfer. This creates an inclined surface between the individual centering sections, which, upon contact with a part of the pharmaceutical product, allows the product to slide smoothly into the nest. In other words, this prevents pharmaceutical products from becoming entangled on the centering element and causing system malfunctions. This ensures the smooth operation of the device.

[0045] Optionally, the centering element includes a guide section designed to guide a pharmaceutical product. The guide path can be the area through which a pharmaceutical product passes through the centering element. The guide path can be open on one side. Optionally, the guide path is open on one side in the direction of nest transport by the nest transport device. This prevents pharmaceutical products from becoming entangled in the guide path.

[0046] Optionally, the guide path of a guide direction can have a larger cross-section on its upstream side than on its downstream side. In other words, the guide path can have a larger cross-section at its input side than at its output side. This offers the advantage that the handling unit does not need to be positioned exactly above a nest or holding section for a pharmaceutical product within the nest. Rather, it is sufficient for the output side of the guide path to be located above the holding position in the nest. The holding unit can simply be located above the input side of the guide path. Due to the larger cross-section of the input side (i.e., the upstream side of the guide path), a greater tolerance can be allowed when positioning the holding element. This simplifies the control of the holding element and reduces the need for such high precision.The tapered shape of the guide path from the inlet to the outlet allows the pharmaceutical product to be guided into the correct position by the centner element, enabling easy insertion into the nest. Optionally, the guide path can have a consistently tapered cross-sectional shape from the inlet to the outlet.

[0047] Optionally, the product transport device includes a scraper element designed to remove pharmaceutical products from the holding sections within the device. In other words, such a scraper element can be provided at one end of the product transport device. This prevents pharmaceutical products from inadvertently remaining in the transport device when they should have been discharged. The scraper element is optionally a passive element, eliminating the need for any control mechanism. The product transport device can optionally be a circulating conveyor belt. Therefore, it is essential to ensure that all pharmaceutical products are removed before the conveyor belt returns to its starting point. This prevents errors and interruptions in the device's operation.

[0048] Optionally, the scraper element is arranged between the holding sections and the spacer. This ensures that the pharmaceutical product can be easily gripped by the scraper element for removal from the product transport device. According to another aspect of the present disclosure, a method for handling pharmaceutical products is provided. The method can involve handling a plurality of pharmaceutical products to simultaneously remove or feed them from a plurality of nests. The plurality of pharmaceutical products can be fed to a product transport device simultaneously, or the plurality of pharmaceutical products can be received by the product transport device simultaneously.

[0049] According to another aspect of the present disclosure, a use of the above device in handling pharmaceutical products is provided.

[0050] Individual features and embodiments can be combined with other features or embodiments to form new embodiments. Developments and refinements mentioned in connection with the features or embodiments also apply analogously to the new embodiments. Advantages and embodiments mentioned in connection with the device also apply analogously to the method, and vice versa.

[0051] The following section describes in detail the objects of the present revelation with reference to the accompanying figures.

[0052] Figure 1 is a perspective and schematic view of a nest transport device or handling device according to an embodiment of the present disclosure.

[0053] Figure 2 is a schematic and perspective view of a handling unit and a product transport device according to an embodiment of the present disclosure. Figure 3 is a schematic and perspective view of a handling unit and a product transport device according to an embodiment of the present disclosure.

[0054] Figure 4 is a schematic and perspective view of a handling unit and a product transport device according to an embodiment of the present disclosure.

[0055] Figure 5 is a schematic and perspective view of a handling unit and a product transport device according to an embodiment of the present disclosure.

[0056] Figure 6 is a schematic and perspective view of a product transport device according to an embodiment of the present disclosure.

[0057] Figure 7 is a perspective and schematic view of a nest transport device according to an embodiment of the present disclosure.

[0058] Figure 8 is a perspective and schematic view of a product transport device according to an embodiment of the present disclosure.

[0059] Figure 1 is a schematic and perspective view of a nest transport device 3 of a handling device 1 according to an embodiment of the present disclosure. In the example shown in Figure 1, the nest transport device 3 has a plurality of nest holding sections 31. In Figure 1, only one nest 4 is held in a holding section 31. The nest transport device 3 of the present embodiment can be operated in the nest transport direction R1. In other words, the nest 4 can be transported from the right side in Figure 1 to the left side in the nest transport direction R1. Transverse to the nest transport direction R1, the nest transport device 3 has three holding sections 31 arranged side by side for nests 4. In other words, three nests 4 can be transported side by side in the nest transport direction R1.In the present embodiment, the nest transport device has four parallel belts connected by means of webs 33. The webs form the nest receiving sections 31. This design of the nest transport device 3 ensures continuous operation. In other words, the combination of the webs 33 with the belts 32 allows the nest transport device to include three deflections, enabling continuous operation. The nest shown in Figure 1 has a collar 41 that interacts with the webs 33 of the nest transport device 3. In other words, the nest 4 can be carried by the webs 33 by means of the nest collar 41. The nest 4 contains a plurality of receiving sections for pharmaceutical products 2. Figure 1 shows four pharmaceutical products 2 in the nest as examples.It can be seen that the pharmaceutical products 2 are transported suspended in the nest 4. Furthermore, in the present embodiment, the nest 4 is supported exclusively by the webs 33 of the nest transport device 3. In other words, the belts 32, which are driven by a gear drive, cannot be used to carry the nests. This prevents wear on the belts 32. Alternatively, a belt drive could also be implemented.

[0060] Figure 2 is a schematic and perspective view of a part of the handling device 1 according to an embodiment of the present disclosure. Figure 2 shows a nest 4, which is transported by the nest transport device 3 in the nest transport direction R1. Figure 2 also shows a handling unit 5. The handling unit has a movement section 51, which is configured to move the handling unit 5 in space. The handling unit 5 also has a suction bar 52. The suction bar has a plurality of holding sections 53, which are each configured to hold a pharmaceutical product 2. The handling unit 5 is configured to remove pharmaceutical products from a row 8 from the nests 4. The row 8 is indicated by a dashed line in Figure 2.In the present embodiment, the row 8 extends essentially orthogonally to the nest transport direction R1. Furthermore, the row 8 extends over all nests 4 that are transported side by side by the nest transport device 3. A counter-holding device 9 is also visible in Figure 2. In Figure 2, the suction bar 52 is spaced apart from the counter-holding device 9.

[0061] Figure 3 is a schematic and perspective view of part of the handling device 1 according to an embodiment of the present disclosure. In contrast to Figure 2, Figure 3 shows the first position in which the handling unit 5 can be arranged. For simplification, Figure 3 shows the first position without pharmaceutical products 2. In the present embodiment, a plurality of pharmaceutical products 2 are picked up from the nests 4 in the first position. As can be seen in Figure 3, the counter-holding device 9 is moved against the suction bar 52. Thus, the pharmaceutical products 2 can be clamped between the counter-holding device 9 and the suction bar 52 so that the suction bar 52 can apply the vacuum such that the pharmaceutical products 2 are held by the suction bar 52.During the clamping of the pharmaceutical products 2 between the counter-holding device 9 and the suction bar 2, only such pressure is applied to the pharmaceutical products that they can easily withstand without sustaining damage. Rather, the counter-holding device 9 is necessary to prevent the pharmaceutical products from being displaced within the nest 4 by contact with the suction bar 52, thus preventing tilting or similar adverse conditions.

[0062] Figure 4 is a schematic and perspective view of part of a handling device 1 according to a further embodiment of the present disclosure. Figure 4 depicts a state in which the handling unit 5 is arranged in the second position. In other words, the handling unit 5 may have removed the plurality of pharmaceutical products 2 from the nests 4 and moved them in the direction of the product transport device. The transfer from the handling unit 5 to the product transport device 6 will be discussed further below. Figure 4 also shows that, in the present embodiment, a pusher 11 is arranged vertically below the nests 4 transported by the nest transport device 3. The vertical direction is orthogonal to the nest transport direction R1 and corresponds to the direction of gravity. The pusher 11 is arranged under each nest 4.The push device 11 can be configured to contact the row 8 of pharmaceutical products 2 from below. This allows the pharmaceutical products 2 in a row 8 to be lifted against the direction of gravity. This causes the pharmaceutical products to protrude further from the top of each nest 4. In other words, the push device 11 ensures that pharmaceutical products protrude from the nests 4. This enables a secure grip by the handling unit 5. Such a push device is particularly advantageous for pharmaceutical products that are recessed deep into the nests 4. This helps to minimize mishandling by the handling unit.

[0063] Figure 5 is a schematic and perspective view of a part of a handling device 1 according to a further embodiment of the present disclosure. In Figure 15, some elements are shown only schematically or omitted for the sake of simplicity. It can be seen in Figure 5 that the nest transport device 3 has four belts 32 running in the nest transport direction R1. It can also be seen that the nest transport device 3 has several deflection gears or pulleys 34 (only one is shown in Figure 5). This ensures continuous operation of the nest transport device 3. The sensor system 7 is also visible, which, in the present embodiment, detects the position or presence of a nest and / or pharmaceutical products at three locations. The product transport direction R2, in which the product transport device 6 transports the products, is also shown.In the present embodiment, the nest transport direction R1 and the product transport direction R2 are essentially orthogonal to each other. Furthermore, a counter-pressure direction R3 is shown, in which the counter-holding device 9 can be displaced. In the present embodiment, the counter-pressure or counter-holding direction R3 runs along the nest transport direction R1. The thrust or excavation direction R4 is also indicated by an arrow. In the present embodiment, the thrust direction R4 corresponds to the direction of gravity. In other words, it can be seen that the thrust device 11 (not shown in Figure 5) is movable in the thrust direction R4 against the direction of gravity.

[0064] Figure 6 is a perspective and schematic representation of a portion of the handling device 1 according to a further embodiment of the present disclosure. Figure 6 shows a detailed view of a portion of the product transport direction 6. The product transport device 6 is a conveyor configured as a cell wall. The product transport device 6 has a plurality of holding sections 61, each configured to hold a pharmaceutical product 2. Furthermore, the product transport device has a plurality of spacers 62, each associated with a holding section 61. This ensures that the pharmaceutical product is held securely. The holding sections 61 and the associated spacers 62 are arranged in groups. Spaces are provided between the groups.Furthermore, the product transport direction includes a movable retaining element 63, which is designed to engage the retaining sections 61, at least partially. This prevents pharmaceutical products 2 from unintentionally falling out of the retaining sections. Figure 6 shows that the retaining section 61 in the foreground holds a syringe as an example of a pharmaceutical product 2 and moves in the product transport direction R 2. This allows the pharmaceutical product 2 to enter a region of the product transport device 6 where the retaining element 63 is located. Once the pharmaceutical product is in the region of the retaining element 63, it can no longer fall out of the retaining section 61. In the present embodiment, the retaining element 63 is movable such that it can be folded away in a folding direction R5.Thus, the retaining element can be moved between a holding position, in which it is prevented that pharmaceutical products fall out of the holding sections 61 of the product transport device 6, and a released position, in which the pharmaceutical products 2 can be removed from the holding sections 61 of the product transport device 6. In other words, the retaining element 63 can be folded open and closed (in the direction R5).

[0065] Figure 7 is a schematic and perspective view of a part of the handling system 1 according to a further embodiment of the present disclosure. So far, the procedure for removing pharmaceutical products 2 from nests 4 and feeding them to a product transport device 6 has been mainly described. Figure 7 now shows the case in which pharmaceutical products are removed from the product transport device 6 and fed to nests 4, which are transported by the nest transport device 3. The handling unit shown in Figure 7 essentially corresponds to the embodiments described above, with the difference that the push element 11 and the counter-holding device 9 are omitted. Nevertheless, it is possible to include these elements, but they are not required.Nevertheless, it is advantageous to arrange them in this way, as the device can then be used for both removing the pharmaceutical products from the nests and adding them to the nests without major conversion work. The handling device 1 of the present embodiment additionally has a centering element 35. The centering element is displaceable in a centering element movement direction R6. Optionally, the centering element 35 is displaceable exclusively in the centering element displacement direction R6. This allows the centering element to be designed particularly simply. The centering element 35 has a comb-like section 36. The comb-like section 36 has a tapered shape in the direction of the nest transport direction R1. Furthermore, the comb-like section 36 has a plurality of guide paths 37 through which pharmaceutical products can slide.This allows for compensation of any misalignment in the nests along the nest transport direction R1. Figure 1 shows a nest where such a misalignment in the nest transport direction R1 is evident. A large number of pharmaceutical products are fed simultaneously to several nests along row 8. When the nests 4 are then transported further in the nest transport direction R1, another row, parallel to the previous row, is next. As can be seen in Figure 1, however, this row is offset perpendicular to the nest transport direction R1. This can be addressed by the centering device 35, which is also moved perpendicular to the nest transport direction R1 in the centering element movement direction R6. This allows the centering element to align with the new receiving section in the nests, and the pharmaceutical products can be easily inserted there.

[0066] Figure 8 is a schematic perspective view of part of a product transport device 6 according to a further embodiment of the present disclosure. More precisely, Figure 8 shows the product transport device with a scraper element 64. In the embodiment shown in Figure 8, the product transport direction R2 is opposite to that shown in Figure 5. In other words, in the device shown in Figure 8, the pharmaceutical products 2 are fed to the handling unit by the product transport device 6. The scraper element 64 is designed so that, if not all pharmaceutical products 2 have been removed from the product transport device 6, they are nevertheless removed at the end of the product transport direction 6, thus preventing the pharmaceutical products from being transported back to the beginning of the transport device 6.The passive design of the scraper element ensures that no pharmaceutical product is transported back through the transport device 6. This guarantees the operational reliability of the device. Reference numeral list:

[0067] 1 handling device

[0068] 2 pharmaceutical product

[0069] 3 Nest transport device

[0070] 4 Nest

[0071] 5 handling unit

[0072] 6 Product transport device

[0073] 7 Sensor system

[0074] 9 Counterholding device

[0075] 11 Push device

[0076] 31 Bridge

[0077] Volume 32

[0078] 34 Deflection gear

[0079] 35 Centering element

[0080] 36 comb-like section

[0081] 37 Centering path

[0082] 41 collars

[0083] 51 Movement section

[0084] 52 suction strip

[0085] 53 Holding section of the suction bar

[0086] 61 Holding section of the product transport device

[0087] 62 spacers

[0088] 63 Holding element

[0089] 64 Wiper element

[0090] R1 Nest transport direction

[0091] R2 Product transport direction

[0092] R3 Opposite direction

[0093] R4 thrust direction / excavation direction

[0094] R5 Folding direction

[0095] R6 Centering element displacement direction

Claims

Claims 1. Handling device (1) for handling pharmaceutical products (2), comprising: a nest transport device (3) configured to transport a plurality of nests (4) containing a plurality of pharmaceutical products (2) in a nest transport direction (R1), a handling unit (5) configured to remove pharmaceutical products (2) from the nests (4) in a first position or to feed them to the nests (4), wherein the handling unit (5) is configured to remove a plurality of pharmaceutical products (2) simultaneously from several nests (4) or to feed them simultaneously to several nests (4), wherein the handling unit (5) is configured to feed the plurality of pharmaceutical products (2) simultaneously to a product transport device (6) or to receive the plurality of pharmaceutical products (2) from the product transport device (6) simultaneously.

2. Handling device (1 ) according to claim 1 , wherein the nest transport device (3) is configured to transport at least two, optionally three, nests (4) side by side in the nest transport direction (R1 ).

3. Handling device (1 ) according to claim 1 or 2, wherein the nest transport device (3) is configured to hold a nest (4) at each collar (41 ) of the nest (4).

4. Handling device (1) according to one of the preceding claims, wherein the nest transport device (3) is intermittently movable in the nest transport device (3) during operation.

5. Handling device (1) according to one of the preceding claims, wherein the nest transport device (3) is designed to be operated exclusively in the nest transport direction (R1).

6. Handling device (1) according to one of the preceding claims, wherein the nest transport device (3) is designed to be operated continuously.

7. Handling device (1) according to one of the preceding claims, wherein the handling unit (5) is configured to simultaneously remove or supply pharmaceutical products (2) of a series from the nests (4).

8. Handling device (1 ) according to claim 7, wherein the array is oriented substantially orthogonally to the nest transport direction (R1 ).

9. Handling device (1) according to claim 8, wherein the handling unit (5) is configured to handle the plurality of pharmaceutical products (2) by means of a vacuum.

10. Handling device (1) according to one of the preceding claims, wherein the handling unit (5) has a plurality of holding sections, each holding section being optionally configured to hold a pharmaceutical product (2).

11. Handling device (1) according to one of the preceding claims, wherein the handling device (1) comprises a counter-holding device (9) configured to contact the pharmaceutical products (2) to be removed from the handling unit (5) in the first position.

12. Handling device (1 ) according to claim 11, wherein the counterholding device (9) is movable back and forth in the nest transport direction (R1 ).

13. Handling device (1 ) according to claim 11 or 12, wherein the counter-holding device (9) has a contact surface designed to contact the pharmaceutical products (2) to be removed from the handling unit (5).

14. Handling device (1) according to one of claims 11 to 13, wherein the counterholding device (9) and the handling unit (5) contact each other in the first position.

15. Handling device (1 ) according to one of the preceding claims, wherein the handling device (1 ) comprises a push device (11 ) which is configured to lift the pharmaceutical products (2) to be removed from the handling unit (5) in the first position against the direction of gravity.

16. Handling device (1 ) according to one of the preceding claims, wherein the handling device (1 ) comprises a sensor system (7) configured to determine whether a pharmaceutical product (2) is present in a nest (4).

17. Handling device (1 ) according to one of the preceding claims, wherein the handling device (1 ) comprises a sensor system (7) configured to output nest information indicative of a position of at least one nest (4).

18. Handling device (1) according to one of the preceding claims, wherein the handling unit (5) is actuated by a kinematic mechanism.

19. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) has a plurality of holding sections (61) configured to hold the pharmaceutical products (2).

20. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) has spacers (62) which are each assigned to a holder section and are designed to prevent adjacent pharmaceutical products (2) from contacting each other.

21. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) is designed to transport the pharmaceutical products (2) in a suspended position.

22. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) is designed to be driven continuously.

23. Handling device (1) according to one of the preceding claims, wherein the holder sections are arranged in groups on the product transport device (6).

24. Handling device (1) according to claim 23, wherein the individual groups are spaced apart from each other.

25. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) is configured to transport the pharmaceutical products (2) in a transport direction.

26. Handling device (1 ) according to one of the preceding claims, wherein the transport direction is essentially orthogonal to the nest transport direction (R1 ).

27. Handling device (1) according to one of the preceding claims, wherein the handling unit (5) is designed to move at least temporarily synchronously with the product transport device (6) in the transport direction.

28. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) has a movable holding element (63) which can be moved from a first holding element position to a second holding element position.

29. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) comprises a cell belt configured to transport the pharmaceutical products (2) in series.

30. Handling device (1) according to one of the preceding claims, wherein the retaining element (63) in the first retaining element position releases the retaining sections so that pharmaceutical products (2) can be inserted into and removed from the retaining sections.

31. Handling device (1) according to one of the preceding claims, wherein the retaining element (63) in the second retaining element position blocks the retaining sections so that the pharmaceutical products (2) held in the retaining sections cannot leave the retaining sections.

32. Handling device (1) according to one of the preceding claims, wherein the holding element (63) is designed as a foldable strip.

33. Handling device (1) according to one of the preceding claims, wherein the handling unit (5) is configured to transport pharmaceutical products (2) from the product transport device (6) into nests (4) arranged on the nest transport device (3).

34. Handling device (1) according to one of the preceding claims, wherein the nest transport device (3) has a centering element (35) designed to guide pharmaceutical products (2) into the nests (4) during a transition from the handling unit (5).

35. Handling device (1 ) according to one of the preceding claims, wherein the centering element (35) is displaceable in a direction orthogonal to the nest transport direction (R1 ).

36. Handling device (1) according to one of the preceding claims, wherein the centering element (35) is designed to be positioned depending on a nest position.

37. Handling device (1) according to one of the preceding claims, wherein the centering element (35) has a shape tapering towards an outer end of the centering element (35).

38. Handling device (1) according to one of the preceding claims, wherein the centering element (35) has a guide part designed to guide a pharmaceutical product (2).

39. Handling device (1) according to one of the preceding claims, wherein the product transport device (6) has a scraper element (64) designed to remove pharmaceutical products (2) received in the product transport device (6) from the holding sections.

40. Methods for handling pharmaceutical products (2), comprising: Handling a plurality of pharmaceutical products (2) to simultaneously withdraw or feed them from a plurality of nests (4), wherein the plurality of pharmaceutical products (2) is simultaneously fed to a product transport device (6), or wherein the plurality of pharmaceutical products (2) are simultaneously taken over by the product transport device (6).

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